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replay/ui: color lines, use aTarget (#37764)

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* color lines, use aTarget

* only scroll when updated
This commit is contained in:
Shane Smiskol
2026-04-04 20:28:16 -07:00
committed by GitHub
parent f170440f4a
commit dc4dae6794
2 changed files with 16 additions and 6 deletions
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tools/replay/lib/ui_helpers.py
+12 -2
View File
@@ -5,6 +5,7 @@ import numpy as np
import pyray as rl
from matplotlib.backends.backend_agg import FigureCanvasAgg
from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -94,6 +95,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}
dpi = 90
fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -116,10 +118,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
plots.append(plot)
idxs.append(name_to_arr_idx[item])
plot_select.append(i)
axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
# Build colored title: each label colored to match its plot line
title_texts = []
for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
if j2 > 0:
title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
packed = HPacker(children=title_texts, pad=0, sep=0)
ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
bbox_transform=axs[i].transAxes, frameon=False, pad=0)
axs[i].add_artist(ab)
axs[i].tick_params(axis="x", colors="white")
axs[i].tick_params(axis="y", colors="white")
axs[i].title.set_color("white")
if i < len(plot_ylims) - 1:
axs[i].set_xticks([])
tools/replay/ui.py
+4 -4
View File
@@ -114,7 +114,7 @@ def ui_thread(addr):
plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
plot_names = [
["gas", "computer_gas", "user_brake", "computer_brake"],
["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
@@ -168,7 +168,8 @@ def ui_thread(addr):
else:
angle_steers_k = np.inf
plot_arr[:-1] = plot_arr[1:]
if sm.updated['carState']:
plot_arr[:-1] = plot_arr[1:]
plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
@@ -183,8 +184,7 @@ def ui_thread(addr):
plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
if len(sm['longitudinalPlan'].accels):
plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
# Draw model overlays onto img, then blit as transparent overlay
img[:] = 0