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[TIZI/TICI] ui: MICI style blindspot indicators (#1657)

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* introduce blinker

* add blind spot

* bigger

* nah

* lint
This commit is contained in:
Jason Wen
2026-01-24 01:04:25 -05:00
committed by GitHub
parent 76d50df466
commit 1bd3255f14
1 changed files with 54 additions and 17 deletions
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selfdrive/ui/sunnypilot/onroad/turn_signal.py
+54 -17
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@@ -29,24 +29,30 @@ class TurnSignalWidget(Widget):
super().__init__()
self._direction = direction
self._active = False
self._type = 'signal'
self._turn_signal_timer = 0.0
self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
texture_path = f'icons_mici/onroad/turn_signal_{direction}.png'
self._texture = gui_app.texture(texture_path, 120, 109)
self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109)
self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109)
self._texture = self._signal_texture
def _render(self, _):
if not self._active:
return
if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
self._turn_signal_timer = time.monotonic()
self._turn_signal_alpha_filter.x = 255 * 2
if self._type == 'signal':
if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
self._turn_signal_timer = time.monotonic()
self._turn_signal_alpha_filter.x = 255 * 2
else:
self._turn_signal_alpha_filter.update(255 * 0.2)
icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
else:
self._turn_signal_alpha_filter.update(255 * 0.2)
icon_alpha = 255
icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture
if self._texture:
pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
@@ -54,10 +60,11 @@ class TurnSignalWidget(Widget):
color = rl.Color(255, 255, 255, icon_alpha)
rl.draw_texture(self._texture, pos_x, pos_y, color)
def activate(self):
if not self._active:
def activate(self, _type: str = 'signal'):
if not self._active or self._type != _type:
self._turn_signal_timer = 0.0
self._active = True
self._type = _type
def deactivate(self):
self._active = False
@@ -79,36 +86,66 @@ class TurnSignalController:
if event_name == 'preLaneChangeLeft':
self._last_icon_side = IconSide.left
self._left_signal.activate()
self._left_signal.activate('signal')
self._right_signal.deactivate()
elif event_name == 'preLaneChangeRight':
self._last_icon_side = IconSide.right
self._right_signal.activate()
self._right_signal.activate('signal')
self._left_signal.deactivate()
elif event_name == 'laneChange':
if self._last_icon_side == IconSide.left:
self._left_signal.activate()
self._left_signal.activate('signal')
self._right_signal.deactivate()
elif self._last_icon_side == IconSide.right:
self._right_signal.activate()
self._right_signal.activate('signal')
self._left_signal.deactivate()
elif event_name == 'laneChangeBlocked':
CS = sm['carState']
if CS.leftBlinker:
icon_side = IconSide.left
elif CS.rightBlinker:
icon_side = IconSide.right
else:
icon_side = self._last_icon_side
if icon_side == IconSide.left:
self._left_signal.activate('blind_spot')
self._right_signal.deactivate()
elif icon_side == IconSide.right:
self._right_signal.activate('blind_spot')
self._left_signal.deactivate()
else:
self._last_icon_side = None
self._left_signal.deactivate()
self._right_signal.deactivate()
CS = sm['carState']
if CS.leftBlindspot:
self._left_signal.activate('blind_spot')
elif CS.leftBlinker:
self._left_signal.activate('signal')
else:
self._left_signal.deactivate()
if CS.rightBlindspot:
self._right_signal.activate('blind_spot')
elif CS.rightBlinker:
self._right_signal.activate('signal')
else:
self._right_signal.deactivate()
def render(self):
if self._last_icon_side == IconSide.left:
if self._left_signal._active:
self._left_signal.render(rl.Rectangle(
self._config.left_x,
self._config.left_y,
self._config.size,
self._config.size
))
elif self._last_icon_side == IconSide.right:
if self._right_signal._active:
self._right_signal.render(rl.Rectangle(
self._config.right_x,
self._config.right_y,