mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-07-26 03:42:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

ui: DM icon turns orange briefly after awareness drops (#37826)

Browse Source 
* change icon after 1s

* match

* timinng

* speed up

* tint

* cleanup
This commit is contained in:
ZwX1616
2026-04-26 17:49:21 -07:00
committed by GitHub
parent 85f00ff80a
commit dc6e644359
2 changed files with 16 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:26b3660dbd1e60b0ba98914afa7cb3a67151bb6990d218f55c901f243e38ff3e
size 3631
oid sha256:5f5d4b7bd406114945e53f4d56089102ee83ba7d0a4590a371f7acab90c7ad53
size 1862
selfdrive/ui/mici/onroad/driver_state.py
+14 -1
View File
@@ -16,11 +16,15 @@ DEBUG = False
LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
CONE_COLOR_GREEN = (0, 255, 64)
CONE_COLOR_ORANGE = (255, 115, 0)
class DriverStateRenderer(Widget):
BASE_SIZE = 60
LINES_ANGLE_INCREMENT = 5
LINES_STALE_ANGLES = 3.0 # seconds
AWARENESS_UNFULL_PERCENT = 95 # ~0.5s
def __init__(self, lines: bool = False, inset: bool = False):
super().__init__()
@@ -40,8 +44,10 @@ class DriverStateRenderer(Widget):
self._should_draw = False
self._force_active = False
self._looking_center = False
self._awareness_unfull = False
self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps) # 1.0 = full green, 0.0 = full orange
self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -100,6 +106,12 @@ class DriverStateRenderer(Widget):
rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
if self.effective_active:
self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
t = self._color_fade_filter.x
r = int(round(CONE_COLOR_GREEN[0] * t + CONE_COLOR_ORANGE[0] * (1 - t)))
g = int(round(CONE_COLOR_GREEN[1] * t + CONE_COLOR_ORANGE[1] * (1 - t)))
b = int(round(CONE_COLOR_GREEN[2] * t + CONE_COLOR_ORANGE[2] * (1 - t)))
source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
dest_rect = rl.Rectangle(
self._rect.x + self._rect.width / 2,
@@ -115,7 +127,7 @@ class DriverStateRenderer(Widget):
dest_rect,
rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
self._rotation_filter.x - 90,
rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
rl.Color(r, g, b, int(255 * self._fade_filter.x)),
)
else:
@@ -158,6 +170,7 @@ class DriverStateRenderer(Widget):
self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
self._is_rhd = dm_state.isRHD
self._face_detected = dm_state.visionPolicyState.faceDetected
self._awareness_unfull = self._is_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention