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reduce chestnut states (#38705)

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ui: unify chestnut status presentation
This commit is contained in:
Daniel Koepping
2026-08-26 19:12:49 -07:00
committed by GitHub
parent fa75fdd852
commit 4a13639cfd
5 changed files with 53 additions and 40 deletions
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openpilot/selfdrive/assets/icons_mici/chestnut_crossed.png
-3
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8a8c5fece2a1c7587feb41cbe04c6aee08e768ecd9b5d00da6af9832a4ccc842
size 2034
openpilot/selfdrive/assets/icons_mici/chestnut_gray.png
-3
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
size 7279
openpilot/selfdrive/ui/mici/layouts/home.py
+6 -6
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@@ -9,7 +9,7 @@ from openpilot.system.ui.widgets.layouts import HBoxLayout
from openpilot.system.ui.widgets.icon_widget import IconWidget
from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
from openpilot.common.version import RELEASE_BRANCHES
HEAD_BUTTON_FONT_SIZE = 40
@@ -139,8 +139,8 @@ class MiciHomeLayout(Widget):
self._version_text = self._get_version_text()
self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (50, 37))
self._chestnut_icon_gray = IconWidget("icons_mici/chestnut_gray.png", (50, 37))
self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (68, 40))
self._chestnut_failed_icon = IconWidget("icons_mici/chestnut_orange.png", (68, 40))
self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
@@ -151,7 +151,7 @@ class MiciHomeLayout(Widget):
NetworkIcon(),
self._experimental_icon,
self._chestnut_icon,
self._chestnut_icon_gray,
self._chestnut_failed_icon,
self._body_icon,
self._mic_icon,
], spacing=18)
@@ -248,8 +248,8 @@ class MiciHomeLayout(Widget):
# ***** Center-aligned bottom section icons *****
self._experimental_icon.set_visible(ui_state.experimental_mode)
self._chestnut_icon.set_visible(ui_state.sm["deviceState"].chestnutPresent and ui_state.chestnut_compiled)
self._chestnut_icon_gray.set_visible(ui_state.sm["deviceState"].chestnutPresent and not ui_state.chestnut_compiled)
self._chestnut_icon.set_visible(ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.LOADING, ChestnutState.ACTIVE))
self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
self._mic_icon.set_visible(ui_state.recording_audio)
self._body_icon.set_visible(bool(ui_state.is_body))
openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
+12 -25
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@@ -3,7 +3,7 @@ import pyray as rl
from dataclasses import dataclass
from openpilot.common.constants import CV
from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, ChestnutState
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.multilang import tr
from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -107,7 +107,6 @@ class HudRenderer(Widget):
self.speed: float = 0.0
self.v_ego_cluster_seen: bool = False
self._engaged: bool = False
self._small_model_engaged: bool = False
self._chestnut_fade_time: float = 0
self._can_draw_top_icons = True
@@ -127,9 +126,7 @@ class HudRenderer(Widget):
self._txt_chestnut: rl.Texture = gui_app.texture('icons_mici/chestnut.png', 60, 44)
self._txt_chestnut_green: rl.Texture = gui_app.texture('icons_mici/chestnut_green.png', 60, 44)
self._txt_chestnut_orange: rl.Texture = gui_app.texture('icons_mici/chestnut_orange.png', 75, 44)
self._txt_chestnut_crossed: rl.Texture = gui_app.texture('icons_mici/chestnut_crossed.png', 60, 52)
self._chestnut_icon: rl.Texture | None = None
self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
@@ -165,13 +162,10 @@ class HudRenderer(Widget):
controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
)
engaged = sm['selfdriveState'].enabled
if (engaged and not self._engaged and not ui_state.chestnut_loading and ui_state.chestnut_active is not True and
ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
self._small_model_engaged = True
if engaged != self._engaged:
self._chestnut_fade_time = rl.get_time() if engaged else 0
if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
self._set_speed_changed_time = rl.get_time()
if engaged != self._engaged:
self._chestnut_fade_time = rl.get_time() if engaged else 0
self._engaged = engaged
self.set_speed = set_speed
self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
@@ -191,8 +185,7 @@ class HudRenderer(Widget):
if self.is_cruise_set:
self._draw_set_speed(rect)
if ui_state.chestnut and ui_state.chestnut_compiled:
self._draw_model_source(rect)
self._draw_model_source(rect)
self._draw_steering_wheel(rect)
@@ -200,30 +193,24 @@ class HudRenderer(Widget):
if ui_state.sm.recv_frame['selfdriveState'] < ui_state.started_frame:
return
big_failed = (ui_state.chestnut_active is False or not ui_state.sm['deviceState'].chestnutPresent or
(ui_state.chestnut_active is True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame and
not ui_state.sm.alive['modelV2']) or
(ui_state.chestnut_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
self._small_model_engaged &= big_failed
loading = ui_state.chestnut_loading or (ui_state.chestnut_active is None and not big_failed)
loading = ui_state.chestnut_state == ChestnutState.LOADING
if loading:
pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
icon = self._txt_chestnut
opacity = 0.35 + 0.65 * pulse
elif self._small_model_engaged:
icon = self._txt_chestnut_crossed
opacity = 0.65
elif big_failed:
opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
elif ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED):
icon = self._txt_chestnut_orange
opacity = 1.0
else:
elif ui_state.chestnut_state == ChestnutState.ACTIVE:
icon = self._txt_chestnut_green
opacity = 1.0
else:
return
if icon is not self._chestnut_icon:
self._chestnut_fade_time = rl.get_time()
self._chestnut_icon = icon
alpha = self._chestnut_alpha_filter.update(loading or 0 < rl.get_time() - self._chestnut_fade_time < SET_SPEED_PERSISTENCE)
visible = loading or rl.get_time() - self._chestnut_fade_time < SET_SPEED_PERSISTENCE
alpha = self._chestnut_alpha_filter.update(visible)
if alpha < 1e-2:
return
openpilot/selfdrive/ui/ui_state.py
+35 -3
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@@ -24,6 +24,15 @@ class UIStatus(Enum):
OVERRIDE = "override"
class ChestnutState(Enum):
DISCONNECTED = "disconnected"
UNCOMPILED = "uncompiled"
READY = "ready"
LOADING = "loading"
ACTIVE = "active"
FAILED = "failed"
class UIState:
_instance: 'UIState | None' = None
@@ -77,10 +86,11 @@ class UIState:
self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
self.chestnut: bool = False
self.chestnut_present: bool = False
self.chestnut_compiled: bool = chestnut_compiled()
self.chestnut_active: bool | None = None
self.chestnut_loading: bool = False
self.chestnut_state = ChestnutState.DISCONNECTED
self.started: bool = False
self.ignition: bool = False
self.recording_audio: bool = False
@@ -126,6 +136,7 @@ class UIState:
self.sm.update(0)
self._update_state()
self._update_status()
self._update_chestnut_state()
device.update()
def _params_refresh_worker(self):
@@ -186,12 +197,35 @@ class UIState:
self.status = UIStatus.DISENGAGED
self.started_frame = self.sm.frame
self.started_time = time.monotonic()
self.chestnut_present = self.sm["deviceState"].chestnutPresent
for callback in self._offroad_transition_callbacks:
callback()
self._started_prev = self.started
def _update_chestnut_state(self) -> None:
detected = self.sm["deviceState"].chestnutPresent
if not self.started:
self.chestnut_present = detected
self.chestnut_state = (ChestnutState.READY if detected and self.chestnut_compiled else
ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
return
model_seen = self.sm.recv_frame["modelV2"] > self.started_frame
if not self.chestnut_present:
self.chestnut_state = ChestnutState.DISCONNECTED
elif not self.chestnut_compiled:
self.chestnut_state = ChestnutState.UNCOMPILED
elif self.chestnut_state == ChestnutState.FAILED or not detected or (model_seen and (not self.sm.alive["modelV2"] or not self.sm["modelV2"].big)):
self.chestnut_state = ChestnutState.FAILED
elif self.chestnut_loading or not model_seen:
self.chestnut_state = ChestnutState.LOADING
elif self.chestnut_active is False:
self.chestnut_state = ChestnutState.FAILED
else:
self.chestnut_state = ChestnutState.ACTIVE
def update_params(self) -> None:
# For slower operations
# Update longitudinal control state
@@ -208,8 +242,6 @@ class UIState:
self.always_on_dm = self.params.get_bool("AlwaysOnDM")
self.experimental_mode = self.params.get_bool("ExperimentalMode")
self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
# keep chestnut UI active until offroad transition when gpu disappears
self.chestnut = self.sm["deviceState"].chestnutPresent or (self.chestnut and self.started)
if not self.chestnut_compiled:
self.chestnut_compiled = chestnut_compiled()
self.chestnut_active = self.params.get("ChestnutActive")