diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 65d2f5588e..e8f1b7eb8b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,3 +1,11 @@ * @sunnypilot/dev-internal /.github/ @devtekve @sunnyhaibin -/release/ci/ @devtekve @sunnyhaibin \ No newline at end of file +/release/ci/ @devtekve @sunnyhaibin +/tinygrad_repo @devtekve @Discountchubbs +/tinygrad/ @devtekve @Discountchubbs +/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs +/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs +/selfdrive/modeld/ @devtekve @Discountchubbs +/sunnypilot/model* @devtekve @Discountchubbs +/sunnypilot/sunnylink/ @devtekve +/system/athena/ @devtekve \ No newline at end of file diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 8b0db6ce88..6bd86ce7e9 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -54,8 +54,9 @@ jobs: git add . - name: update car docs run: | + export PYTHONPATH="$PWD" scons -j$(nproc) --minimal opendbc_repo - PYTHONPATH=. python selfdrive/car/docs.py + python selfdrive/car/docs.py git add docs/CARS.md - name: Create Pull Request uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index f34caba81b..d85be77121 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -3,7 +3,6 @@ FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED=1 ENV OPENPILOT_PATH=/home/batman/openpilot -ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH} RUN mkdir -p ${OPENPILOT_PATH} WORKDIR ${OPENPILOT_PATH} diff --git a/RELEASES.md b/RELEASES.md index 5d74689a2d..91652d6dc7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.9.10 (2025-06-30) +======================== + Version 0.9.9 (2025-05-23) ======================== * New driving model diff --git a/SConstruct b/SConstruct index 02126f6359..77c8525896 100644 --- a/SConstruct +++ b/SConstruct @@ -363,13 +363,13 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/proclogd/SConscript', 'system/ubloxd/SConscript', 'system/loggerd/SConscript', ]) if arch != "Darwin": SConscript([ 'system/logcatd/SConscript', + 'system/proclogd/SConscript', ]) if arch == "larch64": diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8a42f8b6a5..c9e4f3e16d 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -226,7 +226,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 { struct CarStateSP @0xb86e6369214c01c8 { } -struct CustomReserved8 @0xf416ec09499d9d19 { +struct LiveMapDataSP @0xf416ec09499d9d19 { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedLimitAheadValid @2 :Bool; + speedLimitAhead @3 :Float32; + speedLimitAheadDistance @4 :Float32; + roadName @5 :Text; } struct CustomReserved9 @0xa1680744031fdb2d { diff --git a/cereal/log.capnp b/cereal/log.capnp index 412660bc6a..7c7983d147 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2281,6 +2281,7 @@ struct LiveTorqueParametersData { points @10 :List(List(Float32)); version @11 :Int32; useParams @12 :Bool; + calPerc @13 :Int8; } struct LiveDelayData { @@ -2291,6 +2292,7 @@ struct LiveDelayData { lateralDelayEstimate @3 :Float32; lateralDelayEstimateStd @5 :Float32; points @4 :List(Float32); + calPerc @6 :Int8; enum Status { unestimated @0; @@ -2610,7 +2612,7 @@ struct Event { carControlSP @112 :Custom.CarControlSP; backupManagerSP @113 :Custom.BackupManagerSP; carStateSP @114 :Custom.CarStateSP; - customReserved8 @115 :Custom.CustomReserved8; + liveMapDataSP @115 :Custom.LiveMapDataSP; customReserved9 @116 :Custom.CustomReserved9; customReserved10 @136 :Custom.CustomReserved10; customReserved11 @137 :Custom.CustomReserved11; diff --git a/cereal/services.py b/cereal/services.py index 4097e484f6..3e72041b72 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -84,6 +84,7 @@ _services: dict[str, tuple] = { "carParamsSP": (True, 0.02, 1), "carControlSP": (True, 100., 10), "carStateSP": (True, 100., 10), + "liveMapDataSP": (True, 1., 1), # debug "uiDebug": (True, 0., 1), diff --git a/common/logging_extra.py b/common/logging_extra.py index e921b140c2..ceaf083cd5 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -199,7 +199,6 @@ class SwagLogger(logging.Logger): co = f.f_code filename = os.path.normcase(co.co_filename) - # TODO: is this pylint exception correct? if filename == _srcfile: f = f.f_back continue diff --git a/common/model.h b/common/model.h index 6a3286acce..596819256a 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "Filet o Fish (Default)" +#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)" diff --git a/common/params_keys.h b/common/params_keys.h index 5018cdb8bd..f0d2f6b492 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,7 +71,7 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, - {"LiveDelay", PERSISTENT}, + {"LiveDelay", PERSISTENT | BACKUP}, {"LiveParameters", PERSISTENT}, {"LiveParametersV2", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, @@ -125,15 +125,21 @@ inline static std::unordered_map keys = { {"ApiCache_DriveStats", PERSISTENT}, {"AutoLaneChangeBsmDelay", PERSISTENT}, {"AutoLaneChangeTimer", PERSISTENT}, + {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP}, + {"BlinkerPauseLateralControl", PERSISTENT | BACKUP}, {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CarParamsSPCache", CLEAR_ON_MANAGER_START}, {"CarParamsSPPersistent", PERSISTENT}, {"CarPlatformBundle", PERSISTENT}, + {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP}, + {"CustomAccLongPressIncrement", PERSISTENT | BACKUP}, + {"CustomAccShortPressIncrement", PERSISTENT | BACKUP}, + {"DeviceBootMode", PERSISTENT | BACKUP}, {"EnableGithubRunner", PERSISTENT | BACKUP}, {"MaxTimeOffroad", PERSISTENT | BACKUP}, + {"Brightness", PERSISTENT | BACKUP}, {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION}, {"OffroadMode", CLEAR_ON_MANAGER_START}, - {"OffroadMode_Status", CLEAR_ON_MANAGER_START}, {"QuietMode", PERSISTENT | BACKUP}, // MADS params @@ -169,4 +175,28 @@ inline static std::unordered_map keys = { {"HyundaiRadar", PERSISTENT}, {"DynamicExperimentalControl", PERSISTENT}, + {"BlindSpot", PERSISTENT | BACKUP}, + + // model panel params + {"LagdToggle", PERSISTENT | BACKUP}, + + // mapd + {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION}, + {"MapdVersion", PERSISTENT}, + {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION}, + {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START}, + {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START}, // mapd database update happens with device ON, reset on boot + {"OSMDownloadBounds", PERSISTENT}, + {"OsmDownloadedDate", PERSISTENT}, + {"OSMDownloadLocations", PERSISTENT}, + {"OSMDownloadProgress", CLEAR_ON_MANAGER_START}, + {"OsmLocal", PERSISTENT}, + {"OsmLocationName", PERSISTENT}, + {"OsmLocationTitle", PERSISTENT}, + {"OsmLocationUrl", PERSISTENT}, + {"OsmStateName", PERSISTENT}, + {"OsmStateTitle", PERSISTENT}, + {"OsmWayTest", PERSISTENT}, + {"RoadName", CLEAR_ON_ONROAD_TRANSITION}, }; diff --git a/common/spinner.py b/common/spinner.py new file mode 100755 index 0000000000..12a816eaf8 --- /dev/null +++ b/common/spinner.py @@ -0,0 +1,52 @@ +import os +import subprocess +from openpilot.common.basedir import BASEDIR + + +class Spinner: + def __init__(self): + try: + self.spinner_proc = subprocess.Popen(["./spinner.py"], + stdin=subprocess.PIPE, + cwd=os.path.join(BASEDIR, "system", "ui"), + close_fds=True) + except OSError: + self.spinner_proc = None + + def __enter__(self): + return self + + def update(self, spinner_text: str): + if self.spinner_proc is not None: + self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n") + try: + self.spinner_proc.stdin.flush() + except BrokenPipeError: + pass + + def update_progress(self, cur: float, total: float): + self.update(str(round(100 * cur / total))) + + def close(self): + if self.spinner_proc is not None: + self.spinner_proc.kill() + try: + self.spinner_proc.communicate(timeout=2.) + except subprocess.TimeoutExpired: + print("WARNING: failed to kill spinner") + self.spinner_proc = None + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +if __name__ == "__main__": + import time + with Spinner() as s: + s.update("Spinner text") + time.sleep(5.0) + print("gone") + time.sleep(5.0) diff --git a/common/text_window.py b/common/text_window.py new file mode 100755 index 0000000000..358243d1f1 --- /dev/null +++ b/common/text_window.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import os +import time +import subprocess +from openpilot.common.basedir import BASEDIR + + +class TextWindow: + def __init__(self, text): + try: + self.text_proc = subprocess.Popen(["./text.py", text], + stdin=subprocess.PIPE, + cwd=os.path.join(BASEDIR, "system", "ui"), + close_fds=True) + except OSError: + self.text_proc = None + + def get_status(self): + if self.text_proc is not None: + self.text_proc.poll() + return self.text_proc.returncode + return None + + def __enter__(self): + return self + + def close(self): + if self.text_proc is not None: + self.text_proc.terminate() + self.text_proc = None + + def wait_for_exit(self): + if self.text_proc is not None: + while True: + if self.get_status() == 1: + return + time.sleep(0.1) + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +if __name__ == "__main__": + text = """Traceback (most recent call last): + File "./controlsd.py", line 608, in + main() + File "./controlsd.py", line 604, in main + controlsd_thread(sm, pm, logcan) + File "./controlsd.py", line 455, in controlsd_thread + 1/0 +ZeroDivisionError: division by zero""" + print(text) + + with TextWindow(text) as s: + for _ in range(100): + if s.get_status() == 1: + print("Got exit button") + break + time.sleep(0.1) + print("gone") diff --git a/common/version.h b/common/version.h index 6351a5b3ff..67b69da7c7 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.9" +#define COMMA_VERSION "0.9.10" diff --git a/common/watchdog.py b/common/watchdog.py new file mode 100644 index 0000000000..ddb6f744e9 --- /dev/null +++ b/common/watchdog.py @@ -0,0 +1,22 @@ +import os +import time +import struct +from openpilot.system.hardware.hw import Paths + +WATCHDOG_FN = f"{Paths.shm_path()}/wd_" +_LAST_KICK = 0.0 + +def kick_watchdog(): + global _LAST_KICK + current_time = time.monotonic() + + if current_time - _LAST_KICK < 1.0: + return + + try: + with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f: + f.write(struct.pack('1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -38,6 +38,7 @@ A supported vehicle is one that just works when you install a comma device. All |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=MewJc9LYp9M| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=MewJc9LYp9M| @@ -53,7 +54,7 @@ A supported vehicle is one that just works when you install a comma device. All |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Mustang Mach-E 2021-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -77,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -115,7 +116,6 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -181,12 +181,12 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -313,11 +313,11 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| |Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index d4a9561f2c..1950db8a05 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -7,7 +7,6 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ### Getting Started * Setup your [development environment](../tools/) -* Read about the [development workflow](WORKFLOW.md) * Join our [Discord](https://discord.comma.ai) * Docs are at https://docs.comma.ai and https://blog.comma.ai diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md deleted file mode 100644 index 1c5bbe9a63..0000000000 --- a/docs/WORKFLOW.md +++ /dev/null @@ -1,33 +0,0 @@ -# openpilot development workflow - -Aside from the ML models, most tools used for openpilot development are in this repo. - -Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development. - -## Quick start - -```bash -# get the latest stuff -git pull -git lfs pull -git submodule update --init --recursive - -# update dependencies -tools/ubuntu_setup.sh - -# build everything -scons -j$(nproc) - -# build just the ui with either of these -scons -j8 selfdrive/ui/ -cd selfdrive/ui/ && scons -u -j8 - -# test everything -pytest - -# test just logging services -cd system/loggerd && pytest . - -# run the linter -op lint -``` diff --git a/launch_env.sh b/launch_env.sh index 29e3e38905..b0bff4e57f 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.3" + export AGNOS_VERSION="12.4" fi export STAGING_ROOT="/data/safe_staging" diff --git a/panda b/panda index 5f4742c39e..c33cfa0803 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5f4742c39e9fc3690c4318ebf2ee8f3b83bfc8a9 +Subproject commit c33cfa0803deef5dc53d103ae1a2513e2ab94196 diff --git a/pyproject.toml b/pyproject.toml index 3287bc259a..68e5e35296 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -68,6 +68,9 @@ dependencies = [ # logreader "zstandard", + + # ui + "qrcode", ] [project.optional-dependencies] @@ -85,7 +88,8 @@ testing = [ "pytest-cov", "pytest-cpp", "pytest-subtests", - "pytest-xdist", + # https://github.com/pytest-dev/pytest-xdist/issues/1215 + "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@909e97b49d12401c10608f9d777bfc9dab8a4413", "pytest-timeout", "pytest-randomly", "pytest-asyncio", @@ -102,8 +106,8 @@ dev = [ "azure-storage-blob", "dbus-next", "dictdiffer", - "lru-dict", "matplotlib", + "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", "pygame", @@ -260,6 +264,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false "tools".msg = "Use openpilot.tools" "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" "unittest".msg = "Use pytest" +"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure" [tool.coverage.run] concurrency = ["multiprocessing", "thread"] diff --git a/rednose_repo b/rednose_repo index 8b86052919..7fddc8e6d4 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 8b860529199569401d5d8e105bc1be600fca49a8 +Subproject commit 7fddc8e6d49def83c952a78673179bdc62789214 diff --git a/release/README.md b/release/README.md index 1d3e784936..06404be6ab 100644 --- a/release/README.md +++ b/release/README.md @@ -1,36 +1,31 @@ # openpilot releases +``` ## release checklist **Go to `devel-staging`** +- [ ] update RELEASES.md - [ ] update `devel-staging`: `git reset --hard origin/master-ci` - [ ] open a pull request from `devel-staging` to `devel` +- [ ] post on Discord **Go to `devel`** -- [ ] update RELEASES.md -- [ ] close out milestone -- [ ] post on Discord dev channel - [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] merge the pull request - -tests: -- [ ] update from previous release -> new release -- [ ] update from new release -> previous release -- [ ] fresh install with `openpilot-test.comma.ai` -- [ ] drive on fresh install -- [ ] comma body test -- [ ] no submodules or LFS -- [ ] check sentry, MTBF, etc. +- [ ] before merging the pull request + - [ ] update from previous release -> new release + - [ ] update from new release -> previous release + - [ ] fresh install with `openpilot-test.comma.ai` + - [ ] drive on fresh install + - [ ] no submodules or LFS + - [ ] check sentry, MTBF, etc. **Go to `release3`** - [ ] publish the blog post - [ ] `git reset --hard origin/release3-staging` -- [ ] tag the release -``` -git tag v0.X.X -git push origin v0.X.X -``` +- [ ] tag the release: `git tag v0.X.X && git push origin v0.X.X` - [ ] create GitHub release - [ ] final test install on `openpilot.comma.ai` -- [ ] update production -- [ ] Post on Discord, X, etc. +- [ ] update factory provisioning +- [ ] close out milestone +- [ ] post on Discord, X, etc. +``` diff --git a/selfdrive/assets/offroad/fcc.html b/selfdrive/assets/offroad/fcc.html index 793bea533c..960a7a06cb 100644 --- a/selfdrive/assets/offroad/fcc.html +++ b/selfdrive/assets/offroad/fcc.html @@ -12,11 +12,10 @@
Quectel/EG25-G

FCC ID: XMR201903EG25G

-

- This device complies with Part 15 of the FCC Rules. - Operation is subject to the following two conditions: +

This device complies with Part 15 of the FCC Rules.

+

Operation is subject to the following two conditions:

-

(1) this device may not cause harmful interference, and +

(1) this device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause undesired operation.

