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# Conflicts: # .github/workflows/auto_pr_review.yaml # .gitignore # opendbc_repo # panda # selfdrive/ui/mici/layouts/home.py # selfdrive/ui/mici/layouts/onboarding.py # selfdrive/ui/mici/layouts/settings/device.py # selfdrive/ui/tests/diff/replay.py # selfdrive/ui/translations/app_fr.po # system/ui/mici_setup.py Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` Sync: `commaai/panda:master` → `sunnypilot/panda:master`
120 lines
3.9 KiB
Python
120 lines
3.9 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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import pyray as rl
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import time
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from dataclasses import dataclass
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.widgets import Widget
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from openpilot.common.filter_simple import FirstOrderFilter
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@dataclass(frozen=True)
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class TurnSignalConfig:
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left_x: int = 80
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left_y: int = 190
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right_x: int = 80
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right_y: int = 190
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size: int = 150
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class TurnSignalWidget(Widget):
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def __init__(self, direction: IconSide):
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super().__init__()
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self._direction = direction
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self._active = False
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self._type = 'signal'
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self._turn_signal_timer = 0.0
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self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
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self._signal_texture = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 120, 109, flip_x=(direction == IconSide.right))
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self._blind_spot_texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 120, 109, flip_x=(direction == IconSide.right))
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self._texture = self._signal_texture
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def _render(self, _):
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if not self._active:
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return
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if self._type == 'signal':
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if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
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self._turn_signal_timer = time.monotonic()
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self._turn_signal_alpha_filter.x = 255 * 2
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else:
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self._turn_signal_alpha_filter.update(255 * 0.2)
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icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
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else:
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icon_alpha = 255
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self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture
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if self._texture:
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pos_x = self._rect.x + (self._rect.width - self._texture.width) / 2
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pos_y = self._rect.y + (self._rect.height - self._texture.height) / 2
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color = rl.Color(255, 255, 255, icon_alpha)
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rl.draw_texture_ex(self._texture, rl.Vector2(pos_x, pos_y), 0.0, 1.0, color)
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def activate(self, _type: str = 'signal'):
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if not self._active or self._type != _type:
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self._turn_signal_timer = 0.0
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self._active = True
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self._type = _type
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def deactivate(self):
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self._active = False
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self._turn_signal_timer = 0.0
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class TurnSignalController:
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def __init__(self):
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self._config = TurnSignalConfig()
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self._left_signal = TurnSignalWidget(direction=IconSide.left)
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self._right_signal = TurnSignalWidget(direction=IconSide.right)
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@staticmethod
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def _update_signal(signal, blindspot, blinker):
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if ui_state.blindspot and blindspot:
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signal.activate('blind_spot')
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elif ui_state.turn_signals and blinker:
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signal.activate('signal')
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else:
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signal.deactivate()
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def update(self):
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CS = ui_state.sm['carState']
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self._update_signal(self._left_signal, CS.leftBlindspot, CS.leftBlinker)
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self._update_signal(self._right_signal, CS.rightBlindspot, CS.rightBlinker)
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def render(self, rect: rl.Rectangle):
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if not ui_state.turn_signals and not ui_state.blindspot:
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return
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x = rect.x + rect.width / 2
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left_x = x - self._config.left_x - self._config.size
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left_y = rect.y + self._config.left_y
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right_x = x + self._config.right_x
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right_y = rect.y + self._config.right_y
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if self._left_signal._active:
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self._left_signal.render(rl.Rectangle(left_x, left_y, self._config.size, self._config.size))
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if self._right_signal._active:
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self._right_signal.render(rl.Rectangle(right_x, right_y, self._config.size, self._config.size))
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@property
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def config(self) -> TurnSignalConfig:
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return self._config
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@config.setter
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def config(self, new_config: TurnSignalConfig):
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self._config = new_config
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