mawei/openpilot
1
0
Fork 0
mirror of https://jihulab.com/mr-one/openpilot.git synced 2026-10-27 21:13:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

ui: dynamic path width and color based on lateral state (#1926)

Browse Source
This commit is contained in:
Comma Device
2026-08-22 10:31:57 +08:00
parent ed48bd034c
commit 6f31c98db7
2 changed files with 14 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
openpilot/selfdrive/ui/onroad/model_renderer.py
+2 -2
View File
@@ -192,7 +192,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
max_idx = self._get_path_length_idx(path_x_array, max_distance)
self._path.projected_points = self._map_line_to_polygon(
self._path.raw_points, 0.9, self._path_offset_z, max_idx, max_distance, allow_invert=False
self._path.raw_points, self._get_path_half_width(), self._path_offset_z, max_idx, max_distance, allow_invert=False
)
self._update_experimental_gradient()
@@ -292,7 +292,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
self._blend_filter.update(int(allow_throttle))
if ui_state.rainbow_path:
if ui_state.rainbow_path and self._lateral_active:
self.rainbow_path.draw_rainbow_path(self._rect, self._path)
return
openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+12
View File
@@ -4,11 +4,23 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
from openpilot.system.ui.lib.application import gui_app
class ModelRendererSP:
def __init__(self):
self.rainbow_path = RainbowPath()
self.chevron_metrics = ChevronMetrics()
self._width_filter = FirstOrderFilter(0.9, 0.1, 1 / gui_app.target_fps)
@property
def _lateral_active(self) -> bool:
return ui_state.status in (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
def _get_path_half_width(self) -> float:
target = 0.9 if self._lateral_active else 0.40
return self._width_filter.update(target)