The following test reports are subject to this declaration: diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 1b9a1522a1..8448af56db 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -307,6 +307,7 @@ class Car: # sunnypilot self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl") + self.v_cruise_helper.read_custom_set_speed_params() time.sleep(0.1) diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py index d696566ba5..01ef2d7c99 100644 --- a/selfdrive/car/cruise.py +++ b/selfdrive/car/cruise.py @@ -3,6 +3,7 @@ import numpy as np from cereal import car from openpilot.common.conversions import Conversions as CV +from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP # WARNING: this value was determined based on the model's training distribution, @@ -28,8 +29,9 @@ CRUISE_INTERVAL_SIGN = { } -class VCruiseHelper: +class VCruiseHelper(VCruiseHelperSP): def __init__(self, CP): + VCruiseHelperSP.__init__(self) self.CP = CP self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET @@ -99,7 +101,7 @@ class VCruiseHelper: if not self.button_change_states[button_type]["enabled"]: return - v_cruise_delta = v_cruise_delta * (5 if long_press else 1) + long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta) if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta else: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 576e73b7e6..04d79d3330 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -44,7 +44,7 @@ class Controls(ControlsExt): self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState', 'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput', - 'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext, + 'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext, poll='selfdriveState') self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext) @@ -93,6 +93,7 @@ class Controls(ControlsExt): torque_params.frictionCoefficientFiltered) self.LaC.extension.update_model_v2(self.sm['modelV2']) + self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay) long_plan = self.sm['longitudinalPlan'] model_v2 = self.sm['modelV2'] diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py deleted file mode 100755 index 7207bd1ef1..0000000000 --- a/selfdrive/debug/format_fingerprints.py +++ /dev/null @@ -1,81 +0,0 @@ -#!/usr/bin/env python3 -import jinja2 -import os - -from cereal import car -from openpilot.common.basedir import BASEDIR -from opendbc.car.interfaces import get_interface_attr - -Ecu = car.CarParams.Ecu - -CARS = get_interface_attr('CAR') -FW_VERSIONS = get_interface_attr('FW_VERSIONS') -FINGERPRINTS = get_interface_attr('FINGERPRINTS') -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - -FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" -{%- if FINGERPRINTS[brand] %} -# ruff: noqa: E501 -{% endif %} -{% if FW_VERSIONS[brand] %} -from opendbc.car.structs import CarParams -{% endif %} -from opendbc.car.{{brand}}.values import CAR -{% if FW_VERSIONS[brand] %} - -Ecu = CarParams.Ecu -{% endif %} -{% if comments +%} -{{ comments | join() }} -{% endif %} -{% if FINGERPRINTS[brand] %} - -FINGERPRINTS = { -{% for car, fingerprints in FINGERPRINTS[brand].items() %} - CAR.{{car.name}}: [{ -{% for fingerprint in fingerprints %} -{% if not loop.first %} - {{ "{" }} -{% endif %} - {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %} - - }{% if loop.last %}]{% endif %}, -{% endfor %} -{% endfor %} -} -{% endif %} - -FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = { -{% for car, _ in FW_VERSIONS[brand].items() %} - CAR.{{car.name}}: { -{% for key, fw_versions in FW_VERSIONS[brand][car].items() %} - (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ -{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ - {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} - {{fw_version}}, - {% endfor %} - ], -{% endfor %} - }, -{% endfor %} -} - -""", trim_blocks=True) - - -def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None): - extra_fw_versions = extra_fw_versions or {} - - fingerprints_file = os.path.join(BASEDIR, f"opendbc/car/{brand}/fingerprints.py") - with open(fingerprints_file) as f: - comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] - - with open(fingerprints_file, "w") as f: - f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, - FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, - extra_fw_versions=extra_fw_versions)) - - -if __name__ == "__main__": - for brand in FW_VERSIONS.keys(): - format_brand_fw_versions(brand) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index e265b70f1a..59f30dbf77 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -13,6 +13,7 @@ from typing import NoReturn from cereal import log, car import cereal.messaging as messaging +from openpilot.system.hardware import HARDWARE from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process @@ -36,8 +37,11 @@ RPY_INIT = np.array([0.0,0.0,0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) HEIGHT_INIT = np.array([1.22]) -# These values are needed to accommodate the model frame in the narrow cam of the C3 -PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) +# These values are needed to accommodate the model frame in the narrow cam +if HARDWARE.get_device_type() == 'mici': + PITCH_LIMITS = np.array([-0.143101, 0.22235988]) +else: + PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235]) DEBUG = os.getenv("DEBUG") is not None diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index a3e3ae4a8c..bf4588a40c 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -82,6 +82,12 @@ class PointBuckets: total_points_valid = self.__len__() >= self.min_points_total return individual_buckets_valid and total_points_valid + def get_valid_percent(self) -> int: + total_points_perc = min(self.__len__() / self.min_points_total * 100, 100) + individual_buckets_perc = min(min(len(v) / min_pts * 100 for v, min_pts in + zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)), 100) + return int((total_points_perc + individual_buckets_perc) / 2) + def is_calculable(self) -> bool: return all(len(v) > 0 for v in self.buckets.values()) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 4e207b4882..e6767db473 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -157,7 +157,8 @@ class LateralLagEstimator: block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC, - max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE): + max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE, + enabled: bool = True): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -172,6 +173,7 @@ class LateralLagEstimator: self.min_confidence = min_confidence self.max_lat_accel = max_lat_accel self.max_lat_accel_diff = max_lat_accel_diff + self.enabled = enabled self.t = 0.0 self.lat_active = False @@ -206,7 +208,7 @@ class LateralLagEstimator: liveDelay = msg.liveDelay valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get() - if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): + if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): if valid_std > MAX_LAG_STD: liveDelay.status = log.LiveDelayData.Status.invalid else: @@ -227,6 +229,8 @@ class LateralLagEstimator: liveDelay.lateralDelayEstimateStd = 0.0 liveDelay.validBlocks = self.block_avg.valid_blocks + liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) // + (self.min_valid_block_count * self.block_size), 100) if debug: liveDelay.points = self.block_avg.values.flatten().tolist() @@ -303,7 +307,8 @@ class LateralLagEstimator: self.block_avg.update(delay) self.last_estimate_t = self.t - def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]: + @staticmethod + def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]: assert len(expected_sig) == len(actual_sig) max_lag_samples = int(max_lag / dt) padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples) @@ -366,7 +371,10 @@ def main(): params = Params() CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) - lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) + # TODO: remove me, lagd is in shadow mode on release + is_release = params.get_bool("IsReleaseBranch") + + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release) if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None: lag, valid_blocks = initial_lag_params lag_learner.reset(lag, valid_blocks) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index b805f1759d..8fb829edd8 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -3,7 +3,7 @@ import numpy as np import time import pytest -from cereal import messaging, log +from cereal import messaging, log, car from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \ BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams @@ -16,11 +16,7 @@ MAX_ERR_FRAMES = 1 DT = 0.05 -def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0): - class ZeroMock(mocker.Mock): - def __getattr__(self, *args): - return 0 - +def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0): for i in range(n_frames): t = i * estimator.dt desired_la = np.cos(10 * t) * 0.1 @@ -31,19 +27,15 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti if rejected: actual_la = desired_la - desired_cuvature = desired_la / (vego ** 2) - actual_yr = actual_la / vego + desired_cuvature = float(desired_la / (vego ** 2)) + actual_yr = float(actual_la / vego) msgs = [ - (t, "carControl", mocker.Mock(latActive=not rejected)), - (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)), - (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature, - lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))), - (t, "livePose", mocker.Mock(orientationNED=ZeroMock(), - velocityDevice=ZeroMock(), - accelerationDevice=ZeroMock(), - angularVelocityDevice=ZeroMock(z=actual_yr, valid=True), - posenetOK=True, inputsOK=True)), - (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)), + (t, "carControl", car.CarControl(latActive=not rejected)), + (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)), + (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)), + (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True), + posenetOK=True, inputsOK=True)), + (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)), ] for t, w, m in msgs: estimator.handle_log(t, w, m) @@ -94,40 +86,56 @@ class TestLagd: corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1) - def test_empty_estimator(self, mocker): - mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + def test_empty_estimator(self): + mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT) msg = estimator.get_msg(True) assert msg.liveDelay.status == 'unestimated' assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag) assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag) assert msg.liveDelay.validBlocks == 0 + assert msg.liveDelay.calPerc == 0 - def test_estimator_basics(self, mocker, subtests): + def test_estimator_basics(self, subtests): for lag_frames in range(5): with subtests.test(msg=f"lag_frames={lag_frames}"): - mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0) - process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) + process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) msg = estimator.get_msg(True) assert msg.liveDelay.status == 'estimated' assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + assert msg.liveDelay.calPerc == 100 - def test_estimator_masking(self, mocker): - mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19) + def test_disabled_estimator(self): + mocked_CP = car.CarParams(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False) + lag_frames = 5 + process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) + msg = estimator.get_msg(True) + assert msg.liveDelay.status == 'unestimated' + assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) + assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + assert msg.liveDelay.calPerc == 100 + + def test_estimator_masking(self): + mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19) estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1) - process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) + process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) msg = estimator.get_msg(True) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) + assert msg.liveDelay.calPerc == 100 @pytest.mark.skipif(PC, reason="only on device") @pytest.mark.timeout(60) - def test_estimator_performance(self, mocker): - mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + def test_estimator_performance(self): + mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT) ds = [] diff --git a/selfdrive/locationd/test/test_torqued.py b/selfdrive/locationd/test/test_torqued.py new file mode 100644 index 0000000000..53f3120c36 --- /dev/null +++ b/selfdrive/locationd/test/test_torqued.py @@ -0,0 +1,25 @@ +from cereal import car +from openpilot.selfdrive.locationd.torqued import TorqueEstimator + + +def test_cal_percent(): + est = TorqueEstimator(car.CarParams()) + msg = est.get_msg() + assert msg.liveTorqueParameters.calPerc == 0 + + for (low, high), min_pts in zip(est.filtered_points.buckets.keys(), + est.filtered_points.buckets_min_points.values(), strict=True): + for _ in range(int(min_pts)): + est.filtered_points.add_point((low + high) / 2.0, 0.0) + + # enough bucket points, but not enough total points + msg = est.get_msg() + assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2 + + # add enough points to bucket with most capacity + key = list(est.filtered_points.buckets)[0] + for _ in range(est.min_points_total - len(est.filtered_points)): + est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0) + + msg = est.get_msg() + assert msg.liveTorqueParameters.calPerc == 100 diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 5ed86e457f..23bd99931b 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -233,6 +233,7 @@ class TorqueEstimator(ParameterEstimator): liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x) liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x) liveTorqueParameters.totalBucketPoints = len(self.filtered_points) + liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent() liveTorqueParameters.decay = self.decay liveTorqueParameters.maxResets = self.resets return msg diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 10f3876190..545fcdcff7 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -60,7 +60,7 @@ import subprocess from tinygrad import Device # because tg doesn't support multi-process -devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True) +devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath) if b"AMD" in devs: del Device print("USB GPU detected... building") diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1e3d1782e6..ac88dfbb5f 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -86,10 +86,20 @@ class ModelState: prev_desire: np.ndarray # for tracking the rising edge of the pulse def __init__(self, context: CLContext): - self.frames = { - 'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP), - 'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) - } + with open(VISION_METADATA_PATH, 'rb') as f: + vision_metadata = pickle.load(f) + self.vision_input_shapes = vision_metadata['input_shapes'] + self.vision_input_names = list(self.vision_input_shapes.keys()) + self.vision_output_slices = vision_metadata['output_slices'] + vision_output_size = vision_metadata['output_shapes']['outputs'][1] + + with open(POLICY_METADATA_PATH, 'rb') as f: + policy_metadata = pickle.load(f) + self.policy_input_shapes = policy_metadata['input_shapes'] + self.policy_output_slices = policy_metadata['output_slices'] + policy_output_size = policy_metadata['output_shapes']['outputs'][1] + + self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) @@ -106,18 +116,6 @@ class ModelState: 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), } - with open(VISION_METADATA_PATH, 'rb') as f: - vision_metadata = pickle.load(f) - self.vision_input_shapes = vision_metadata['input_shapes'] - self.vision_output_slices = vision_metadata['output_slices'] - vision_output_size = vision_metadata['output_shapes']['outputs'][1] - - with open(POLICY_METADATA_PATH, 'rb') as f: - policy_metadata = pickle.load(f) - self.policy_input_shapes = policy_metadata['input_shapes'] - self.policy_output_slices = policy_metadata['output_slices'] - policy_output_size = policy_metadata['output_shapes']['outputs'][1] - # img buffers are managed in openCL transform code self.vision_inputs: dict[str, Tensor] = {} self.vision_output = np.zeros(vision_output_size, dtype=np.float32) @@ -135,7 +133,7 @@ class ModelState: parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()} return parsed_model_outputs - def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray], inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge inputs['desire'][0] = 0 @@ -148,8 +146,7 @@ class ModelState: self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params'] - imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()), - 'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())} + imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} if TICI and not USBGPU: # The imgs tensors are backed by opencl memory, only need init once @@ -328,14 +325,16 @@ def main(demo=False): if prepare_only: cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names} + transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names} inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, 'lateral_control_params': lateral_control_params, - } + } mt1 = time.perf_counter() - model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + model_output = model.run(bufs, transforms, inputs, prepare_only) mt2 = time.perf_counter() model_execution_time = mt2 - mt1 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3601bbb5da..343c3a0aa8 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 -size 15966721 +oid sha256:5f714fb38bcd44b5d9f44e3a8e1595e1dfdf7558f0eec3485cf3f2dbb6dc7d8d +size 15971805 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index aee6d8f1bf..924d11304d 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 -size 34882971 +oid sha256:3ac4867fbc618037e8d03143edbfeeae960f2025644b5dcf36c6665271b4f874 +size 34883375 diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 68f5949398..1668bf17fd 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -45,8 +45,8 @@ "text": "sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.", "severity": 0 }, - "OffroadMode_Status": { - "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.", - "severity": 1 + "Offroad_OSMUpdateRequired": { + "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1", + "severity": 0 } } diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 3e48718002..9bfc638db3 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -585,11 +585,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.noGps: { - ET.PERMANENT: Alert( - "Poor GPS reception", - "Ensure device has a clear view of the sky", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.) }, EventName.tooDistracted: { diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 4c2e44ed9d..dfda2c31f7 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -129,8 +129,10 @@ class SelfdriveD(CruiseHelper): # some comma three with NVMe experience NVMe dropouts mid-drive that # cause loggerd to crash on write, so ignore it only on that platform self.ignored_processes = set() - if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'): + nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment")) + if HARDWARE.get_device_type() == 'tici' and nvme_expected: self.ignored_processes = {'loggerd', } + self.ignored_processes.update({'mapd'}) # Determine startup event self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster @@ -380,16 +382,16 @@ class SelfdriveD(CruiseHelper): if (planner_fcw or model_fcw) and not self.CP.notCar: self.events.add(EventName.fcw) + # GPS checks + gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 + if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): + self.events.add(EventName.noGps) + if gps_ok: + self.distance_traveled = 0 + self.distance_traveled += abs(CS.vEgo) * DT_CTRL + # TODO: fix simulator if not SIMULATION or REPLAY: - # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes - gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 - if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): - self.events.add(EventName.noGps) - if gps_ok: - self.distance_traveled = 0 - self.distance_traveled += abs(CS.vEgo) * DT_CTRL - if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh deleted file mode 100755 index 76f0a9f78c..0000000000 --- a/selfdrive/test/ci_shell.sh +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -OP_ROOT="$DIR/../../" - -if [ -z "$BUILD" ]; then - docker pull ghcr.io/commaai/openpilot-base:latest -else - docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base . -fi - -docker run \ - -it \ - --rm \ - --volume $OP_ROOT:$OP_ROOT \ - --workdir $PWD \ - --env PYTHONPATH=$OP_ROOT \ - ghcr.io/commaai/openpilot-base:latest \ - /bin/bash diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 0578a61588..59b8cf8250 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import os +import pickle import sys from collections import defaultdict from typing import Any @@ -15,15 +16,15 @@ from openpilot.system.hardware import PC from openpilot.tools.lib.openpilotci import get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process -from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader +from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader, save_log from openpilot.tools.lib.github_utils import GithubUtils TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404" SEGMENT = 4 -MAX_FRAMES = 100 if PC else 400 +START_FRAME = 0 +END_FRAME = 60 -NO_MODEL = "NO_MODEL" in os.environ SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0"))) DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","") @@ -125,16 +126,15 @@ def comment_replay_report(proposed, master, full_logs): comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots GITHUB.comment_on_pr(comment, PR_BRANCH, "commaci-public", True) -def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): +def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types): all_msgs = [] cam_state_counts = defaultdict(int) - # keep adding messages until cam states are equal to MAX_FRAMES for msg in sorted(logs, key=lambda m: m.logMonoTime): - all_msgs.append(msg) if msg.which() in frs_types: cam_state_counts[msg.which()] += 1 - - if all(cam_state_counts[state] == max_frames for state in frs_types): + if any(cam_state_counts[state] >= start_frame for state in frs_types): + all_msgs.append(msg) + if all(cam_state_counts[state] == end_frame for state in frs_types): break if len(include_all_types) != 0: @@ -146,9 +146,9 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): def model_replay(lr, frs): # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, - {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"}) - dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) + modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"}, + {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"}) + dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"}) if not SEND_EXTRA_INPUTS: modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration'] @@ -165,9 +165,6 @@ def model_replay(lr, frs): dmonitoringmodeld = get_process_config("dmonitoringmodeld") modeld_msgs = replay_process(modeld, modeld_logs, frs) - if isinstance(frs['roadCameraState'], NumpyFrameReader): - del frs['roadCameraState'].frames - del frs['wideRoadCameraState'].frames dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs) msgs = modeld_msgs + dmonitoringmodeld_msgs @@ -193,34 +190,36 @@ def model_replay(lr, frs): print("----------------- Model Timing -----------------") print("------------------------------------------------") print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f")) - assert timings_ok + assert timings_ok or PC return msgs def get_frames(): regen_cache = "--regen-cache" in sys.argv - cache = "--cache" in sys.argv or not PC or regen_cache - videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc') - cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') + frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache' + os.makedirs(frames_cache, exist_ok=True) - if cache: - frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache' - os.makedirs(frames_cache, exist_ok=True) - - cache_size = 200 - for v in videos: - if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache: - f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12") - print(f'Caching {v}...') - for i in range(MAX_FRAMES//cache_size): - np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1]) - del f - - return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)} - else: - return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)} + cache_name = f'{frames_cache}/{TEST_ROUTE}_{SEGMENT}_{START_FRAME}_{END_FRAME}.pkl' + if os.path.isfile(cache_name) and not regen_cache: + try: + print(f"Loading frames from cache {cache_name}") + return pickle.load(open(cache_name, "rb")) + except Exception as e: + print(f"Failed to load frames from cache {cache_name}: {e}") + frs = { + 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME), + 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME), + 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME), + } + for fr in frs.values(): + for fidx in range(START_FRAME, END_FRAME): + fr.get(fidx) + fr.it = None + print(f"Dumping frame cache {cache_name}") + pickle.dump(frs, open(cache_name, "wb")) + return frs if __name__ == "__main__": update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master') @@ -232,8 +231,7 @@ if __name__ == "__main__": log_msgs = [] # run replays - if not NO_MODEL: - log_msgs += model_replay(lr, frs) + log_msgs += model_replay(lr, frs) # get diff failed = False @@ -242,13 +240,10 @@ if __name__ == "__main__": try: all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn))) cmp_log = [] - - # logs are ordered based on type: modelV2, drivingModelData, driverStateV2 - if not NO_MODEL: - model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) - cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3] - dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") - cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] + model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) + cmp_log += all_logs[model_start_index+START_FRAME*3:model_start_index + END_FRAME*3] + dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") + cmp_log += all_logs[dmon_start_index+START_FRAME:dmon_start_index + END_FRAME] ignore = [ 'logMonoTime', diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8966be7e20..bc5ccf7845 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -27,7 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture from openpilot.tools.lib.logreader import LogIterable -from openpilot.tools.lib.framereader import BaseFrameReader +from openpilot.tools.lib.framereader import FrameReader # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 @@ -209,6 +209,7 @@ class ProcessContainer: streams_metas = available_streams(all_msgs) for meta in streams_metas: if meta.camera_state in self.cfg.vision_pubs: + assert frs[meta.camera_state].pix_fmt == 'nv12' frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) vipc_server.create_buffers(meta.stream, 2, *frame_size) vipc_server.start_listener() @@ -224,7 +225,7 @@ class ProcessContainer: def start( self, params_config: dict[str, Any], environ_config: dict[str, Any], - all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None, + all_msgs: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None, capture_output: bool ): with self.prefix as p: @@ -266,7 +267,7 @@ class ProcessContainer: self.prefix.clean_dirs() self._clean_env() - def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]: + def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]: assert self.rc and self.pm and self.sockets and self.process.proc output_msgs = [] @@ -296,7 +297,7 @@ class ProcessContainer: camera_state = getattr(m, m.which()) camera_meta = meta_from_camera_state(m.which()) assert frs is not None - img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0] + img = frs[m.which()].get(camera_state.frameId) self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) self.msg_queue = [] @@ -655,7 +656,7 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args, def replay_process( - cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None, + cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None, fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None, captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False ) -> list[capnp._DynamicStructReader]: @@ -683,7 +684,7 @@ def replay_process( def _replay_multi_process( - cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None, + cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None, custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool ) -> list[capnp._DynamicStructReader]: if fingerprint is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e692f56eba..f839238098 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9e2fe2942fbf77f24bccdbef15893831f9c0b390 \ No newline at end of file +f440c9e0469d32d350aa99ddaa8f44591a2ce690 \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 4d00613f0a..ec35a5c3ac 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -3,40 +3,17 @@ import os import argparse import time import capnp -import numpy as np from typing import Any from collections.abc import Iterable from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr -from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES from openpilot.selfdrive.test.update_ci_routes import upload_route -from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType +from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log from openpilot.tools.lib.openpilotci import get_url -class DummyFrameReader(BaseFrameReader): - def __init__(self, w: int, h: int, frame_count: int, pix_val: int): - self.pix_val = pix_val - self.w, self.h = w, h - self.frame_count = frame_count - self.frame_type = FrameType.raw - - def get(self, idx, count=1, pix_fmt="yuv420p"): - if pix_fmt == "rgb24": - shape = (self.h, self.w, 3) - elif pix_fmt == "nv12" or pix_fmt == "yuv420p": - shape = (int((self.h * self.w) * 3 / 2),) - else: - raise NotImplementedError - - return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)] - - @staticmethod - def zero_dcamera(): - return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0) - def regen_segment( lr: LogIterable, frs: dict[str, Any] = None, @@ -64,7 +41,7 @@ def setup_data_readers( frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc")) if needs_driver_cam: if dummy_driver_cam: - frs['driverCameraState'] = DummyFrameReader.zero_dcamera() + frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy else: device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData") assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera." diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 14e1b2b79f..39c1e408eb 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -19,7 +19,6 @@ from openpilot.tools.lib.logreader import LogReader, save_log IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN") source_segments = [ - ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.COMMA_BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS) ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS @@ -44,7 +43,6 @@ source_segments = [ ] segments = [ - ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"), ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"), ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"), ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"), @@ -65,7 +63,7 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "tesla"] +excluded_interfaces = ["mock", "body"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") @@ -253,7 +251,7 @@ if __name__ == "__main__": continue # to speed things up, we only test all segments on card - if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'): + if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'): continue cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index 6c4b48c8d5..5f26daf786 100644 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -1,6 +1,6 @@ from parameterized import parameterized -from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader +from openpilot.selfdrive.test.process_replay.regen import regen_segment from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader @@ -18,7 +18,7 @@ def ci_setup_data_readers(route, sidx): lr = LogReader(get_url(route, sidx, "rlog.bz2")) frs = { 'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")), - 'driverCameraState': DummyFrameReader.zero_dcamera() + 'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")), } if next((True for m in lr if m.which() == "wideRoadCameraState"), False): frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc")) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 05d407d10c..d883ca5b15 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -112,7 +112,7 @@ if GetOption('extras'): obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs) # keep installers small - assert f[0].get_size() < 1300*1e3, f[0].get_size() + assert f[0].get_size() < 1900*1e3, f[0].get_size() # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): diff --git a/selfdrive/ui/layouts/__init__.py b/selfdrive/ui/layouts/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py new file mode 100644 index 0000000000..0fa91da552 --- /dev/null +++ b/selfdrive/ui/layouts/home.py @@ -0,0 +1,214 @@ +import time +import pyray as rl +from collections.abc import Callable +from enum import IntEnum +from openpilot.common.params import Params +from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert +from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButton +from openpilot.selfdrive.ui.widgets.prime import PrimeWidget +from openpilot.selfdrive.ui.widgets.setup import SetupWidget +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR +from openpilot.system.ui.lib.widget import Widget + +HEADER_HEIGHT = 80 +HEAD_BUTTON_FONT_SIZE = 40 +CONTENT_MARGIN = 40 +SPACING = 25 +RIGHT_COLUMN_WIDTH = 750 +REFRESH_INTERVAL = 10.0 + +PRIME_BG_COLOR = rl.Color(51, 51, 51, 255) + + +class HomeLayoutState(IntEnum): + HOME = 0 + UPDATE = 1 + ALERTS = 2 + + +class HomeLayout(Widget): + def __init__(self): + super().__init__() + self.params = Params() + + self.update_alert = UpdateAlert() + self.offroad_alert = OffroadAlert() + + self.current_state = HomeLayoutState.HOME + self.last_refresh = 0 + self.settings_callback: callable | None = None + + self.update_available = False + self.alert_count = 0 + + self.header_rect = rl.Rectangle(0, 0, 0, 0) + self.content_rect = rl.Rectangle(0, 0, 0, 0) + self.left_column_rect = rl.Rectangle(0, 0, 0, 0) + self.right_column_rect = rl.Rectangle(0, 0, 0, 0) + + self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10) + self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10) + + self._prime_widget = PrimeWidget() + self._setup_widget = SetupWidget() + + self._exp_mode_button = ExperimentalModeButton() + self._setup_callbacks() + + def _setup_callbacks(self): + self.update_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME)) + self.offroad_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME)) + + def set_settings_callback(self, callback: Callable): + self.settings_callback = callback + + def _set_state(self, state: HomeLayoutState): + self.current_state = state + + def _render(self, rect: rl.Rectangle): + current_time = time.time() + if current_time - self.last_refresh >= REFRESH_INTERVAL: + self._refresh() + self.last_refresh = current_time + + self._handle_input() + self._render_header() + + # Render content based on current state + if self.current_state == HomeLayoutState.HOME: + self._render_home_content() + elif self.current_state == HomeLayoutState.UPDATE: + self._render_update_view() + elif self.current_state == HomeLayoutState.ALERTS: + self._render_alerts_view() + + def _update_layout_rects(self): + self.header_rect = rl.Rectangle( + self._rect.x + CONTENT_MARGIN, self._rect.y + CONTENT_MARGIN, self._rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT + ) + + content_y = self._rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING + content_height = self._rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN + + self.content_rect = rl.Rectangle( + self._rect.x + CONTENT_MARGIN, content_y, self._rect.width - 2 * CONTENT_MARGIN, content_height + ) + + left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING + + self.left_column_rect = rl.Rectangle(self.content_rect.x, self.content_rect.y, left_width, self.content_rect.height) + + self.right_column_rect = rl.Rectangle( + self.content_rect.x + left_width + SPACING, self.content_rect.y, RIGHT_COLUMN_WIDTH, self.content_rect.height + ) + + self.update_notif_rect.x = self.header_rect.x + self.update_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2 + + notif_x = self.header_rect.x + (220 if self.update_available else 0) + self.alert_notif_rect.x = notif_x + self.alert_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2 + + def _handle_input(self): + if not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + return + + mouse_pos = rl.get_mouse_position() + + if self.update_available and rl.check_collision_point_rec(mouse_pos, self.update_notif_rect): + self._set_state(HomeLayoutState.UPDATE) + return + + if self.alert_count > 0 and rl.check_collision_point_rec(mouse_pos, self.alert_notif_rect): + self._set_state(HomeLayoutState.ALERTS) + return + + # Content area input handling + if self.current_state == HomeLayoutState.UPDATE: + self.update_alert.handle_input(mouse_pos, True) + elif self.current_state == HomeLayoutState.ALERTS: + self.offroad_alert.handle_input(mouse_pos, True) + + def _render_header(self): + font = gui_app.font(FontWeight.MEDIUM) + + # Update notification button + if self.update_available: + # Highlight if currently viewing updates + highlight_color = rl.Color(255, 140, 40, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(255, 102, 0, 255) + rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color) + + text = "UPDATE" + text_width = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE).x + text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_width) // 2 + text_y = self.update_notif_rect.y + (self.update_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2 + rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE) + + # Alert notification button + if self.alert_count > 0: + # Highlight if currently viewing alerts + highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255) + rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color) + + alert_text = f"{self.alert_count} ALERT{'S' if self.alert_count > 1 else ''}" + text_width = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE).x + text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_width) // 2 + text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2 + rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE) + + # Version text (right aligned) + version_text = self._get_version_text() + text_width = measure_text_cached(gui_app.font(FontWeight.NORMAL), version_text, 48).x + version_x = self.header_rect.x + self.header_rect.width - text_width + version_y = self.header_rect.y + (self.header_rect.height - 48) // 2 + rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), version_text, rl.Vector2(int(version_x), int(version_y)), 48, 0, DEFAULT_TEXT_COLOR) + + def _render_home_content(self): + self._render_left_column() + self._render_right_column() + + def _render_update_view(self): + self.update_alert.render(self.content_rect) + + def _render_alerts_view(self): + self.offroad_alert.render(self.content_rect) + + def _render_left_column(self): + self._prime_widget.render(self.left_column_rect) + + def _render_right_column(self): + exp_height = 125 + exp_rect = rl.Rectangle( + self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, exp_height + ) + self._exp_mode_button.render(exp_rect) + + setup_rect = rl.Rectangle( + self.right_column_rect.x, + self.right_column_rect.y + exp_height + SPACING, + self.right_column_rect.width, + self.right_column_rect.height - exp_height - SPACING, + ) + self._setup_widget.render(setup_rect) + + def _refresh(self): + # TODO: implement _update_state with a timer + self.update_available = self.update_alert.refresh() + self.alert_count = self.offroad_alert.refresh() + self._update_state_priority(self.update_available, self.alert_count > 0) + + def _update_state_priority(self, update_available: bool, alerts_present: bool): + current_state = self.current_state + + if not update_available and not alerts_present: + self.current_state = HomeLayoutState.HOME + elif update_available and (current_state == HomeLayoutState.HOME or (not alerts_present and current_state == HomeLayoutState.ALERTS)): + self.current_state = HomeLayoutState.UPDATE + elif alerts_present and (current_state == HomeLayoutState.HOME or (not update_available and current_state == HomeLayoutState.UPDATE)): + self.current_state = HomeLayoutState.ALERTS + + def _get_version_text(self) -> str: + brand = "openpilot" + description = self.params.get("UpdaterCurrentDescription", encoding='utf-8') + return f"{brand} {description}" if description else brand diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py new file mode 100644 index 0000000000..a3081143f4 --- /dev/null +++ b/selfdrive/ui/layouts/main.py @@ -0,0 +1,93 @@ +import pyray as rl +from enum import IntEnum +import cereal.messaging as messaging +from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH +from openpilot.selfdrive.ui.layouts.home import HomeLayout +from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType +from openpilot.selfdrive.ui.ui_state import device, ui_state +from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView +from openpilot.system.ui.lib.widget import Widget + + +class MainState(IntEnum): + HOME = 0 + SETTINGS = 1 + ONROAD = 2 + + +class MainLayout(Widget): + def __init__(self): + super().__init__() + + self._pm = messaging.PubMaster(['userFlag']) + + self._sidebar = Sidebar() + self._current_mode = MainState.HOME + self._prev_onroad = False + + # Initialize layouts + self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()} + + self._sidebar_rect = rl.Rectangle(0, 0, 0, 0) + self._content_rect = rl.Rectangle(0, 0, 0, 0) + + # Set callbacks + self._setup_callbacks() + + def _render(self, _): + self._handle_onroad_transition() + self._render_main_content() + + def _setup_callbacks(self): + self._sidebar.set_callbacks(on_settings=self._on_settings_clicked, + on_flag=self._on_flag_clicked) + self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE)) + self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state) + self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked) + device.add_interactive_timeout_callback(self._set_mode_for_state) + + def _update_layout_rects(self): + self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height) + + x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0 + self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height) + + def _handle_onroad_transition(self): + if ui_state.started != self._prev_onroad: + self._prev_onroad = ui_state.started + + self._set_mode_for_state() + + def _set_mode_for_state(self): + if ui_state.started: + # Don't hide sidebar from interactive timeout + if self._current_mode != MainState.ONROAD: + self._sidebar.set_visible(False) + self._current_mode = MainState.ONROAD + else: + self._current_mode = MainState.HOME + self._sidebar.set_visible(True) + + def open_settings(self, panel_type: PanelType): + self._layouts[MainState.SETTINGS].set_current_panel(panel_type) + self._current_mode = MainState.SETTINGS + self._sidebar.set_visible(False) + + def _on_settings_clicked(self): + self.open_settings(PanelType.DEVICE) + + def _on_flag_clicked(self): + user_flag = messaging.new_message('userFlag') + user_flag.valid = True + self._pm.send('userFlag', user_flag) + + def _on_onroad_clicked(self): + self._sidebar.set_visible(not self._sidebar.is_visible) + + def _render_main_content(self): + # Render sidebar + if self._sidebar.is_visible: + self._sidebar.render(self._sidebar_rect) + + content_rect = self._content_rect if self._sidebar.is_visible else self._rect + self._layouts[self._current_mode].render(content_rect) diff --git a/selfdrive/ui/layouts/network.py b/selfdrive/ui/layouts/network.py new file mode 100644 index 0000000000..c227facd04 --- /dev/null +++ b/selfdrive/ui/layouts/network.py @@ -0,0 +1,17 @@ +import pyray as rl +from openpilot.system.ui.lib.widget import Widget +from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.widgets.network import WifiManagerUI + + +class NetworkLayout(Widget): + def __init__(self): + super().__init__() + self.wifi_manager = WifiManagerWrapper() + self.wifi_ui = WifiManagerUI(self.wifi_manager) + + def _render(self, rect: rl.Rectangle): + self.wifi_ui.render(rect) + + def shutdown(self): + self.wifi_manager.shutdown() diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py new file mode 100644 index 0000000000..ce6e9e4af6 --- /dev/null +++ b/selfdrive/ui/layouts/settings/developer.py @@ -0,0 +1,61 @@ +from openpilot.system.ui.lib.list_view import toggle_item +from openpilot.system.ui.lib.scroller import Scroller +from openpilot.system.ui.lib.widget import Widget +from openpilot.common.params import Params +from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item + +# Description constants +DESCRIPTIONS = { + 'enable_adb': ( + "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. " + + "See https://docs.comma.ai/how-to/connect-to-comma for more info." + ), + 'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)", + 'ssh_key': ( + "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " + + "other than your own. A comma employee will NEVER ask you to add their GitHub username." + ), +} + + +class DeveloperLayout(Widget): + def __init__(self): + super().__init__() + self._params = Params() + items = [ + toggle_item( + "Enable ADB", + description=DESCRIPTIONS["enable_adb"], + initial_state=self._params.get_bool("AdbEnabled"), + callback=self._on_enable_adb, + ), + ssh_key_item("SSH Key", description=DESCRIPTIONS["ssh_key"]), + toggle_item( + "Joystick Debug Mode", + description=DESCRIPTIONS["joystick_debug_mode"], + initial_state=self._params.get_bool("JoystickDebugMode"), + callback=self._on_joystick_debug_mode, + ), + toggle_item( + "Longitudinal Maneuver Mode", + description="", + initial_state=self._params.get_bool("LongitudinalManeuverMode"), + callback=self._on_long_maneuver_mode, + ), + toggle_item( + "openpilot Longitudinal Control (Alpha)", + description="", + initial_state=self._params.get_bool("AlphaLongitudinalEnabled"), + callback=self._on_alpha_long_enabled, + ), + ] + + self._scroller = Scroller(items, line_separator=True, spacing=0) + + def _render(self, rect): + self._scroller.render(rect) + + def _on_enable_adb(self): pass + def _on_joystick_debug_mode(self): pass + def _on_long_maneuver_mode(self): pass + def _on_alpha_long_enabled(self): pass diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py new file mode 100644 index 0000000000..69b7822ba9 --- /dev/null +++ b/selfdrive/ui/layouts/settings/device.py @@ -0,0 +1,150 @@ +import os +import json + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.hardware import TICI +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.list_view import text_item, button_item, dual_button_item +from openpilot.system.ui.lib.scroller import Scroller +from openpilot.system.ui.lib.widget import Widget, DialogResult +from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog +from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog +from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog, alert_dialog +from openpilot.system.ui.widgets.html_render import HtmlRenderer + +# Description constants +DESCRIPTIONS = { + 'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.", + 'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)", + 'reset_calibration': ( + "openpilot requires the device to be mounted within 4° left or right and within 5° " + + "up or 9° down. openpilot is continuously calibrating, resetting is rarely required." + ), + 'review_guide': "Review the rules, features, and limitations of openpilot", +} + + +class DeviceLayout(Widget): + def __init__(self): + super().__init__() + + self._params = Params() + self._select_language_dialog: MultiOptionDialog | None = None + self._driver_camera: DriverCameraDialog | None = None + self._pair_device_dialog: PairingDialog | None = None + self._fcc_dialog: HtmlRenderer | None = None + + items = self._initialize_items() + self._scroller = Scroller(items, line_separator=True, spacing=0) + + def _initialize_items(self): + dongle_id = self._params.get("DongleId", encoding="utf-8") or "N/A" + serial = self._params.get("HardwareSerial") or "N/A" + + items = [ + text_item("Dongle ID", dongle_id), + text_item("Serial", serial), + button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], callback=self._pair_device), + button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._show_driver_camera, enabled=ui_state.is_offroad), + button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt), + regulatory_btn := button_item("Regulatory", "VIEW", callback=self._on_regulatory), + button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide), + button_item("Change Language", "CHANGE", callback=self._show_language_selection, enabled=ui_state.is_offroad), + dual_button_item("Reboot", "Power Off", left_callback=self._reboot_prompt, right_callback=self._power_off_prompt), + ] + regulatory_btn.set_visible(TICI) + return items + + def _render(self, rect): + self._scroller.render(rect) + + def _show_language_selection(self): + try: + languages_file = os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json") + with open(languages_file, encoding='utf-8') as f: + languages = json.load(f) + + self._select_language_dialog = MultiOptionDialog("Select a language", languages) + gui_app.set_modal_overlay(self._select_language_dialog, callback=self._handle_language_selection) + except FileNotFoundError: + pass + + def _handle_language_selection(self, result: int): + if result == 1 and self._select_language_dialog: + selected_language = self._select_language_dialog.selection + self._params.put("LanguageSetting", selected_language) + + self._select_language_dialog = None + + def _show_driver_camera(self): + if not self._driver_camera: + self._driver_camera = DriverCameraDialog() + + gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None)) + + def _reset_calibration_prompt(self): + if ui_state.engaged: + gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reset Calibration")) + return + + gui_app.set_modal_overlay( + lambda: confirm_dialog("Are you sure you want to reset calibration?", "Reset"), + callback=self._reset_calibration, + ) + + def _reset_calibration(self, result: int): + if ui_state.engaged or result != DialogResult.CONFIRM: + return + + self._params.remove("CalibrationParams") + self._params.remove("LiveTorqueParameters") + self._params.remove("LiveParameters") + self._params.remove("LiveParametersV2") + self._params.remove("LiveDelay") + self._params.put_bool("OnroadCycleRequested", True) + + def _reboot_prompt(self): + if ui_state.engaged: + gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reboot")) + return + + gui_app.set_modal_overlay( + lambda: confirm_dialog("Are you sure you want to reboot?", "Reboot"), + callback=self._perform_reboot, + ) + + def _perform_reboot(self, result: int): + if not ui_state.engaged and result == DialogResult.CONFIRM: + self._params.put_bool_nonblocking("DoReboot", True) + + def _power_off_prompt(self): + if ui_state.engaged: + gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Power Off")) + return + + gui_app.set_modal_overlay( + lambda: confirm_dialog("Are you sure you want to power off?", "Power Off"), + callback=self._perform_power_off, + ) + + def _perform_power_off(self, result: int): + if not ui_state.engaged and result == DialogResult.CONFIRM: + self._params.put_bool_nonblocking("DoShutdown", True) + + def _pair_device(self): + if not self._pair_device_dialog: + self._pair_device_dialog = PairingDialog() + gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None)) + + def _on_regulatory(self): + if not self._fcc_dialog: + self._fcc_dialog = HtmlRenderer(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html")) + + gui_app.set_modal_overlay(self._fcc_dialog, + callback=lambda result: setattr(self, '_fcc_dialog', None), + ) + + def _on_review_training_guide(self): pass diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py new file mode 100644 index 0000000000..298f66e276 --- /dev/null +++ b/selfdrive/ui/layouts/settings/firehose.py @@ -0,0 +1,180 @@ +import pyray as rl +import json +import time +import threading + +from openpilot.common.api import Api, api_get +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.widget import Widget +from openpilot.selfdrive.ui.ui_state import ui_state + + +TITLE = "Firehose Mode" +DESCRIPTION = ( + "openpilot learns to drive by watching humans, like you, drive.\n\n" + + "Firehose Mode allows you to maximize your training data uploads to improve " + + "openpilot's driving models. More data means bigger models, which means better Experimental Mode." +) +INSTRUCTIONS = ( + "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n" + + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n\n" + + "Frequently Asked Questions\n\n" + + "Does it matter how or where I drive? Nope, just drive as you normally would.\n\n" + + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n\n" + + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n\n" + + "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training." +) + + +class FirehoseLayout(Widget): + PARAM_KEY = "ApiCache_FirehoseStats" + GREEN = rl.Color(46, 204, 113, 255) + RED = rl.Color(231, 76, 60, 255) + GRAY = rl.Color(68, 68, 68, 255) + LIGHT_GRAY = rl.Color(228, 228, 228, 255) + UPDATE_INTERVAL = 30 # seconds + + def __init__(self): + super().__init__() + self.params = Params() + self.segment_count = self._get_segment_count() + self.scroll_panel = GuiScrollPanel() + + self.running = True + self.update_thread = threading.Thread(target=self._update_loop, daemon=True) + self.update_thread.start() + self.last_update_time = 0 + + def _get_segment_count(self) -> int: + stats = self.params.get(self.PARAM_KEY, encoding='utf8') + if not stats: + return 0 + try: + return int(json.loads(stats).get("firehose", 0)) + except Exception: + cloudlog.exception(f"Failed to decode firehose stats: {stats}") + return 0 + + def __del__(self): + self.running = False + if self.update_thread and self.update_thread.is_alive(): + self.update_thread.join(timeout=1.0) + + def _render(self, rect: rl.Rectangle): + # Calculate content dimensions + content_width = rect.width - 80 + content_height = self._calculate_content_height(int(content_width)) + content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height) + + # Handle scrolling and render with clipping + scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect) + rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) + self._render_content(rect, scroll_offset) + rl.end_scissor_mode() + + def _calculate_content_height(self, content_width: int) -> int: + height = 80 # Top margin + + # Title + height += 100 + 40 + + # Description + desc_font = gui_app.font(FontWeight.NORMAL) + desc_lines = wrap_text(desc_font, DESCRIPTION, 45, content_width) + height += len(desc_lines) * 45 + 40 + + # Status section + height += 32 # Separator + status_text, _ = self._get_status() + status_lines = wrap_text(gui_app.font(FontWeight.BOLD), status_text, 60, content_width) + height += len(status_lines) * 60 + 20 + + # Contribution count (if available) + if self.segment_count > 0: + contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far." + contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 52, content_width) + height += len(contrib_lines) * 52 + 20 + + # Instructions section + height += 32 # Separator + inst_lines = wrap_text(gui_app.font(FontWeight.NORMAL), INSTRUCTIONS, 40, content_width) + height += len(inst_lines) * 40 + 40 # Bottom margin + + return height + + def _render_content(self, rect: rl.Rectangle, scroll_offset: rl.Vector2): + x = int(rect.x + 40) + y = int(rect.y + 40 + scroll_offset.y) + w = int(rect.width - 80) + + # Title + title_font = gui_app.font(FontWeight.MEDIUM) + rl.draw_text_ex(title_font, TITLE, rl.Vector2(x, y), 100, 0, rl.WHITE) + y += 140 + + # Description + y = self._draw_wrapped_text(x, y, w, DESCRIPTION, gui_app.font(FontWeight.NORMAL), 45, rl.WHITE) + y += 40 + + # Separator + rl.draw_rectangle(x, y, w, 2, self.GRAY) + y += 30 + + # Status + status_text, status_color = self._get_status() + y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color) + y += 20 + + # Contribution count (if available) + if self.segment_count > 0: + contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far." + y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE) + y += 20 + + # Separator + rl.draw_rectangle(x, y, w, 2, self.GRAY) + y += 30 + + # Instructions + self._draw_wrapped_text(x, y, w, INSTRUCTIONS, gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY) + + def _draw_wrapped_text(self, x, y, width, text, font, size, color): + wrapped = wrap_text(font, text, size, width) + for line in wrapped: + rl.draw_text_ex(font, line, rl.Vector2(x, y), size, 0, color) + y += size + return y + + def _get_status(self) -> tuple[str, rl.Color]: + network_type = ui_state.sm["deviceState"].networkType + network_metered = ui_state.sm["deviceState"].networkMetered + + if not network_metered and network_type != 0: # Not metered and connected + return "ACTIVE", self.GREEN + else: + return "INACTIVE: connect to an unmetered network", self.RED + + def _fetch_firehose_stats(self): + try: + dongle_id = self.params.get("DongleId", encoding='utf8') + if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: + return + identity_token = Api(dongle_id).get_token() + response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) + if response.status_code == 200: + data = response.json() + self.segment_count = data.get("firehose", 0) + self.params.put(self.PARAM_KEY, json.dumps(data)) + except Exception as e: + cloudlog.error(f"Failed to fetch firehose stats: {e}") + + def _update_loop(self): + while self.running: + if not ui_state.started: + self._fetch_firehose_stats() + time.sleep(self.UPDATE_INTERVAL) diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py new file mode 100644 index 0000000000..4a29f408ee --- /dev/null +++ b/selfdrive/ui/layouts/settings/settings.py @@ -0,0 +1,156 @@ +import pyray as rl +from dataclasses import dataclass +from enum import IntEnum +from collections.abc import Callable +from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout +from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout +from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout +from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout +from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.selfdrive.ui.layouts.network import NetworkLayout +from openpilot.system.ui.lib.widget import Widget + +# Import individual panels + +SETTINGS_CLOSE_TEXT = "X" +# Constants +SIDEBAR_WIDTH = 500 +CLOSE_BTN_SIZE = 200 +NAV_BTN_HEIGHT = 110 +PANEL_MARGIN = 50 + +# Colors +SIDEBAR_COLOR = rl.BLACK +PANEL_COLOR = rl.Color(41, 41, 41, 255) +CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255) +CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255) +TEXT_NORMAL = rl.Color(128, 128, 128, 255) +TEXT_SELECTED = rl.Color(255, 255, 255, 255) + + +class PanelType(IntEnum): + DEVICE = 0 + NETWORK = 1 + TOGGLES = 2 + SOFTWARE = 3 + FIREHOSE = 4 + DEVELOPER = 5 + + +@dataclass +class PanelInfo: + name: str + instance: object + button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) + + +class SettingsLayout(Widget): + def __init__(self): + super().__init__() + self._current_panel = PanelType.DEVICE + + # Panel configuration + self._panels = { + PanelType.DEVICE: PanelInfo("Device", DeviceLayout()), + PanelType.NETWORK: PanelInfo("Network", NetworkLayout()), + PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()), + PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()), + PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()), + PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout()), + } + + self._font_medium = gui_app.font(FontWeight.MEDIUM) + self._font_bold = gui_app.font(FontWeight.SEMI_BOLD) + + # Callbacks + self._close_callback: Callable | None = None + + def set_callbacks(self, on_close: Callable): + self._close_callback = on_close + + def _render(self, rect: rl.Rectangle): + # Calculate layout + sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height) + panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height) + + # Draw components + self._draw_sidebar(sidebar_rect) + self._draw_current_panel(panel_rect) + + def _draw_sidebar(self, rect: rl.Rectangle): + rl.draw_rectangle_rec(rect, SIDEBAR_COLOR) + + # Close button + close_btn_rect = rl.Rectangle( + rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 45, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE + ) + + pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect)) + close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR + rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color) + + close_text_size = measure_text_cached(self._font_bold, SETTINGS_CLOSE_TEXT, 140) + close_text_pos = rl.Vector2( + close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2, + close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2, + ) + rl.draw_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, close_text_pos, 140, 0, TEXT_SELECTED) + + # Store close button rect for click detection + self._close_btn_rect = close_btn_rect + + # Navigation buttons + y = rect.y + 300 + for panel_type, panel_info in self._panels.items(): + button_rect = rl.Rectangle(rect.x + 50, y, rect.width - 150, NAV_BTN_HEIGHT) + + # Button styling + is_selected = panel_type == self._current_panel + text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL + # Draw button text (right-aligned) + text_size = measure_text_cached(self._font_medium, panel_info.name, 65) + text_pos = rl.Vector2( + button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(self._font_medium, panel_info.name, text_pos, 65, 0, text_color) + + # Store button rect for click detection + panel_info.button_rect = button_rect + + y += NAV_BTN_HEIGHT + + def _draw_current_panel(self, rect: rl.Rectangle): + rl.draw_rectangle_rounded( + rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20), 0.04, 30, PANEL_COLOR + ) + content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50) + # rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR) + panel = self._panels[self._current_panel] + if panel.instance: + panel.instance.render(content_rect) + + def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: + # Check close button + if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect): + if self._close_callback: + self._close_callback() + return True + + # Check navigation buttons + for panel_type, panel_info in self._panels.items(): + if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect): + self.set_current_panel(panel_type) + return True + + return False + + def set_current_panel(self, panel_type: PanelType): + if panel_type != self._current_panel: + self._current_panel = panel_type + + def close_settings(self): + if self._close_callback: + self._close_callback() diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py new file mode 100644 index 0000000000..b97e306ff9 --- /dev/null +++ b/selfdrive/ui/layouts/settings/software.py @@ -0,0 +1,42 @@ +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.list_view import button_item, text_item +from openpilot.system.ui.lib.scroller import Scroller +from openpilot.system.ui.lib.widget import Widget, DialogResult +from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog + + +class SoftwareLayout(Widget): + def __init__(self): + super().__init__() + + self._params = Params() + items = self._init_items() + self._scroller = Scroller(items, line_separator=True, spacing=0) + + def _init_items(self): + items = [ + text_item("Current Version", ""), + button_item("Download", "CHECK", callback=self._on_download_update), + button_item("Install Update", "INSTALL", callback=self._on_install_update), + button_item("Target Branch", "SELECT", callback=self._on_select_branch), + button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall), + ] + return items + + def _render(self, rect): + self._scroller.render(rect) + + def _on_download_update(self): pass + def _on_install_update(self): pass + def _on_select_branch(self): pass + + def _on_uninstall(self): + def handle_uninstall_confirmation(result): + if result == DialogResult.CONFIRM: + self._params.put_bool("DoUninstall", True) + + gui_app.set_modal_overlay( + lambda: confirm_dialog("Are you sure you want to uninstall?", "Uninstall"), + callback=handle_uninstall_confirmation, + ) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py new file mode 100644 index 0000000000..5c17082769 --- /dev/null +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -0,0 +1,88 @@ +from openpilot.system.ui.lib.list_view import multiple_button_item, toggle_item +from openpilot.system.ui.lib.scroller import Scroller +from openpilot.system.ui.lib.widget import Widget +from openpilot.common.params import Params + +# Description constants +DESCRIPTIONS = { + "OpenpilotEnabledToggle": ( + "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " + + "Your attention is required at all times to use this feature." + ), + "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.", + "LongitudinalPersonality": ( + "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " + + "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " + + "your steering wheel distance button." + ), + "IsLdwEnabled": ( + "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " + + "without a turn signal activated while driving over 31 mph (50 km/h)." + ), + "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.", + 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", + "IsMetric": "Display speed in km/h instead of mph.", +} + + +class TogglesLayout(Widget): + def __init__(self): + super().__init__() + self._params = Params() + items = [ + toggle_item( + "Enable openpilot", + DESCRIPTIONS["OpenpilotEnabledToggle"], + self._params.get_bool("OpenpilotEnabledToggle"), + icon="chffr_wheel.png", + ), + toggle_item( + "Experimental Mode", + initial_state=self._params.get_bool("ExperimentalMode"), + icon="experimental_white.png", + ), + toggle_item( + "Disengage on Accelerator Pedal", + DESCRIPTIONS["DisengageOnAccelerator"], + self._params.get_bool("DisengageOnAccelerator"), + icon="disengage_on_accelerator.png", + ), + multiple_button_item( + "Driving Personality", + DESCRIPTIONS["LongitudinalPersonality"], + buttons=["Aggressive", "Standard", "Relaxed"], + button_width=255, + callback=self._set_longitudinal_personality, + selected_index=int(self._params.get("LongitudinalPersonality") or 0), + icon="speed_limit.png" + ), + toggle_item( + "Enable Lane Departure Warnings", + DESCRIPTIONS["IsLdwEnabled"], + self._params.get_bool("IsLdwEnabled"), + icon="warning.png", + ), + toggle_item( + "Always-On Driver Monitoring", + DESCRIPTIONS["AlwaysOnDM"], + self._params.get_bool("AlwaysOnDM"), + icon="monitoring.png", + ), + toggle_item( + "Record and Upload Driver Camera", + DESCRIPTIONS["RecordFront"], + self._params.get_bool("RecordFront"), + icon="monitoring.png", + ), + toggle_item( + "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png" + ), + ] + + self._scroller = Scroller(items, line_separator=True, spacing=0) + + def _render(self, rect): + self._scroller.render(rect) + + def _set_longitudinal_personality(self, button_index: int): + self._params.put("LongitudinalPersonality", str(button_index)) diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py new file mode 100644 index 0000000000..13f69b79d4 --- /dev/null +++ b/selfdrive/ui/layouts/sidebar.py @@ -0,0 +1,204 @@ +import pyray as rl +import time +from dataclasses import dataclass +from collections.abc import Callable +from cereal import log +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.widget import Widget + +SIDEBAR_WIDTH = 300 +METRIC_HEIGHT = 126 +METRIC_WIDTH = 240 +METRIC_MARGIN = 30 + +SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117) +HOME_BTN = rl.Rectangle(60, 860, 180, 180) + +ThermalStatus = log.DeviceState.ThermalStatus +NetworkType = log.DeviceState.NetworkType + + +# Color scheme +class Colors: + SIDEBAR_BG = rl.Color(57, 57, 57, 255) + WHITE = rl.Color(255, 255, 255, 255) + WHITE_DIM = rl.Color(255, 255, 255, 85) + GRAY = rl.Color(84, 84, 84, 255) + + # Status colors + GOOD = rl.Color(255, 255, 255, 255) + WARNING = rl.Color(218, 202, 37, 255) + DANGER = rl.Color(201, 34, 49, 255) + + # UI elements + METRIC_BORDER = rl.Color(255, 255, 255, 85) + BUTTON_NORMAL = rl.Color(255, 255, 255, 255) + BUTTON_PRESSED = rl.Color(255, 255, 255, 166) + + +NETWORK_TYPES = { + NetworkType.none: "Offline", + NetworkType.wifi: "WiFi", + NetworkType.cell2G: "2G", + NetworkType.cell3G: "3G", + NetworkType.cell4G: "LTE", + NetworkType.cell5G: "5G", + NetworkType.ethernet: "Ethernet", +} + + +@dataclass(slots=True) +class MetricData: + label: str + value: str + color: rl.Color + + def update(self, label: str, value: str, color: rl.Color): + self.label = label + self.value = value + self.color = color + + +class Sidebar(Widget): + def __init__(self): + super().__init__() + self._net_type = NETWORK_TYPES.get(NetworkType.none) + self._net_strength = 0 + + self._temp_status = MetricData("TEMP", "GOOD", Colors.GOOD) + self._panda_status = MetricData("VEHICLE", "ONLINE", Colors.GOOD) + self._connect_status = MetricData("CONNECT", "OFFLINE", Colors.WARNING) + + self._home_img = gui_app.texture("images/button_home.png", HOME_BTN.width, HOME_BTN.height) + self._flag_img = gui_app.texture("images/button_flag.png", HOME_BTN.width, HOME_BTN.height) + self._settings_img = gui_app.texture("images/button_settings.png", SETTINGS_BTN.width, SETTINGS_BTN.height) + self._font_regular = gui_app.font(FontWeight.NORMAL) + self._font_bold = gui_app.font(FontWeight.SEMI_BOLD) + + # Callbacks + self._on_settings_click: Callable | None = None + self._on_flag_click: Callable | None = None + + def set_callbacks(self, on_settings: Callable | None = None, on_flag: Callable | None = None): + self._on_settings_click = on_settings + self._on_flag_click = on_flag + + def _render(self, rect: rl.Rectangle): + # Background + rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG) + + self._draw_buttons(rect) + self._draw_network_indicator(rect) + self._draw_metrics(rect) + + def _update_state(self): + sm = ui_state.sm + if not sm.updated['deviceState']: + return + + device_state = sm['deviceState'] + + self._update_network_status(device_state) + self._update_temperature_status(device_state) + self._update_connection_status(device_state) + self._update_panda_status() + + def _update_network_status(self, device_state): + self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, "Unknown") + strength = device_state.networkStrength + self._net_strength = max(0, min(5, strength.raw + 1)) if strength > 0 else 0 + + def _update_temperature_status(self, device_state): + thermal_status = device_state.thermalStatus + + if thermal_status == ThermalStatus.green: + self._temp_status.update("TEMP", "GOOD", Colors.GOOD) + elif thermal_status == ThermalStatus.yellow: + self._temp_status.update("TEMP", "OK", Colors.WARNING) + else: + self._temp_status.update("TEMP", "HIGH", Colors.DANGER) + + def _update_connection_status(self, device_state): + last_ping = device_state.lastAthenaPingTime + if last_ping == 0: + self._connect_status.update("CONNECT", "OFFLINE", Colors.WARNING) + elif time.monotonic_ns() - last_ping < 80_000_000_000: # 80 seconds in nanoseconds + self._connect_status.update("CONNECT", "ONLINE", Colors.GOOD) + else: + self._connect_status.update("CONNECT", "ERROR", Colors.DANGER) + + def _update_panda_status(self): + if ui_state.panda_type == log.PandaState.PandaType.unknown: + self._panda_status.update("NO", "PANDA", Colors.DANGER) + else: + self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD) + + def _handle_mouse_release(self, mouse_pos: rl.Vector2): + if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN): + if self._on_settings_click: + self._on_settings_click() + elif rl.check_collision_point_rec(mouse_pos, HOME_BTN) and ui_state.started: + if self._on_flag_click: + self._on_flag_click() + + def _draw_buttons(self, rect: rl.Rectangle): + mouse_pos = rl.get_mouse_position() + mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) + + # Settings button + settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN) + tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL + rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint) + + # Home/Flag button + flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN) + button_img = self._flag_img if ui_state.started else self._home_img + + tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL + rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint) + + def _draw_network_indicator(self, rect: rl.Rectangle): + # Signal strength dots + x_start = rect.x + 58 + y_pos = rect.y + 196 + dot_size = 27 + dot_spacing = 37 + + for i in range(5): + color = Colors.WHITE if i < self._net_strength else Colors.GRAY + x = int(x_start + i * dot_spacing + dot_size // 2) + y = int(y_pos + dot_size // 2) + rl.draw_circle(x, y, dot_size // 2, color) + + # Network type text + text_y = rect.y + 247 + text_pos = rl.Vector2(rect.x + 58, text_y) + rl.draw_text_ex(self._font_regular, self._net_type, text_pos, 35, 0, Colors.WHITE) + + def _draw_metrics(self, rect: rl.Rectangle): + metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)] + + for metric, y_offset in metrics: + self._draw_metric(rect, metric, rect.y + y_offset) + + def _draw_metric(self, rect: rl.Rectangle, metric: MetricData, y: float): + metric_rect = rl.Rectangle(rect.x + METRIC_MARGIN, y, METRIC_WIDTH, METRIC_HEIGHT) + # Draw colored left edge (clipped rounded rectangle) + edge_rect = rl.Rectangle(metric_rect.x + 4, metric_rect.y + 4, 100, 118) + rl.begin_scissor_mode(int(metric_rect.x + 4), int(metric_rect.y), 18, int(metric_rect.height)) + rl.draw_rectangle_rounded(edge_rect, 0.18, 10, metric.color) + rl.end_scissor_mode() + + # Draw border + rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER) + + # Draw text + text = f"{metric.label}\n{metric.value}" + text_size = measure_text_cached(self._font_bold, text, 35) + text_pos = rl.Vector2( + metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2, + metric_rect.y + (metric_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(self._font_bold, text, text_pos, 35, 0, Colors.WHITE) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py new file mode 100644 index 0000000000..6b87540f65 --- /dev/null +++ b/selfdrive/ui/lib/prime_state.py @@ -0,0 +1,99 @@ +from enum import IntEnum +import os +import threading +import time + +from openpilot.common.api import Api, api_get +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID + + +class PrimeType(IntEnum): + UNKNOWN = -2, + UNPAIRED = -1, + NONE = 0, + MAGENTA = 1, + LITE = 2, + BLUE = 3, + MAGENTA_NEW = 4, + PURPLE = 5, + + +class PrimeState: + FETCH_INTERVAL = 5.0 # seconds between API calls + API_TIMEOUT = 10.0 # seconds for API requests + SLEEP_INTERVAL = 0.5 # seconds to sleep between checks in the worker thread + + def __init__(self): + self._params = Params() + self._lock = threading.Lock() + self.prime_type: PrimeType = self._load_initial_state() + + self._running = False + self._thread = None + self.start() + + def _load_initial_state(self) -> PrimeType: + prime_type_str = os.getenv("PRIME_TYPE") or self._params.get("PrimeType", encoding='utf8') + try: + if prime_type_str is not None: + return PrimeType(int(prime_type_str)) + except (ValueError, TypeError): + pass + return PrimeType.UNKNOWN + + def _fetch_prime_status(self) -> None: + dongle_id = self._params.get("DongleId", encoding='utf8') + if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: + return + + try: + identity_token = Api(dongle_id).get_token() + response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) + if response.status_code == 200: + data = response.json() + is_paired = data.get("is_paired", False) + prime_type = data.get("prime_type", 0) + self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED) + except Exception as e: + cloudlog.error(f"Failed to fetch prime status: {e}") + + def set_type(self, prime_type: PrimeType) -> None: + with self._lock: + if prime_type != self.prime_type: + self.prime_type = prime_type + self._params.put("PrimeType", str(int(prime_type))) + cloudlog.info(f"Prime type updated to {prime_type}") + + def _worker_thread(self) -> None: + while self._running: + self._fetch_prime_status() + + for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)): + if not self._running: + break + time.sleep(self.SLEEP_INTERVAL) + + def start(self) -> None: + if self._thread and self._thread.is_alive(): + return + self._running = True + self._thread = threading.Thread(target=self._worker_thread, daemon=True) + self._thread.start() + + def stop(self) -> None: + self._running = False + if self._thread and self._thread.is_alive(): + self._thread.join(timeout=1.0) + + def get_type(self) -> PrimeType: + with self._lock: + return self.prime_type + + def is_prime(self) -> bool: + with self._lock: + return bool(self.prime_type > PrimeType.NONE) + + def __del__(self): + self.stop() diff --git a/selfdrive/ui/onroad/__init__.py b/selfdrive/ui/onroad/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py new file mode 100644 index 0000000000..7a17291bbe --- /dev/null +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -0,0 +1,162 @@ +import time +import pyray as rl +from dataclasses import dataclass +from cereal import messaging, log +from openpilot.system.hardware import TICI +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS +from openpilot.system.ui.lib.label import gui_text_box +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.widget import Widget +from openpilot.selfdrive.ui.ui_state import ui_state + +ALERT_MARGIN = 40 +ALERT_PADDING = 60 +ALERT_LINE_SPACING = 45 +ALERT_BORDER_RADIUS = 30 + +ALERT_FONT_SMALL = 66 +ALERT_FONT_MEDIUM = 74 +ALERT_FONT_BIG = 88 + +SELFDRIVE_STATE_TIMEOUT = 5 # Seconds +SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds + +# Constants +ALERT_COLORS = { + log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 235), # Black + log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 235), # Orange + log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 235), # Red +} + + +@dataclass +class Alert: + text1: str = "" + text2: str = "" + size: int = 0 + status: int = 0 + + +# Pre-defined alert instances +ALERT_STARTUP_PENDING = Alert( + text1="openpilot Unavailable", + text2="Waiting to start", + size=log.SelfdriveState.AlertSize.mid, + status=log.SelfdriveState.AlertStatus.normal, +) + +ALERT_CRITICAL_TIMEOUT = Alert( + text1="TAKE CONTROL IMMEDIATELY", + text2="System Unresponsive", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, +) + +ALERT_CRITICAL_REBOOT = Alert( + text1="System Unresponsive", + text2="Reboot Device", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, +) + + +class AlertRenderer(Widget): + def __init__(self): + super().__init__() + self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL) + self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD) + + def get_alert(self, sm: messaging.SubMaster) -> Alert | None: + """Generate the current alert based on selfdrive state.""" + ss = sm['selfdriveState'] + + # Check if selfdriveState messages have stopped arriving + if not sm.updated['selfdriveState']: + recv_frame = sm.recv_frame['selfdriveState'] + time_since_onroad = (sm.frame - ui_state.started_frame) / DEFAULT_FPS + + # 1. Never received selfdriveState since going onroad + waiting_for_startup = recv_frame < ui_state.started_frame + if waiting_for_startup and time_since_onroad > 5: + return ALERT_STARTUP_PENDING + + # 2. Lost communication with selfdriveState after receiving it + if TICI and not waiting_for_startup: + ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] + if ss_missing > SELFDRIVE_STATE_TIMEOUT: + if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: + return ALERT_CRITICAL_TIMEOUT + return ALERT_CRITICAL_REBOOT + + # No alert if size is none + if ss.alertSize == 0: + return None + + # Return current alert + return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize, status=ss.alertStatus) + + def _render(self, rect: rl.Rectangle) -> bool: + alert = self.get_alert(ui_state.sm) + if not alert: + return False + + alert_rect = self._get_alert_rect(rect, alert.size) + self._draw_background(alert_rect, alert) + + text_rect = rl.Rectangle( + alert_rect.x + ALERT_PADDING, + alert_rect.y + ALERT_PADDING, + alert_rect.width - 2 * ALERT_PADDING, + alert_rect.height - 2 * ALERT_PADDING + ) + self._draw_text(text_rect, alert) + return True + + def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle: + if size == log.SelfdriveState.AlertSize.full: + return rect + + height = (ALERT_FONT_MEDIUM + 2 * ALERT_PADDING if size == log.SelfdriveState.AlertSize.small else + ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING) + + return rl.Rectangle( + rect.x + ALERT_MARGIN, + rect.y + rect.height - ALERT_MARGIN - height, + rect.width - 2 * ALERT_MARGIN, + height + ) + + def _draw_background(self, rect: rl.Rectangle, alert: Alert) -> None: + color = ALERT_COLORS.get(alert.status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal]) + + if alert.size != log.SelfdriveState.AlertSize.full: + roundness = ALERT_BORDER_RADIUS / (min(rect.width, rect.height) / 2) + rl.draw_rectangle_rounded(rect, roundness, 10, color) + else: + rl.draw_rectangle_rec(rect, color) + + def _draw_text(self, rect: rl.Rectangle, alert: Alert) -> None: + if alert.size == log.SelfdriveState.AlertSize.small: + self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM) + + elif alert.size == log.SelfdriveState.AlertSize.mid: + self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_BIG, center_y=False) + rect.y += ALERT_FONT_BIG + ALERT_LINE_SPACING + self._draw_centered(alert.text2, rect, self.font_regular, ALERT_FONT_SMALL, center_y=False) + + else: + is_long = len(alert.text1) > 15 + font_size1 = 132 if is_long else 177 + align_ment = rl.GuiTextAlignment.TEXT_ALIGN_CENTER + vertical_align = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE + text_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height // 2) + + gui_text_box(text_rect, alert.text1, font_size1, alignment=align_ment, alignment_vertical=vertical_align, font_weight=FontWeight.BOLD) + text_rect.y = rect.y + rect.height // 2 + gui_text_box(text_rect, alert.text2, ALERT_FONT_BIG, alignment=align_ment) + + def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None: + text_size = measure_text_cached(font, text, font_size) + x = rect.x + (rect.width - text_size.x) / 2 + y = rect.y + ((rect.height - text_size.y) / 2 if center_y else 0) + rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color) diff --git a/system/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py similarity index 57% rename from system/ui/onroad/augmented_road_view.py rename to selfdrive/ui/onroad/augmented_road_view.py index 18f94325f4..dbc1919221 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -1,37 +1,38 @@ import numpy as np import pyray as rl -from enum import Enum - -from cereal import messaging, log +from collections.abc import Callable +from cereal import log from msgq.visionipc import VisionStreamType -from openpilot.system.ui.onroad.alert_renderer import AlertRenderer -from openpilot.system.ui.onroad.driver_state import DriverStateRenderer -from openpilot.system.ui.onroad.hud_renderer import HudRenderer -from openpilot.system.ui.onroad.model_renderer import ModelRenderer -from openpilot.system.ui.widgets.cameraview import CameraView +from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE +from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer +from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer +from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer +from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer +from openpilot.selfdrive.ui.onroad.cameraview import CameraView from openpilot.system.ui.lib.application import gui_app from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame from openpilot.common.transformations.orientation import rot_from_euler - OpState = log.SelfdriveState.OpenpilotState CALIBRATED = log.LiveCalibrationData.Status.calibrated +ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD +WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"] -UI_BORDER_SIZE = 30 -class BorderStatus(Enum): - DISENGAGED = rl.Color(0x17, 0x33, 0x49, 0xc8) # Blue for disengaged state - OVERRIDE = rl.Color(0x91, 0x9b, 0x95, 0xf1) # Gray for override state - ENGAGED = rl.Color(0x17, 0x86, 0x44, 0xf1) # Green for engaged state +BORDER_COLORS = { + UIStatus.DISENGAGED: rl.Color(0x17, 0x33, 0x49, 0xC8), # Blue for disengaged state + UIStatus.OVERRIDE: rl.Color(0x91, 0x9B, 0x95, 0xF1), # Gray for override state + UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1), # Green for engaged state +} + +WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph) +ROAD_CAM_MIN_SPEED = 15.0 # m/s (34 mph) class AugmentedRoadView(CameraView): - def __init__(self, sm: messaging.SubMaster, stream_type: VisionStreamType): + def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD): super().__init__("camerad", stream_type) - - self.sm = sm - self.stream_type = stream_type - self.is_wide_camera = stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD + self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED]) self.device_camera: DeviceCameraConfig | None = None self.view_from_calib = view_frame_from_device_frame.copy() @@ -39,6 +40,7 @@ class AugmentedRoadView(CameraView): self._last_calib_time: float = 0 self._last_rect_dims = (0.0, 0.0) + self._last_stream_type = stream_type self._cached_matrix: np.ndarray | None = None self._content_rect = rl.Rectangle() @@ -47,7 +49,19 @@ class AugmentedRoadView(CameraView): self.alert_renderer = AlertRenderer() self.driver_state_renderer = DriverStateRenderer() - def render(self, rect): + # Callbacks + self._click_callback: Callable | None = None + + def set_callbacks(self, on_click: Callable | None = None): + self._click_callback = on_click + + def _render(self, rect): + # Only render when system is started to avoid invalid data access + if not ui_state.started: + return + + self._switch_stream_if_needed(ui_state.sm) + # Update calibration before rendering self._update_calibration() @@ -72,13 +86,13 @@ class AugmentedRoadView(CameraView): ) # Render the base camera view - super().render(rect) + super()._render(rect) # Draw all UI overlays - self.model_renderer.draw(self._content_rect, self.sm) - self._hud_renderer.draw(self._content_rect, self.sm) - self.alert_renderer.draw(self._content_rect, self.sm) - self.driver_state_renderer.draw(self._content_rect, self.sm) + self.model_renderer.render(self._content_rect) + self._hud_renderer.render(self._content_rect) + if not self.alert_renderer.render(self._content_rect): + self.driver_state_renderer.render(self._content_rect) # Custom UI extension point - add custom overlays here # Use self._content_rect for positioning within camera bounds @@ -86,19 +100,35 @@ class AugmentedRoadView(CameraView): # End clipping region rl.end_scissor_mode() - def _draw_border(self, rect: rl.Rectangle): - state = self.sm["selfdriveState"] - if state.state in (OpState.preEnabled, OpState.overriding): - status = BorderStatus.OVERRIDE - elif state.enabled: - status = BorderStatus.ENGAGED - else: - status = BorderStatus.DISENGAGED + # Handle click events if no HUD interaction occurred + if not self._hud_renderer.handle_mouse_event(): + if self._click_callback and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + if rl.check_collision_point_rec(rl.get_mouse_position(), self._content_rect): + self._click_callback() - rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, status.value) + def _draw_border(self, rect: rl.Rectangle): + border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED]) + rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color) + + def _switch_stream_if_needed(self, sm): + if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams: + v_ego = sm['carState'].vEgo + if v_ego < WIDE_CAM_MAX_SPEED: + target = WIDE_CAM + elif v_ego > ROAD_CAM_MIN_SPEED: + target = ROAD_CAM + else: + # Hysteresis zone - keep current stream + target = self.stream_type + else: + target = ROAD_CAM + + if self.stream_type != target: + self.switch_stream(target) def _update_calibration(self): # Update device camera if not already set + sm = ui_state.sm if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']: self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -106,7 +136,7 @@ class AugmentedRoadView(CameraView): if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']): return - calib = self.sm['liveCalibration'] + calib = sm['liveCalibration'] if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED: return @@ -121,18 +151,20 @@ class AugmentedRoadView(CameraView): def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: # Check if we can use cached matrix - calib_time = self.sm.recv_frame['liveCalibration'] + calib_time = ui_state.sm.recv_frame['liveCalibration'] current_dims = (self._content_rect.width, self._content_rect.height) if (self._last_calib_time == calib_time and self._last_rect_dims == current_dims and + self._last_stream_type == self.stream_type and self._cached_matrix is not None): return self._cached_matrix # Get camera configuration device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA - intrinsic = device_camera.ecam.intrinsics if self.is_wide_camera else device_camera.fcam.intrinsics - calibration = self.view_from_wide_calib if self.is_wide_camera else self.view_from_calib - zoom = 2.0 if self.is_wide_camera else 1.1 + is_wide_camera = self.stream_type == WIDE_CAM + intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics + calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib + zoom = 2.0 if is_wide_camera else 1.1 # Calculate transforms for vanishing point inf_point = np.array([1000.0, 0.0, 0.0]) @@ -159,9 +191,10 @@ class AugmentedRoadView(CameraView): except (ZeroDivisionError, OverflowError): x_offset, y_offset = 0, 0 - # Update cache values + # Cache the computed transformation matrix to avoid recalculations self._last_calib_time = calib_time self._last_rect_dims = current_dims + self._last_stream_type = self.stream_type self._cached_matrix = np.array([ [zoom * 2 * cx / w, 0, -x_offset / w * 2], [0, zoom * 2 * cy / h, -y_offset / h * 2], @@ -169,9 +202,9 @@ class AugmentedRoadView(CameraView): ]) video_transform = np.array([ - [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)], - [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)], - [0.0, 0.0, 1.0] + [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)], + [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)], + [0.0, 0.0, 1.0] ]) self.model_renderer.set_transform(video_transform @ calib_transform) @@ -180,13 +213,15 @@ class AugmentedRoadView(CameraView): if __name__ == "__main__": gui_app.init_window("OnRoad Camera View") - sm = messaging.SubMaster(["modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", - "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", - "roadCameraState", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan"]) - road_camera_view = AugmentedRoadView(sm, VisionStreamType.VISION_STREAM_ROAD) + road_camera_view = AugmentedRoadView(ROAD_CAM) + print("***press space to switch camera view***") try: for _ in gui_app.render(): - sm.update(0) + ui_state.update() + if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): + if WIDE_CAM in road_camera_view.available_streams: + stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM + road_camera_view.switch_stream(stream) road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: road_camera_view.close() diff --git a/system/ui/widgets/cameraview.py b/selfdrive/ui/onroad/cameraview.py similarity index 69% rename from system/ui/widgets/cameraview.py rename to selfdrive/ui/onroad/cameraview.py index 49832444f8..33f1961d2b 100644 --- a/system/ui/widgets/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -1,16 +1,27 @@ +import platform import numpy as np import pyray as rl from openpilot.system.hardware import TICI from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage - +from openpilot.system.ui.lib.widget import Widget CONNECTION_RETRY_INTERVAL = 0.2 # seconds between connection attempts -VERTEX_SHADER = """ +VERSION = """ #version 300 es +precision mediump float; +""" +if platform.system() == "Darwin": + VERSION = """ + #version 330 core + """ + + +VERTEX_SHADER = VERSION + """ in vec3 vertexPosition; in vec2 vertexTexCoord; in vec3 vertexNormal; @@ -40,9 +51,7 @@ if TICI: } """ else: - FRAME_FRAGMENT_SHADER = """ - #version 300 es - precision mediump float; + FRAME_FRAGMENT_SHADER = VERSION + """ in vec2 fragTexCoord; uniform sampler2D texture0; uniform sampler2D texture1; @@ -54,9 +63,21 @@ else: } """ -class CameraView: + +class CameraView(Widget): def __init__(self, name: str, stream_type: VisionStreamType): - self.client = VisionIpcClient(name, stream_type, False) + super().__init__() + self._name = name + # Primary stream + self.client = VisionIpcClient(name, stream_type, conflate=True) + self._stream_type = stream_type + self.available_streams: list[VisionStreamType] = [] + + # Target stream for switching + self._target_client: VisionIpcClient | None = None + self._target_stream_type: VisionStreamType | None = None + self._switching: bool = False + self._texture_needs_update = True self.last_connection_attempt: float = 0.0 self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) @@ -70,6 +91,8 @@ class CameraView: self.egl_images: dict[int, EGLImage] = {} self.egl_texture: rl.Texture | None = None + self._placeholder_color: rl.Color | None = None + # Initialize EGL for zero-copy rendering on TICI if TICI: if not init_egl(): @@ -80,6 +103,30 @@ class CameraView: self.egl_texture = rl.load_texture_from_image(temp_image) rl.unload_image(temp_image) + def _set_placeholder_color(self, color: rl.Color): + """Set a placeholder color to be drawn when no frame is available.""" + self._placeholder_color = color + + def switch_stream(self, stream_type: VisionStreamType) -> None: + if self._stream_type == stream_type: + return + + if self._switching and self._target_stream_type == stream_type: + return + + cloudlog.debug(f'Preparing switch from {self._stream_type} to {stream_type}') + + if self._target_client: + del self._target_client + + self._target_stream_type = stream_type + self._target_client = VisionIpcClient(self._name, stream_type, conflate=True) + self._switching = True + + @property + def stream_type(self) -> VisionStreamType: + return self._stream_type + def close(self) -> None: self._clear_textures() @@ -92,6 +139,8 @@ class CameraView: if self.shader and self.shader.id: rl.unload_shader(self.shader) + self.client = None + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: if not self.frame: return np.eye(3) @@ -105,13 +154,17 @@ class CameraView: zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0) return np.array([ - [zx, 0.0, 0.0], - [0.0, zy, 0.0], - [0.0, 0.0, 1.0] + [zx, 0.0, 0.0], + [0.0, zy, 0.0], + [0.0, 0.0, 1.0] ]) - def render(self, rect: rl.Rectangle): + def _render(self, rect: rl.Rectangle): + if self._switching: + self._handle_switch() + if not self._ensure_connection(): + self._draw_placeholder(rect) return # Try to get a new buffer without blocking @@ -121,6 +174,7 @@ class CameraView: self.frame = buffer if not self.frame: + self._draw_placeholder(rect) return transform = self._calc_frame_matrix(rect) @@ -145,6 +199,10 @@ class CameraView: else: self._render_textures(src_rect, dst_rect) + def _draw_placeholder(self, rect: rl.Rectangle): + if self._placeholder_color: + rl.draw_rectangle_rec(rect, self._placeholder_color) + def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None: """Render using EGL for direct buffer access""" if self.frame is None or self.egl_texture is None: @@ -181,7 +239,7 @@ class CameraView: # Update textures with new frame data if self._texture_needs_update: y_data = self.frame.data[: self.frame.uv_offset] - uv_data = self.frame.data[self.frame.uv_offset :] + uv_data = self.frame.data[self.frame.uv_offset:] rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data)) rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data)) @@ -196,27 +254,69 @@ class CameraView: def _ensure_connection(self) -> bool: if not self.client.is_connected(): self.frame = None + self.available_streams.clear() # Throttle connection attempts current_time = rl.get_time() if current_time - self.last_connection_attempt < CONNECTION_RETRY_INTERVAL: return False - self.last_connection_attempt = current_time if not self.client.connect(False) or not self.client.num_buffers: return False - self._clear_textures() + cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}") + self._initialize_textures() + self.available_streams = self.client.available_streams(self._name, block=False) + return True + + def _handle_switch(self) -> None: + """Check if target stream is ready and switch immediately.""" + if not self._target_client or not self._switching: + return + + # Try to connect target if needed + if not self._target_client.is_connected(): + if not self._target_client.connect(False) or not self._target_client.num_buffers: + return + + cloudlog.debug(f"Target stream connected: {self._target_stream_type}") + + # Check if target has frames ready + target_frame = self._target_client.recv(timeout_ms=0) + if target_frame: + self.frame = target_frame # Update current frame to target frame + self._complete_switch() + + def _complete_switch(self) -> None: + """Instantly switch to target stream.""" + cloudlog.debug(f"Switching to {self._target_stream_type}") + # Clean up current resources + if self.client: + del self.client + + # Switch to target + self.client = self._target_client + self._stream_type = self._target_stream_type + self._texture_needs_update = True + + # Reset state + self._target_client = None + self._target_stream_type = None + self._switching = False + + # Initialize textures for new stream + self._initialize_textures() + + def _initialize_textures(self): + self._clear_textures() if not TICI: self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) - return True - def _clear_textures(self): if self.texture_y and self.texture_y.id: rl.unload_texture(self.texture_y) diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py new file mode 100644 index 0000000000..40c72f292b --- /dev/null +++ b/selfdrive/ui/onroad/driver_camera_dialog.py @@ -0,0 +1,98 @@ +import numpy as np +import pyray as rl +from msgq.visionipc import VisionStreamType +from openpilot.selfdrive.ui.onroad.cameraview import CameraView +from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_label + + +class DriverCameraDialog(CameraView): + def __init__(self): + super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER) + self.driver_state_renderer = DriverStateRenderer() + + def _render(self, rect): + super()._render(rect) + + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + return 1 + + if not self.frame: + gui_label( + rect, + "camera starting", + font_size=100, + font_weight=FontWeight.BOLD, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + ) + return -1 + + self._draw_face_detection(rect) + self.driver_state_renderer.render(rect) + + return -1 + + def _draw_face_detection(self, rect: rl.Rectangle) -> None: + driver_state = ui_state.sm["driverStateV2"] + is_rhd = driver_state.wheelOnRightProb > 0.5 + driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData + face_detect = driver_data.faceProb > 0.7 + if not face_detect: + return + + # Get face position and orientation + face_x, face_y = driver_data.facePosition + face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1]) + alpha = 0.7 + if face_std > 0.15: + alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0) + + # use approx instead of distort_points + # TODO: replace with distort_points + fbox_x = int(1080.0 - 1714.0 * face_x) + fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y) + box_size = 220 + + line_color = rl.Color(255, 255, 255, int(alpha * 255)) + rl.draw_rectangle_rounded_lines_ex( + rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size), + 35.0 / box_size / 2, + 10, + 10, + line_color, + ) + + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: + driver_view_ratio = 2.0 + + # Get stream dimensions + if self.frame: + stream_width = self.frame.width + stream_height = self.frame.height + else: + # Default values if frame not available + stream_width = 1928 + stream_height = 1208 + + yscale = stream_height * driver_view_ratio / stream_width + xscale = yscale * rect.height / rect.width * stream_width / stream_height + + return np.array([ + [xscale, 0.0, 0.0], + [0.0, yscale, 0.0], + [0.0, 0.0, 1.0] + ]) + + +if __name__ == "__main__": + gui_app.init_window("Driver Camera View") + + driver_camera_view = DriverCameraDialog() + try: + for _ in gui_app.render(): + ui_state.update() + driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + finally: + driver_camera_view.close() diff --git a/system/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py similarity index 73% rename from system/ui/onroad/driver_state.py rename to selfdrive/ui/onroad/driver_state.py index b998936903..8d5fb951d0 100644 --- a/system/ui/onroad/driver_state.py +++ b/selfdrive/ui/onroad/driver_state.py @@ -1,23 +1,24 @@ import numpy as np import pyray as rl from dataclasses import dataclass +from openpilot.selfdrive.ui.ui_state import ui_state, UI_BORDER_SIZE from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.widget import Widget # Default 3D coordinates for face keypoints as a NumPy array DEFAULT_FACE_KPTS_3D = np.array([ - [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00], - [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00], - [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00], - [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00], - [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00], - [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00], - [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00], - [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00], - [-5.98, -51.20, 8.00], + [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00], + [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00], + [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00], + [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00], + [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00], + [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00], + [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00], + [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00], + [-5.98, -51.20, 8.00], ], dtype=np.float32) # UI constants -UI_BORDER_SIZE = 30 BTN_SIZE = 192 IMG_SIZE = 144 ARC_LENGTH = 133 @@ -27,6 +28,10 @@ ARC_THICKNESS_EXTEND = 12.0 SCALES_POS = np.array([0.9, 0.4, 0.4], dtype=np.float32) SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32) +ARC_POINT_COUNT = 37 # Number of points in the arc +ARC_ANGLES = np.linspace(0.0, np.pi, ARC_POINT_COUNT, dtype=np.float32) + + @dataclass class ArcData: """Data structure for arc rendering parameters.""" @@ -36,14 +41,15 @@ class ArcData: height: float thickness: float -class DriverStateRenderer: + +class DriverStateRenderer(Widget): def __init__(self): + super().__init__() # Initial state with NumPy arrays self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy() self.is_active = False self.is_rhd = False self.dm_fade_state = 0.0 - self.state_updated = False self.last_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self.driver_pose_vals = np.zeros(3, dtype=np.float32) self.driver_pose_diff = np.zeros(3, dtype=np.float32) @@ -57,8 +63,8 @@ class DriverStateRenderer: # Pre-allocate drawing arrays self.face_lines = [rl.Vector2(0, 0) for _ in range(len(DEFAULT_FACE_KPTS_3D))] - self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(37)] # 37 points for horizontal arc - self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(37)] # 37 points for vertical arc + self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)] + self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)] # Load the driver face icon self.dm_img = gui_app.texture("icons/driver_face.png", IMG_SIZE, IMG_SIZE) @@ -69,14 +75,10 @@ class DriverStateRenderer: self.engaged_color = rl.Color(26, 242, 66, 255) self.disengaged_color = rl.Color(139, 139, 139, 255) - def draw(self, rect, sm): - if not self._is_visible(sm): - return - - self._update_state(sm, rect) - if not self.state_updated: - return + self.set_visible(lambda: (ui_state.sm.recv_frame['driverStateV2'] > ui_state.started_frame and + ui_state.sm.seen['driverMonitoringState'])) + def _render(self, rect): # Set opacity based on active state opacity = 0.65 if self.is_active else 0.2 @@ -92,8 +94,7 @@ class DriverStateRenderer: rl.draw_spline_linear(self.face_lines, len(self.face_lines), 5.2, self.white_color) # Set arc color based on engaged state - engaged = True - self.arc_color = self.engaged_color if engaged else self.disengaged_color + self.arc_color = self.engaged_color if ui_state.engaged else self.disengaged_color self.arc_color.a = int(0.4 * 255 * (1.0 - self.dm_fade_state)) # Fade out when inactive # Draw arcs @@ -102,18 +103,14 @@ class DriverStateRenderer: if self.v_arc_data: rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color) - def _is_visible(self, sm): - """Check if the visualization should be rendered.""" - return (sm.seen['driverStateV2'] and - sm.seen['driverMonitoringState'] and - sm['selfdriveState'].alertSize == 0) - - def _update_state(self, sm, rect): + def _update_state(self): """Update the driver monitoring state based on model data""" - if not sm.updated["driverMonitoringState"]: - if self.state_updated and (rect.x != self.last_rect.x or rect.y != self.last_rect.y or \ - rect.width != self.last_rect.width or rect.height != self.last_rect.height): - self._pre_calculate_drawing_elements(rect) + sm = ui_state.sm + if not sm.updated["driverMonitoringState"]: + if (self._rect.x != self.last_rect.x or self._rect.y != self.last_rect.y or + self._rect.width != self.last_rect.width or self._rect.height != self.last_rect.height): + self._pre_calculate_drawing_elements() + self.last_rect = self._rect return # Get monitoring state @@ -162,16 +159,15 @@ class DriverStateRenderer: self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None] # Pre-calculate all drawing elements - self._pre_calculate_drawing_elements(rect) - self.state_updated = True + self._pre_calculate_drawing_elements() - def _pre_calculate_drawing_elements(self, rect): + def _pre_calculate_drawing_elements(self): """Pre-calculate all drawing elements based on the current rectangle""" # Calculate icon position (bottom-left or bottom-right) - width, height = rect.width, rect.height + width, height = self._rect.width, self._rect.height offset = UI_BORDER_SIZE + BTN_SIZE // 2 - self.position_x = rect.x + (width - offset if self.is_rhd else offset) - self.position_y = rect.y + height - offset + self.position_x = self._rect.x + (width - offset if self.is_rhd else offset) + self.position_y = self._rect.y + height - offset # Pre-calculate the face lines positions positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y]) @@ -186,15 +182,15 @@ class DriverStateRenderer: # Horizontal arc h_width = abs(delta_x) self.h_arc_data = self._calculate_arc_data( - delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2, - self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True + delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2, + self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True ) # Vertical arc v_height = abs(delta_y) self.v_arc_data = self._calculate_arc_data( - delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y, - self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False + delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y, + self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False ) def _calculate_arc_data( @@ -218,9 +214,7 @@ class DriverStateRenderer: ) # Pre-calculate arc points - start_rad = np.deg2rad(start_angle) - end_rad = np.deg2rad(start_angle + 180) - angles = np.linspace(start_rad, end_rad, 37) + angles = ARC_ANGLES + np.deg2rad(start_angle) center_x = x + arc_data.width / 2 center_y = y + arc_data.height / 2 diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py new file mode 100644 index 0000000000..8c835090d0 --- /dev/null +++ b/selfdrive/ui/onroad/exp_button.py @@ -0,0 +1,78 @@ +import time +import pyray as rl +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.widget import Widget +from openpilot.common.params import Params + + +class ExpButton(Widget): + def __init__(self, button_size: int, icon_size: int): + super().__init__() + self._params = Params() + self._experimental_mode: bool = False + self._engageable: bool = False + + # State hold mechanism + self._hold_duration = 2.0 # seconds + self._held_mode: bool | None = None + self._hold_end_time: float | None = None + + self._white_color: rl.Color = rl.Color(255, 255, 255, 255) + self._black_bg: rl.Color = rl.Color(0, 0, 0, 166) + self._txt_wheel: rl.Texture = gui_app.texture('icons/chffr_wheel.png', icon_size, icon_size) + self._txt_exp: rl.Texture = gui_app.texture('icons/experimental.png', icon_size, icon_size) + self._rect = rl.Rectangle(0, 0, button_size, button_size) + + def set_rect(self, rect: rl.Rectangle) -> None: + self._rect.x, self._rect.y = rect.x, rect.y + + def _update_state(self) -> None: + selfdrive_state = ui_state.sm["selfdriveState"] + self._experimental_mode = selfdrive_state.experimentalMode + self._engageable = selfdrive_state.engageable or selfdrive_state.enabled + + def handle_mouse_event(self) -> bool: + if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect): + if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and + self._is_toggle_allowed()): + new_mode = not self._experimental_mode + self._params.put_bool("ExperimentalMode", new_mode) + + # Hold new state temporarily + self._held_mode = new_mode + self._hold_end_time = time.time() + self._hold_duration + return True + return False + + def _render(self, rect: rl.Rectangle) -> None: + center_x = int(self._rect.x + self._rect.width // 2) + center_y = int(self._rect.y + self._rect.height // 2) + + mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect) + mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed + self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255 + + texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel + rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg) + rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) + + def _held_or_actual_mode(self): + now = time.time() + if self._hold_end_time and now < self._hold_end_time: + return self._held_mode + + if self._hold_end_time and now >= self._hold_end_time: + self._hold_end_time = self._held_mode = None + + return self._experimental_mode + + def _is_toggle_allowed(self): + if not self._params.get_bool("ExperimentalModeConfirmed"): + return False + + car_params = ui_state.sm["carParams"] + if car_params.alphaLongitudinalAvailable: + return self._params.get_bool("AlphaLongitudinalEnabled") + else: + return car_params.openpilotLongitudinalControl diff --git a/system/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py similarity index 63% rename from system/ui/onroad/hud_renderer.py rename to selfdrive/ui/onroad/hud_renderer.py index b63b50f26d..da292d38d5 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -1,13 +1,16 @@ import pyray as rl from dataclasses import dataclass -from cereal.messaging import SubMaster +from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus +from openpilot.selfdrive.ui.onroad.exp_button import ExpButton from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.common.conversions import Conversions as CV -from enum import IntEnum +from openpilot.system.ui.lib.widget import Widget # Constants SET_SPEED_NA = 255 KM_TO_MILE = 0.621371 +CRUISE_DISABLED_CHAR = '–' @dataclass(frozen=True) @@ -52,34 +55,26 @@ FONT_SIZES = FontSizes() COLORS = Colors() -class HudStatus(IntEnum): - DISENGAGED = 0 - OVERRIDE = 1 - ENGAGED = 2 - - -class HudRenderer: +class HudRenderer(Widget): def __init__(self): + super().__init__() """Initialize the HUD renderer.""" - self.is_metric: bool = False - self.status: HudStatus = HudStatus.DISENGAGED self.is_cruise_set: bool = False self.is_cruise_available: bool = False self.set_speed: float = SET_SPEED_NA self.speed: float = 0.0 self.v_ego_cluster_seen: bool = False - self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} - self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD) self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD) self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM) - def _update_state(self, sm: SubMaster) -> None: - """Update HUD state based on car state and controls state.""" - self.is_metric = True - self.status = HudStatus.DISENGAGED + self._exp_button = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size) - if not sm.valid['carState']: + def _update_state(self) -> None: + """Update HUD state based on car state and controls state.""" + sm = ui_state.sm + if sm.recv_frame["carState"] < ui_state.started_frame: self.is_cruise_set = False self.set_speed = SET_SPEED_NA self.speed = 0.0 @@ -95,18 +90,18 @@ class HudRenderer: self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA self.is_cruise_available = self.set_speed != -1 - if self.is_cruise_set and not self.is_metric: + if self.is_cruise_set and not ui_state.is_metric: self.set_speed *= KM_TO_MILE v_ego_cluster = car_state.vEgoCluster self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0 v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo - speed_conversion = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH + speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH self.speed = max(0.0, v_ego * speed_conversion) - def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None: + def _render(self, rect: rl.Rectangle) -> None: """Render HUD elements to the screen.""" - self._update_state(sm) + # Draw the header background rl.draw_rectangle_gradient_v( int(rect.x), int(rect.y), @@ -120,11 +115,17 @@ class HudRenderer: self._draw_set_speed(rect) self._draw_current_speed(rect) - self._draw_wheel_icon(rect) + + button_x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size + button_y = rect.y + UI_CONFIG.border_size + self._exp_button.render(rl.Rectangle(button_x, button_y, UI_CONFIG.button_size, UI_CONFIG.button_size)) + + def handle_mouse_event(self) -> bool: + return bool(self._exp_button.handle_mouse_event()) def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" - set_speed_width = UI_CONFIG.set_speed_width_metric if self.is_metric else UI_CONFIG.set_speed_width_imperial + set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2 y = rect.y + 45 @@ -136,14 +137,15 @@ class HudRenderer: set_speed_color = COLORS.dark_grey if self.is_cruise_set: set_speed_color = COLORS.white - max_color = { - HudStatus.DISENGAGED: COLORS.disengaged, - HudStatus.OVERRIDE: COLORS.override, - HudStatus.ENGAGED: COLORS.engaged, - }.get(self.status, COLORS.grey) + if ui_state.status == UIStatus.ENGAGED: + max_color = COLORS.engaged + elif ui_state.status == UIStatus.DISENGAGED: + max_color = COLORS.disengaged + elif ui_state.status == UIStatus.OVERRIDE: + max_color = COLORS.override max_text = "MAX" - max_text_width = self._measure_text(max_text, self._font_semi_bold, FONT_SIZES.max_speed, 'semi_bold').x + max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x rl.draw_text_ex( self._font_semi_bold, max_text, @@ -153,8 +155,8 @@ class HudRenderer: max_color, ) - set_speed_text = "–" if not self.is_cruise_set else str(round(self.set_speed)) - speed_text_width = self._measure_text(set_speed_text, self._font_bold, FONT_SIZES.set_speed, 'bold').x + set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(self.set_speed)) + speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x rl.draw_text_ex( self._font_bold, set_speed_text, @@ -167,28 +169,11 @@ class HudRenderer: def _draw_current_speed(self, rect: rl.Rectangle) -> None: """Draw the current vehicle speed and unit.""" speed_text = str(round(self.speed)) - speed_text_size = self._measure_text(speed_text, self._font_bold, FONT_SIZES.current_speed, 'bold') + speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed) speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) - unit_text = "km/h" if self.is_metric else "mph" - unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium') + unit_text = "km/h" if ui_state.is_metric else "mph" + unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit) unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent) - - def _draw_wheel_icon(self, rect: rl.Rectangle) -> None: - """Draw the steering wheel icon with status-based opacity.""" - center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2) - center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2) - rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) - - opacity = 0.7 if self.status == HudStatus.DISENGAGED else 1.0 - img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2) - rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity))) - - def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2: - """Measure text dimensions with caching.""" - key = (text, font_size, font_type) - if key not in self.font_metrics_cache: - self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0) - return self.font_metrics_cache[key] diff --git a/system/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py similarity index 77% rename from system/ui/onroad/model_renderer.py rename to selfdrive/ui/onroad/model_renderer.py index ef7e567cda..ab2b7aaefb 100644 --- a/system/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -4,9 +4,11 @@ import pyray as rl from cereal import messaging, car from dataclasses import dataclass, field from openpilot.common.params import Params +from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import DEFAULT_FPS from openpilot.system.ui.lib.shader_polygon import draw_polygon - +from openpilot.system.ui.lib.widget import Widget +from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT CLIP_MARGIN = 500 MIN_DRAW_DISTANCE = 10.0 @@ -14,6 +16,8 @@ MAX_DRAW_DISTANCE = 100.0 PATH_COLOR_TRANSITION_DURATION = 0.5 # Seconds for color transition animation PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS) +MAX_POINTS = 200 + THROTTLE_COLORS = [ rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4) rl.Color(114, 255, 92, 89), # HSLF(112/360, 1.0, 0.68, 0.35) @@ -32,6 +36,7 @@ class ModelPoints: raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32)) projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32)) + @dataclass class LeadVehicle: glow: list[float] = field(default_factory=list) @@ -39,8 +44,9 @@ class LeadVehicle: fill_alpha: int = 0 -class ModelRenderer: +class ModelRenderer(Widget): def __init__(self): + super().__init__() self._longitudinal_control = False self._experimental_mode = False self._blend_factor = 1.0 @@ -48,7 +54,7 @@ class ModelRenderer: self._lane_line_probs = np.zeros(4, dtype=np.float32) self._road_edge_stds = np.zeros(2, dtype=np.float32) self._lead_vehicles = [LeadVehicle(), LeadVehicle()] - self._path_offset_z = 1.22 + self._path_offset_z = HEIGHT_INIT[0] # Initialize ModelPoints objects self._path = ModelPoints() @@ -60,7 +66,7 @@ class ModelRenderer: self._car_space_transform = np.zeros((3, 3), dtype=np.float32) self._transform_dirty = True self._clip_region = None - self._rect = None + self._exp_gradient = { 'start': (0.0, 1.0), # Bottom of path 'end': (0.0, 0.0), # Top of path @@ -77,20 +83,25 @@ class ModelRenderer: self._car_space_transform = transform.astype(np.float32) self._transform_dirty = True - def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster): + def _render(self, rect: rl.Rectangle): + sm = ui_state.sm + # Check if data is up-to-date - if not sm.valid['modelV2'] or not sm.valid['liveCalibration']: + if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or + sm.recv_frame["modelV2"] < ui_state.started_frame): return # Set up clipping region - self._rect = rect self._clip_region = rl.Rectangle( rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN ) # Update state self._experimental_mode = sm['selfdriveState'].experimentalMode - self._path_offset_z = sm['liveCalibration'].height[0] + + live_calib = sm['liveCalibration'] + self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0] + if sm.updated['carParams']: self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl @@ -105,16 +116,15 @@ class ModelRenderer: if model_updated: self._update_raw_points(model) - pos_x_array = self._path.raw_points[:, 0] - if pos_x_array.size == 0: + path_x_array = self._path.raw_points[:, 0] + if path_x_array.size == 0: return - self._update_model(lead_one, pos_x_array) + self._update_model(lead_one, path_x_array) if render_lead_indicator: - self._update_leads(radar_state, pos_x_array) + self._update_leads(radar_state, path_x_array) self._transform_dirty = False - # Draw elements self._draw_lane_lines() self._draw_path(sm) @@ -136,23 +146,26 @@ class ModelRenderer: self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32) self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32) - def _update_leads(self, radar_state, pos_x_array): + def _update_leads(self, radar_state, path_x_array): """Update positions of lead vehicles""" self._lead_vehicles = [LeadVehicle(), LeadVehicle()] leads = [radar_state.leadOne, radar_state.leadTwo] + for i, lead_data in enumerate(leads): if lead_data and lead_data.status: d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel - idx = self._get_path_length_idx(pos_x_array, d_rel) + idx = self._get_path_length_idx(path_x_array, d_rel) + + # Get z-coordinate from path at the lead vehicle position z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0 point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z) if point: self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect) - def _update_model(self, lead, pos_x_array): + def _update_model(self, lead, path_x_array): """Update model visualization data based on model message""" - max_distance = np.clip(pos_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE) - max_idx = self._get_path_length_idx(pos_x_array, max_distance) + max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE) + max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], max_distance) # Update lane lines using raw points for i, lane_line in enumerate(self._lane_lines): @@ -168,8 +181,8 @@ class ModelRenderer: if lead and lead.status: lead_d = lead.dRel * 2.0 max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance) - max_idx = self._get_path_length_idx(pos_x_array, max_distance) + 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, allow_invert=False ) @@ -240,7 +253,7 @@ class ModelRenderer: glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)] chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)] - return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha)) + return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha)) def _draw_lane_lines(self): """Draw lane lines and road edges""" @@ -309,8 +322,10 @@ class ModelRenderer: @staticmethod def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int: """Get the index corresponding to the given path height""" - idx = np.searchsorted(pos_x_array, path_height, side='right') - return int(np.clip(idx - 1, 0, len(pos_x_array) - 1)) + if len(pos_x_array) == 0: + return 0 + indices = np.where(pos_x_array <= path_height)[0] + return indices[-1] if indices.size > 0 else 0 def _map_to_screen(self, in_x, in_y, in_z): """Project a point in car space to screen space""" @@ -334,69 +349,82 @@ class ModelRenderer: return np.empty((0, 2), dtype=np.float32) # Slice points and filter non-negative x-coordinates - points = line[:max_idx + 1][line[:max_idx + 1, 0] >= 0] + points = line[:max_idx + 1] + points = points[points[:, 0] >= 0] if points.shape[0] == 0: return np.empty((0, 2), dtype=np.float32) - # Create left and right 3D points in one array - n_points = points.shape[0] - points_3d = np.empty((n_points * 2, 3), dtype=np.float32) - points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0] - points_3d[:n_points, 1] = points[:, 1] - y_off - points_3d[n_points:, 1] = points[:, 1] + y_off - points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off + N = points.shape[0] + # Generate left and right 3D points in one array using broadcasting + offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32) + points_3d = points[None, :, :] + offsets[:, None, :] # Shape: 2xNx3 + points_3d = points_3d.reshape(2 * N, 3) # Shape: (2*N)x3 - # Single matrix multiplication for projections - proj = self._car_space_transform @ points_3d.T - valid_z = np.abs(proj[2]) > 1e-6 - if not np.any(valid_z): + # Transform all points to projected space in one operation + proj = self._car_space_transform @ points_3d.T # Shape: 3x(2*N) + proj = proj.reshape(3, 2, N) + left_proj = proj[:, 0, :] + right_proj = proj[:, 1, :] + + # Filter points where z is sufficiently large + valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6) + if not np.any(valid_proj): return np.empty((0, 2), dtype=np.float32) # Compute screen coordinates - screen = proj[:2, valid_z] / proj[2, valid_z][None, :] - left_screen = screen[:, :n_points].T - right_screen = screen[:, n_points:].T + left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :] + right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :] - # Ensure consistent shapes by re-aligning valid points - valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0]) - if valid_points == 0: + # Define clip region bounds + clip = self._clip_region + x_min, x_max = clip.x, clip.x + clip.width + y_min, y_max = clip.y, clip.y + clip.height + + # Filter points within clip region + left_in_clip = ( + (left_screen[0] >= x_min) & (left_screen[0] <= x_max) & + (left_screen[1] >= y_min) & (left_screen[1] <= y_max) + ) + right_in_clip = ( + (right_screen[0] >= x_min) & (right_screen[0] <= x_max) & + (right_screen[1] >= y_min) & (right_screen[1] <= y_max) + ) + both_in_clip = left_in_clip & right_in_clip + + if not np.any(both_in_clip): return np.empty((0, 2), dtype=np.float32) - left_screen = left_screen[:valid_points] - right_screen = right_screen[:valid_points] - if self._clip_region: - clip = self._clip_region - bounds_mask = ( - (left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) & - (left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) & - (right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) & - (right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height) - ) - if not np.any(bounds_mask): + # Select valid and clipped points + left_screen = left_screen[:, both_in_clip] + right_screen = right_screen[:, both_in_clip] + + # Handle Y-coordinate inversion on hills + if not allow_invert and left_screen.shape[1] > 1: + y = left_screen[1, :] # y-coordinates + keep = y == np.minimum.accumulate(y) + if not np.any(keep): return np.empty((0, 2), dtype=np.float32) - left_screen = left_screen[bounds_mask] - right_screen = right_screen[bounds_mask] + left_screen = left_screen[:, keep] + right_screen = right_screen[:, keep] - if not allow_invert and left_screen.shape[0] > 1: - keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0)) - left_screen = left_screen[keep] - right_screen = right_screen[keep] - if left_screen.shape[0] == 0: - return np.empty((0, 2), dtype=np.float32) - - return np.vstack((left_screen, right_screen[::-1])).astype(np.float32) + return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32) @staticmethod def _map_val(x, x0, x1, y0, y1): - x = max(x0, min(x, x1)) + x = np.clip(x, x0, x1) ra = x1 - x0 rb = y1 - y0 return (x - x0) * rb / ra + y0 if ra != 0 else y0 @staticmethod def _hsla_to_color(h, s, l, a): - r, g, b = [max(0, min(255, int(v * 255))) for v in colorsys.hls_to_rgb(h, l, s)] - return rl.Color(r, g, b, max(0, min(255, int(a * 255)))) + rgb = colorsys.hls_to_rgb(h, l, s) + return rl.Color( + int(rgb[0] * 255), + int(rgb[1] * 255), + int(rgb[2] * 255), + int(a * 255) + ) @staticmethod def _blend_colors(begin_colors, end_colors, t): diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 41527fe692..7754e6e5ba 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -79,7 +79,8 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { } void Networking::setPrimeType(PrimeState::Type type) { - an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE); + an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_UNKNOWN || \ + type == PrimeState::PRIME_TYPE_PURPLE || type == PrimeState::PRIME_TYPE_LITE); wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE); } diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc index c710a8bf28..17df440c36 100644 --- a/selfdrive/ui/qt/offroad/firehose.cc +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -22,7 +22,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) layout->setSpacing(20); // header - QLabel *title = new QLabel(tr("🔥 Firehose Mode 🔥")); + QLabel *title = new QLabel(tr("Firehose Mode")); title->setStyleSheet("font-size: 100px; font-weight: 500; font-family: 'Noto Color Emoji';"); layout->addWidget(title, 0, Qt::AlignCenter); diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc index 6fcb6a71ae..9ca41e5567 100644 --- a/selfdrive/ui/qt/offroad/offroad_home.cc +++ b/selfdrive/ui/qt/offroad/offroad_home.cc @@ -18,7 +18,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { main_layout->setContentsMargins(40, 40, 40, 40); // top header - QHBoxLayout* header_layout = new QHBoxLayout(); + header_layout = new QHBoxLayout(); header_layout->setContentsMargins(0, 0, 0, 0); header_layout->setSpacing(16); diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h index 40b63ce8d8..cac37d58cd 100644 --- a/selfdrive/ui/qt/offroad/offroad_home.h +++ b/selfdrive/ui/qt/offroad/offroad_home.h @@ -39,11 +39,13 @@ public: protected: QHBoxLayout *home_layout; + QHBoxLayout *header_layout; + + void showEvent(QShowEvent *event) override; + void refresh(); private: - void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; - void refresh(); Params params; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 4a2bfd9dd3..6b97342966 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -139,6 +139,15 @@ void TogglesPanel::expandToggleDescription(const QString ¶m) { toggles[param.toStdString()]->showDescription(); } +void TogglesPanel::scrollToToggle(const QString ¶m) { + if (auto it = toggles.find(param.toStdString()); it != toggles.end()) { + auto scroll_area = qobject_cast(parent()->parent()); + if (scroll_area) { + scroll_area->ensureWidgetVisible(it->second); + } + } +} + void TogglesPanel::showEvent(QShowEvent *event) { updateToggles(); } @@ -222,7 +231,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(dcamBtn); #endif - auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); + resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { if (!uiState()->engaged()) { @@ -235,6 +244,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { params.remove("LiveParametersV2"); params.remove("LiveDelay"); params.putBool("OnroadCycleRequested", true); + updateCalibDescription(); } } } else { @@ -313,9 +323,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { } void DevicePanel::updateCalibDescription() { - QString desc = - tr("sunnypilot requires the device to be mounted within 4° left or right and " - "within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required."); + QString desc = tr("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."); std::string calib_bytes = params.get("CalibrationParams"); if (!calib_bytes.empty()) { try { @@ -333,8 +341,53 @@ void DevicePanel::updateCalibDescription() { qInfo() << "invalid CalibrationParams"; } } - desc += tr(" Resetting calibration will restart openpilot if the car is powered on."); - qobject_cast(sender())->setDescription(desc); + + const bool is_release = params.getBool("IsReleaseBranch"); + if (!is_release) { + int lag_perc = 0; + std::string lag_bytes = params.get("LiveDelay"); + if (!lag_bytes.empty()) { + try { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size())); + lag_perc = cmsg.getRoot().getLiveDelay().getCalPerc(); + } catch (kj::Exception) { + qInfo() << "invalid LiveDelay"; + } + } + desc += "\n\n"; + if (lag_perc < 100) { + desc += tr("Steering lag calibration is %1% complete.").arg(lag_perc); + } else { + desc += tr("Steering lag calibration is complete."); + } + } + + std::string torque_bytes = params.get("LiveTorqueParameters"); + if (!torque_bytes.empty()) { + try { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(torque_bytes.data(), torque_bytes.size())); + auto torque = cmsg.getRoot().getLiveTorqueParameters(); + // don't add for non-torque cars + if (torque.getUseParams()) { + int torque_perc = torque.getCalPerc(); + desc += is_release ? "\n\n" : " "; + if (torque_perc < 100) { + desc += tr("Steering torque response calibration is %1% complete.").arg(torque_perc); + } else { + desc += tr("Steering torque response calibration is complete."); + } + } + } catch (kj::Exception) { + qInfo() << "invalid LiveTorqueParameters"; + } + } + + desc += "\n\n"; + desc += tr("openpilot is continuously calibrating, resetting is rarely required. " + "Resetting calibration will restart openpilot if the car is powered on."); + resetCalibBtn->setDescription(desc); } void DevicePanel::reboot() { @@ -387,6 +440,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { } } else { emit expandToggleDescription(param); + emit scrollToToggle(param); } } @@ -427,6 +481,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { TogglesPanel *toggles = new TogglesPanel(this); QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); + QObject::connect(this, &SettingsWindow::scrollToToggle, toggles, &TogglesPanel::scrollToToggle); auto networking = new Networking(this); QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 8b162bb843..a11a300128 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -42,6 +42,7 @@ signals: void reviewTrainingGuide(); void showDriverView(); void expandToggleDescription(const QString ¶m); + void scrollToToggle(const QString ¶m); protected: QPushButton *sidebar_alert_widget; @@ -67,6 +68,7 @@ protected slots: protected: Params params; ButtonControl *pair_device; + ButtonControl *resetCalibBtn; }; class TogglesPanel : public ListWidget { @@ -77,6 +79,7 @@ public: public slots: void expandToggleDescription(const QString ¶m); + void scrollToToggle(const QString ¶m); protected slots: virtual void updateState(const UIState &s); diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 219b39546f..e3ca837907 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -9,7 +9,9 @@ #ifdef SUNNYPILOT #include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h" #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h" +#include "selfdrive/ui/sunnypilot/qt/onroad/model.h" #define ExperimentalButton ExperimentalButtonSP +#define ModelRenderer ModelRendererSP #else #include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/onroad/hud.h" diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index 52902abdc8..dc801e591f 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -1,18 +1,5 @@ #include "selfdrive/ui/qt/onroad/model.h" -constexpr int CLIP_MARGIN = 500; -constexpr float MIN_DRAW_DISTANCE = 10.0; -constexpr float MAX_DRAW_DISTANCE = 100.0; - -static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { - const auto &line_x = line.getX(); - int max_idx = 0; - for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { - max_idx = i; - } - return max_idx; -} - void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { auto *s = uiState(); auto &sm = *(s->sm); @@ -35,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { update_model(model, lead_one); drawLaneLines(painter); - drawPath(painter, model, surface_rect.height()); + drawPath(painter, model, surface_rect); if (longitudinal_control && sm.alive("radarState")) { update_leads(radar_state, model.getPosition()); diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index 7e1b43acb4..85eb236e76 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -9,21 +9,39 @@ #include "selfdrive/ui/ui.h" #endif +constexpr int CLIP_MARGIN = 500; +constexpr float MIN_DRAW_DISTANCE = 10.0; +constexpr float MAX_DRAW_DISTANCE = 100.0; + +inline int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { + const auto &line_x = line.getX(); + int max_idx = 0; + for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { + max_idx = i; + } + return max_idx; +} + class ModelRenderer { public: + virtual ~ModelRenderer() = default; + ModelRenderer() {} void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; } void draw(QPainter &painter, const QRect &surface_rect); -private: +protected: bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out); void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert = true); void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect); void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); - void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); + virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); void drawLaneLines(QPainter &painter); void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height); + virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {; + drawPath(painter, model, surface_rect.height()); + } void updatePathGradient(QLinearGradient &bg); QColor blendColors(const QColor &start, const QColor &end, float t); diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 382a15db91..90ed973b0d 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -136,6 +136,59 @@ QWidget * Setup::low_voltage() { return widget; } +QWidget * Setup::custom_software_warning() { + QWidget *widget = new QWidget(); + QVBoxLayout *main_layout = new QVBoxLayout(widget); + main_layout->setContentsMargins(55, 0, 55, 55); + main_layout->setSpacing(0); + + QVBoxLayout *inner_layout = new QVBoxLayout(); + inner_layout->setContentsMargins(110, 110, 300, 0); + main_layout->addLayout(inner_layout); + + QLabel *title = new QLabel(tr("WARNING: Custom Software")); + title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); + inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); + + inner_layout->addSpacing(25); + + QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later.")); + body->setWordWrap(true); + body->setAlignment(Qt::AlignTop | Qt::AlignLeft); + body->setStyleSheet("font-size: 65px; font-weight: 300;"); + inner_layout->addWidget(body); + + inner_layout->addStretch(); + + QHBoxLayout *blayout = new QHBoxLayout(); + blayout->setSpacing(50); + main_layout->addLayout(blayout, 0); + + QPushButton *back = new QPushButton(tr("Back")); + back->setObjectName("navBtn"); + blayout->addWidget(back); + QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); + + QPushButton *cont = new QPushButton(tr("Continue")); + cont->setObjectName("navBtn"); + blayout->addWidget(cont); + QObject::connect(cont, &QPushButton::clicked, this, [=]() { + QTimer::singleShot(0, [=]() { + setCurrentWidget(downloading_widget); + }); + QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); + if (!url.isEmpty()) { + QTimer::singleShot(1000, this, [=]() { + download(url); + }); + } else { + setCurrentWidget(software_selection_widget); + } + }); + + return widget; +} + QWidget * Setup::getting_started() { QWidget *widget = new QWidget(); @@ -305,20 +358,17 @@ QWidget * Setup::software_selection() { blayout->addWidget(cont); QObject::connect(cont, &QPushButton::clicked, [=]() { - auto w = currentWidget(); - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QString url = OPENPILOT_URL; if (group->checkedButton() != openpilot) { - url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); - } - if (!url.isEmpty()) { - QTimer::singleShot(1000, this, [=]() { - download(url); + QTimer::singleShot(0, [=]() { + setCurrentWidget(custom_software_warning_widget); }); } else { - setCurrentWidget(w); + QTimer::singleShot(0, [=]() { + setCurrentWidget(downloading_widget); + }); + QTimer::singleShot(1000, this, [=]() { + download(OPENPILOT_URL); + }); } }); @@ -415,8 +465,10 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { addWidget(getting_started()); addWidget(network_setup()); - addWidget(software_selection()); - + software_selection_widget = software_selection(); + addWidget(software_selection_widget); + custom_software_warning_widget = custom_software_warning(); + addWidget(custom_software_warning_widget); downloading_widget = downloading(); addWidget(downloading_widget); diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index ee5cc85483..986956c902 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -15,6 +15,7 @@ public: private: void selectLanguage(); QWidget *low_voltage(); + QWidget *custom_software_warning(); QWidget *getting_started(); QWidget *network_setup(); QWidget *software_selection(); @@ -23,6 +24,8 @@ private: QWidget *failed_widget; QWidget *downloading_widget; + QWidget *custom_software_warning_widget; + QWidget *software_selection_widget; QTranslator translator; signals: diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index b5d18c5b91..41cc09141b 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -19,18 +19,22 @@ qt_src = [ "sunnypilot/qt/sidebar.cc", "sunnypilot/qt/window.cc", "sunnypilot/qt/home.cc", + "sunnypilot/qt/offroad/exit_offroad_button.cc", "sunnypilot/qt/offroad/offroad_home.cc", "sunnypilot/qt/offroad/settings/device_panel.cc", "sunnypilot/qt/offroad/settings/lateral_panel.cc", "sunnypilot/qt/offroad/settings/longitudinal_panel.cc", "sunnypilot/qt/offroad/settings/max_time_offroad.cc", + "sunnypilot/qt/offroad/settings/brightness.cc", "sunnypilot/qt/offroad/settings/models_panel.cc", + "sunnypilot/qt/offroad/settings/osm_panel.cc", "sunnypilot/qt/offroad/settings/settings.cc", "sunnypilot/qt/offroad/settings/software_panel.cc", "sunnypilot/qt/offroad/settings/sunnylink_panel.cc", "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc", "sunnypilot/qt/offroad/settings/trips_panel.cc", "sunnypilot/qt/offroad/settings/vehicle_panel.cc", + "sunnypilot/qt/offroad/settings/visuals_panel.cc", "sunnypilot/qt/onroad/annotated_camera.cc", "sunnypilot/qt/onroad/buttons.cc", "sunnypilot/qt/onroad/hud.cc", @@ -39,11 +43,16 @@ qt_src = [ ] lateral_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc", "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc", "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc", "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc", ] +longitudinal_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc", +] + network_src = [ "sunnypilot/qt/network/sunnylink/sunnylink_client.cc", "sunnypilot/qt/network/sunnylink/services/base_device_service.cc", @@ -51,6 +60,10 @@ network_src = [ "sunnypilot/qt/network/sunnylink/services/user_service.cc", ] +osm_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/osm/models_fetcher.cc", +] + vehicle_panel_qt_src = [ "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc", "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc", @@ -72,8 +85,9 @@ brand_settings_qt_src = [ "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc", ] + sp_widgets_src = widgets_src + network_src -sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src +sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src sp_qt_util = qt_util Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util") diff --git a/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h new file mode 100644 index 0000000000..5691f600a6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h @@ -0,0 +1,41 @@ +/** + * 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. + */ + +#pragma once + +#include +#include +#include +#include + +class JsonFetcher { +public: + static QJsonObject getJsonFromURL(const QString &url) { + const auto qurl = QUrl(url); + QNetworkAccessManager manager; + const QNetworkRequest request(qurl); + QNetworkReply *reply = manager.get(request); + QEventLoop loop; + + // Send GET request + + QObject::connect(reply, &QNetworkReply::finished, &loop, &QEventLoop::quit); + loop.exec(); + + if (reply->error() != QNetworkReply::NoError) { + qWarning() << "Failed to fetch data from URL: " << reply->errorString(); + return QJsonObject(); + } + + const QByteArray responseData = reply->readAll(); + const QJsonDocument doc = QJsonDocument::fromJson(responseData); + QJsonObject json = doc.object(); + + reply->deleteLater(); + return json; + } +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc new file mode 100644 index 0000000000..0c7902476a --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc @@ -0,0 +1,100 @@ +#include +#include +#include +#include +#include + +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/widgets/input.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h" + + +ExitOffroadButton::ExitOffroadButton(QWidget *parent) : QPushButton(parent), glowTimer(new QTimer(this)) { + setMouseTracking(true); + + connect(glowTimer, &QTimer::timeout, this, [this]() { + // Pulse alpha up and down + glowAlpha += glowDelta; + if (glowAlpha > 220 || glowAlpha < 10) { + glowDelta *= -1; + } + update(); // trigger repaint + }); + + glowTimer->start(45); + + pixmap = QPixmap("../../sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png").scaledToWidth(img_width, Qt::SmoothTransformation); + + // go to toggles and expand experimental mode description + connect(this, &QPushButton::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) { + params.remove("OffroadMode"); + } + }); + + setFixedHeight(125); + QHBoxLayout *main_layout = new QHBoxLayout; + main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0); + + mode_label = new QLabel(tr("EXIT ALWAYS OFFROAD MODE")); + mode_icon = new QLabel; + mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + mode_icon->setPixmap(pixmap); + + main_layout->addWidget(mode_label, 1, Qt::AlignLeft); + main_layout->addWidget(mode_icon, 0, Qt::AlignRight); + + setLayout(main_layout); + + setStyleSheet(R"( + QPushButton { + border: none; + } + + QLabel { + font-size: 45px; + font-weight: 300; + text-align: left; + font-family: JetBrainsMono; + color: #000000; + } + )"); +} + +void drawPulsingGlowOverlay(QPainter &p, QPainterPath path, int glowAlpha) { + // Draw pulsing glow effect clipped to button area + p.save(); + p.setClipPath(path); + p.setCompositionMode(QPainter::CompositionMode_HardLight); + + const QColor animatedGlowColor(255, 255, 255, std::min(255, glowAlpha)); + QPen glowPen(animatedGlowColor, 8); + glowPen.setJoinStyle(Qt::RoundJoin); + p.setPen(glowPen); + p.drawPath(path); + + p.restore(); +} + +void ExitOffroadButton::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + + QPainterPath path; + path.addRoundedRect(rect(), 10, 10); + + // gradient + bool pressed = isDown(); + QLinearGradient gradient(rect().left(), 0, rect().right(), 0); + gradient.setColorAt(0, QColor(35, 149, 255, pressed ? 0xcc : 0xff)); + gradient.setColorAt(0.3, QColor(35, 149, 255, pressed ? 0xcc : 0xff)); + gradient.setColorAt(1, QColor(20, 255, 171, pressed ? 0xcc : 0xff)); + p.fillPath(path, gradient); + + drawPulsingGlowOverlay(p, path, glowAlpha); + + // vertical line + p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine)); + int line_x = rect().right() - img_width - (2 * horizontal_padding); + p.drawLine(line_x, rect().bottom(), line_x, rect().top()); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h new file mode 100644 index 0000000000..673d9fff73 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h @@ -0,0 +1,29 @@ +#pragma once + +#include +#include + +#include "common/params.h" + +class ExitOffroadButton : public QPushButton { + Q_OBJECT + +private: + QTimer *glowTimer; + int glowAlpha = 100; // Current alpha of glow + int glowDelta = 10; // Change per tick + +public: + explicit ExitOffroadButton(QWidget* parent = 0); + + Params params; + bool offroad_mode; + int img_width = 100; + int horizontal_padding = 30; + QPixmap pixmap; + QLabel *mode_label; + QLabel *mode_icon; + +protected: + void paintEvent(QPaintEvent *event) override; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc index 05b1d80846..cc82e6ddb9 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc @@ -5,16 +5,45 @@ * See the LICENSE.md file in the root directory for more details. */ -#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h" - #include +#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h" #include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h" OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) { - QStackedWidget *left_widget = new QStackedWidget(this); - left_widget->addWidget(new DriveStats(this)); + QFrame *left_widget = new QFrame(this); + QVBoxLayout *left_layout = new QVBoxLayout(left_widget); + left_layout->setContentsMargins(0, 0, 0, 0); + left_layout->setSpacing(30); + + btn_exit_offroad = new ExitOffroadButton(this); + QObject::connect(btn_exit_offroad, &ExitOffroadButton::clicked, [=]() { + refreshOffroadStatus(); + }); + left_layout->addWidget(btn_exit_offroad); + + left_layout->addWidget(new DriveStats(this)); left_widget->setStyleSheet("border-radius: 10px;"); home_layout->insertWidget(0, left_widget); + + offroad_notif = new QPushButton(tr("ALWAYS OFFROAD ACTIVE")); + offroad_notif->setVisible(false); + offroad_notif->setStyleSheet("background-color: #E22C2C;"); + header_layout->insertWidget(0, offroad_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); + + QObject::connect(deviceSP(), &DeviceSP::displayPowerChanged, this, &OffroadHomeSP::refreshOffroadStatus); + +} + +void OffroadHomeSP::showEvent(QShowEvent *event) { + refreshOffroadStatus(); + OffroadHome::showEvent(event); +} + +void OffroadHomeSP::refreshOffroadStatus() { + bool is_offroad = params.getBool("OffroadMode"); + btn_exit_offroad->setVisible(is_offroad); + offroad_notif->setVisible(is_offroad); + OffroadHome::refresh(); } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h index 9710150d57..30816f666c 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h @@ -8,10 +8,19 @@ #pragma once #include "selfdrive/ui/qt/offroad/offroad_home.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h" class OffroadHomeSP : public OffroadHome { Q_OBJECT public: explicit OffroadHomeSP(QWidget *parent = 0); + +private: + ExitOffroadButton *btn_exit_offroad; + QPushButton *offroad_notif; + Params params; + + void showEvent(QShowEvent *event) override; + void refreshOffroadStatus(); }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc new file mode 100644 index 0000000000..ffd3ce1d8b --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc @@ -0,0 +1,50 @@ +/** + * 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. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h" + +// Map of Brightness Options +const QMap Brightness::brightness_options = { + {"0", "1"}, // Auto (Dark) + {"1", "0"}, // Auto + {"2", "10"}, + {"3", "20"}, + {"4", "30"}, + {"5", "40"}, + {"6", "50"}, + {"7", "60"}, + {"8", "70"}, + {"9", "80"}, + {"10", "90"}, + {"11", "100"} +}; + +Brightness::Brightness() : OptionControlSP( + "Brightness", + tr("Brightness"), + tr("Overrides the brightness of the device."), + "../assets/offroad/icon_blank.png", + {0, 11}, 1, true, &brightness_options) { + + refresh(); +} + +void Brightness::refresh() { + const int brightness = QString::fromStdString(params.get("Brightness")).toInt(); + + QString label; + if (brightness == 1) { + label = tr("Auto (Dark)"); + } else if (brightness == 0) { + label = tr("Auto"); + } else { + const int value = brightness; + label = QString("%1").arg(value); + } + + setLabel(label); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h new file mode 100644 index 0000000000..20d0a291d9 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h @@ -0,0 +1,25 @@ +/** + * 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. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class Brightness : public OptionControlSP { + Q_OBJECT + +public: + static const QMap brightness_options; + + Brightness(); + void refresh(); + +private: + Params params; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index e6855c4b4e..b89116d424 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -80,6 +80,19 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh); addItem(maxTimeOffroad); + toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true); + addItem(toggleDeviceBootMode); + + connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) { + params.put("DeviceBootMode", QString::number(index).toStdString()); + updateState(); + }); + + // Brightness + brightness = new Brightness(); + connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh); + addItem(brightness); + addItem(device_grid_layout); // offroad mode and power buttons @@ -179,4 +192,10 @@ void DevicePanelSP::updateState() { bool offroad_mode_param = params.getBool("OffroadMode"); offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad")); offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle); + + DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT; + if (params.get("DeviceBootMode") == "1") { + currStatus = DeviceSleepModeStatus::OFFROAD; + } + toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus)); } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h index 7b7412a739..2cd3281d1f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h @@ -8,9 +8,15 @@ #pragma once #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +enum class DeviceSleepModeStatus { + DEFAULT, + OFFROAD, +}; + class DevicePanelSP : public DevicePanel { Q_OBJECT @@ -25,6 +31,8 @@ private: std::map buttons; PushButtonSP *offroadBtn; MaxTimeOffroad *maxTimeOffroad; + ButtonParamControlSP *toggleDeviceBootMode; + Brightness *brightness; const QString alwaysOffroadStyle = R"( PushButtonSP { @@ -85,4 +93,20 @@ private: background-color: #FF2424; } )"; + + static QString deviceSleepModeDescription(DeviceSleepModeStatus status = DeviceSleepModeStatus::DEFAULT) { + QString def_str = tr("⁍ Default: Device will boot/wake-up normally & will be ready to engage."); + QString offrd_str = tr("⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up."); + + if (status == DeviceSleepModeStatus::DEFAULT) { + def_str = "" + def_str + ""; + } else if (status == DeviceSleepModeStatus::OFFROAD) { + offrd_str = "" + offrd_str + ""; + } + + return QString("%1

%2
%3") + .arg(tr("Controls state of the device after boot/sleep.")) + .arg(def_str) + .arg(offrd_str); + } }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc new file mode 100644 index 0000000000..b43c6162c6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc @@ -0,0 +1,27 @@ +/** + * 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. + */ + + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h" + +BlinkerPauseLateralSettings::BlinkerPauseLateralSettings(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent) + : ExpandableToggleRow(param, title, description, icon, parent) { + + pauseLateralSpeed = new OptionControlSP("BlinkerMinLateralControlSpeed", "", "", "", {0, 255}, 5); + connect(pauseLateralSpeed, &OptionControlSP::updateLabels, this, &BlinkerPauseLateralSettings::refresh); + addItem(pauseLateralSpeed); + + refresh(); +} + +void BlinkerPauseLateralSettings::refresh() { + const QString option = QString::fromStdString(params.get("BlinkerMinLateralControlSpeed")); + const bool is_metric = params.getBool("IsMetric"); + const QString unit = is_metric ? "km/h" : "mph"; + + pauseLateralSpeed->setLabel(option + " " + unit); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h new file mode 100644 index 0000000000..7f02337b9c --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h @@ -0,0 +1,25 @@ +/** + * 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. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h" + +class BlinkerPauseLateralSettings : public ExpandableToggleRow { + Q_OBJECT + +public: + BlinkerPauseLateralSettings(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr); + void refresh(); + +private: + Params params; + OptionControlSP *pauseLateralSpeed; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc index 0beae6e24f..ae954d7539 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc @@ -64,6 +64,17 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { list->addItem(vertical_space(0)); list->addItem(horizontal_line()); + // Blinker Pause Lateral Control + blinkerPauseLateralSettings = new BlinkerPauseLateralSettings( + "BlinkerPauseLateralControl", + tr("Pause Lateral Control with Blinker"), + tr("Pause lateral control with blinker when traveling below the desired speed selected."), + "", + this); + list->addItem(blinkerPauseLateralSettings); + + list->addItem(horizontal_line()); + // Neural Network Lateral Control nnlcToggle = new NeuralNetworkLateralControl(); list->addItem(nnlcToggle); @@ -139,5 +150,7 @@ void LateralPanel::updateToggles(bool _offroad) { madsSettingsButton->setEnabled(madsToggle->isToggled()); + blinkerPauseLateralSettings->refresh(); + offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h index cf003dfaf3..7b5e73fceb 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h @@ -11,6 +11,7 @@ #include #include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h" @@ -43,6 +44,7 @@ private: PushButtonSP *laneChangeSettingsButton; LaneChangeSettings *laneChangeWidget = nullptr; NeuralNetworkLateralControl *nnlcToggle = nullptr; + BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr; const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC)."); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc new file mode 100644 index 0000000000..29cadeaa62 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc @@ -0,0 +1,47 @@ +/** + * 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. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h" + +CustomAccIncrement::CustomAccIncrement(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent) + : ExpandableToggleRow(param, title, desc, icon, parent) { + auto *accFrame = new QFrame(this); + auto *accFrameLayout = new QGridLayout(); + accFrame->setLayout(accFrameLayout); + accFrameLayout->setSpacing(0); + + auto *shortPressControl = new AccIncrementOptionControl("CustomAccShortPressIncrement", {1, 10}, 1); + connect(shortPressControl, &OptionControlSP::updateLabels, shortPressControl, &AccIncrementOptionControl::refresh); + + auto *longPressControl = new AccIncrementOptionControl("CustomAccLongPressIncrement", {1, 3}, 1, &customLongValues); + connect(longPressControl, &OptionControlSP::updateLabels, longPressControl, &AccIncrementOptionControl::refresh); + + shortPressControl->setFixedWidth(280); + longPressControl->setFixedWidth(280); + accFrameLayout->addWidget(shortPressControl, 0, 0, Qt::AlignLeft); + accFrameLayout->addWidget(longPressControl, 0, 1, Qt::AlignRight); + + addItem(accFrame); +} + +AccIncrementOptionControl::AccIncrementOptionControl(const QString ¶m, const MinMaxValue &range, const int per_value_change, const QMap *valMap) + : OptionControlSP(param, "", "", "", range, per_value_change, true, valMap) { + param_name = param.toStdString(); + refresh(); +} + +void AccIncrementOptionControl::refresh() { + std::string val = params.get(param_name); + std::string label = ""; + label += param_name == "CustomAccShortPressIncrement" ? "Short Press" : "Long Press"; + label += "
" + val; + label += param_name == "CustomAccShortPressIncrement" + ? (val == "1" ? " (Default)" : "") + : (val == "5" ? " (Default)" : ""); + label += ""; + setLabel(QString::fromStdString(label)); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h new file mode 100644 index 0000000000..707d4143bc --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h @@ -0,0 +1,41 @@ +/** + * 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. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h" + +class CustomAccIncrement : public ExpandableToggleRow { + Q_OBJECT + +public: + CustomAccIncrement(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr); + +private: + QMap customLongValues = { + {"1", "1"}, + {"2", "5"}, // Default + {"3", "10"} + }; +}; + +class AccIncrementOptionControl : public OptionControlSP { + Q_OBJECT + +public: + AccIncrementOptionControl(const QString ¶m, const MinMaxValue &range, int per_value_change, const QMap *valMap = nullptr); + void refresh(); + +protected: + std::string param_name; + +private: + Params params; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc index 9d8a4d9c19..15ed10bf9a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc @@ -8,4 +8,72 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h" LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) { + main_layout = new QStackedLayout(this); + ListWidget *list = new ListWidget(this, false); + + cruisePanelScreen = new QWidget(this); + QVBoxLayout *vlayout = new QVBoxLayout(cruisePanelScreen); + vlayout->setContentsMargins(0, 0, 0, 0); + + cruisePanelScroller = new ScrollViewSP(list, this); + vlayout->addWidget(cruisePanelScroller); + + customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this); + list->addItem(customAccIncrement); + + QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh); + + main_layout->addWidget(cruisePanelScreen); + main_layout->setCurrentWidget(cruisePanelScreen); + refresh(offroad); +} + +void LongitudinalPanel::showEvent(QShowEvent *event) { + main_layout->setCurrentWidget(cruisePanelScreen); + refresh(offroad); +} + +void LongitudinalPanel::refresh(bool _offroad) { + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + has_longitudinal_control = hasLongitudinalControl(CP); + is_pcm_cruise = CP.getPcmCruise(); + } else { + has_longitudinal_control = false; + is_pcm_cruise = false; + } + + QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease."); + QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled."); + QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations."); + QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility."); + + if (offroad) { + customAccIncrement->setDescription(onroadOnlyDescription); + customAccIncrement->showDescription(); + } else { + if (has_longitudinal_control) { + if (is_pcm_cruise) { + customAccIncrement->setDescription(accPcmCruiseDisabledDescription); + customAccIncrement->showDescription(); + } else { + customAccIncrement->setDescription(accEnabledDescription); + } + } else { + params.remove("CustomAccIncrementsEnabled"); + customAccIncrement->toggleFlipped(false); + customAccIncrement->setDescription(accNoLongDescription); + customAccIncrement->showDescription(); + } + } + + // enable toggle when long is available and is not PCM cruise + customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad); + customAccIncrement->refresh(); + + offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h index cd68e3ec2f..58e94f333b 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h @@ -7,11 +7,26 @@ #pragma once +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" class LongitudinalPanel : public QWidget { Q_OBJECT public: explicit LongitudinalPanel(QWidget *parent = nullptr); + void showEvent(QShowEvent *event) override; + void refresh(bool _offroad); + +private: + Params params; + bool has_longitudinal_control = false; + bool is_pcm_cruise = false; + bool offroad = false; + + QStackedLayout *main_layout = nullptr; + ScrollViewSP *cruisePanelScroller = nullptr; + QWidget *cruisePanelScreen = nullptr; + CustomAccIncrement *customAccIncrement = nullptr; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc index d33cb550ce..b8237c3627 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -7,21 +7,55 @@ #include #include +#include #include "common/model.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h" #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" +static const QString progressStyleActive = "QProgressBar {" + " font-size: 40px;" + " font-weight: 200;" + " padding: 1px;" + " border: 3px solid black;" + " border-radius: 10px;" + "}" + "QProgressBar::chunk {" + " background-color: #1e79e8;" + " border-radius: 10px;" + "}"; + +static const QString progressStyleInactive = progressStyleActive + + "QProgressBar::chunk {" + " background-color: transparent;" + "}"; + +static const QString progressStyleDone = progressStyleActive + + "QProgressBar {" + " color: #33ab4c;" + "}" + "QProgressBar::chunk {" + " background-color: transparent;" + "}"; + +static const QString progressStyleError = progressStyleActive + + "QProgressBar {" + " color: red;" + "}" + "QProgressBar::chunk {" + " background-color: transparent;" + "}"; + ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(50, 20, 50, 20); - ListWidgetSP *list = new ListWidgetSP(this); + ListWidgetSP *list = new ListWidgetSP(this, false); ScrollViewSP *scroller = new ScrollViewSP(list, this); main_layout->addWidget(scroller); const auto current_model = GetActiveModelName(); - currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model); + currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), "", this); currentModelLblBtn->setValue(current_model); connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked); @@ -31,17 +65,70 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) { }); connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels); list->addItem(currentModelLblBtn); + + // Create progress bars for downloads + supercomboProgressBar = createProgressBar(this); + QString supercomboType = tr("Driving Model"); + supercomboFrame = createModelDetailFrame(this, supercomboType, supercomboProgressBar); + list->addItem(supercomboFrame); + + navigationProgressBar = createProgressBar(this); + QString navigationType = tr("Navigation Model"); + navigationFrame = createModelDetailFrame(this, navigationType, navigationProgressBar); + list->addItem(navigationFrame); + + visionProgressBar = createProgressBar(this); + QString visionType = tr("Vision Model"); + visionFrame = createModelDetailFrame(this, visionType, visionProgressBar); + list->addItem(visionFrame); + + policyProgressBar = createProgressBar(this); + QString policyType = tr("Policy Model"); + policyFrame = createModelDetailFrame(this, policyType, policyProgressBar); + list->addItem(policyFrame); + + list->addItem(horizontal_line()); + + // LiveDelay toggle + list->addItem(new ParamControlSP("LagdToggle", + tr("Live Learning Steer Delay"), + tr("Enable this for the car to learn and adapt its steering response time. " + "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."), + "../assets/offroad/icon_shell.png")); } +QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) { + QProgressBar *progressBar = new QProgressBar(parent); + progressBar->setRange(0, 100); + progressBar->setValue(0); + progressBar->setTextVisible(true); + progressBar->setAlignment(Qt::AlignVCenter); + return progressBar; +} + +QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar) { + QFrame *frame = new QFrame(parent); + QHBoxLayout *layout = new QHBoxLayout(frame); + layout->setContentsMargins(0, 0, 0, 0); + layout->setSpacing(50); + layout->addWidget(new QLabel(typeName)); + layout->addWidget(progressBar); + frame->setVisible(false); + return frame; +} /** * @brief Updates the UI with bundle download progress information * Reads status from modelManagerSP cereal message and displays status for all models */ void ModelsPanel::handleBundleDownloadProgress() { + supercomboFrame->setVisible(false); + visionFrame->setVisible(false); + policyFrame->setVisible(false); + navigationFrame->setVisible(false); + using DS = cereal::ModelManagerSP::DownloadStatus; if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) { - currentModelLblBtn->setDescription(tr("No custom model selected!")); return; } @@ -54,21 +141,27 @@ void ModelsPanel::handleBundleDownloadProgress() { // Get status for each model type in order for (const auto &model: models) { - QString typeName; QString modelName = QString::fromStdString(bundle.getDisplayName()); + QProgressBar *progressBar = nullptr; + QFrame *modelFrame = nullptr; + switch (model.getType()) { case cereal::ModelManagerSP::Model::Type::SUPERCOMBO: - typeName = tr("Driving"); + progressBar = supercomboProgressBar; + modelFrame = supercomboFrame; break; case cereal::ModelManagerSP::Model::Type::NAVIGATION: - typeName = tr("Navigation"); + progressBar = navigationProgressBar; + modelFrame = navigationFrame; break; case cereal::ModelManagerSP::Model::Type::VISION: - typeName = tr("Vision"); + progressBar = visionProgressBar; + modelFrame = visionFrame; break; case cereal::ModelManagerSP::Model::Type::POLICY: - typeName = tr("Policy"); + progressBar = policyProgressBar; + modelFrame = policyFrame; break; } @@ -76,31 +169,26 @@ void ModelsPanel::handleBundleDownloadProgress() { QString line; if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) { - line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2); + progressBar->setStyleSheet(progressStyleActive); + progressBar->setValue(progress.getProgress()); + progressBar->setFormat(QString(" %1% - %2").arg(static_cast(progress.getProgress())).arg(modelName)); + device()->resetInteractiveTimeout(); } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) { - line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready")); + progressBar->setStyleSheet(progressStyleDone); + progressBar->setFormat(tr(" %1 - %2").arg(modelName, download_status_changed ? tr("downloaded") : tr("ready"))); } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) { - line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready")); + progressBar->setStyleSheet(progressStyleDone); + progressBar->setFormat(tr(" %1 - %2").arg(modelName, download_status_changed ? tr("from cache") : tr("ready"))); } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) { - line = tr("%1 model [%2] download failed").arg(typeName, modelName); + progressBar->setStyleSheet(progressStyleError); + progressBar->setFormat(tr(" download failed - %1").arg(modelName)); } else { - line = tr("%1 model [%2] pending...").arg(typeName, modelName); + progressBar->setStyleSheet(progressStyleInactive); + progressBar->setFormat(tr(" pending - %1").arg(modelName)); } - status.append(line); - } - - currentModelLblBtn->setDescription(status.join("\n")); - - if (prev_download_status != download_status) { - switch (bundle.getStatus()) { - case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING: - case cereal::ModelManagerSP::DownloadStatus::CACHED: - case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED: - currentModelLblBtn->showDescription(); - break; - case cereal::ModelManagerSP::DownloadStatus::FAILED: - default: - break; + // keep navigation hidden for now to avoid confusion + if (model.getType() != cereal::ModelManagerSP::Model::Type::NAVIGATION) { + modelFrame->setVisible(true); } } prev_download_status = download_status; @@ -118,6 +206,17 @@ QString ModelsPanel::GetActiveModelName() { return DEFAULT_MODEL; } +/** + * @brief Gets the short name of the currently selected model bundle + * @return Display short name of the selected bundle or default model name + */ +QString ModelsPanel::GetActiveModelInternalName() { + if (model_manager.hasActiveBundle()) { + return QString::fromStdString(model_manager.getActiveBundle().getInternalName()); + } + return DEFAULT_MODEL; +} + void ModelsPanel::updateModelManagerState() { const SubMaster &sm = *(uiStateSP()->sm); model_manager = sm["modelManagerSP"].getModelManagerSP(); @@ -141,7 +240,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() { // Sort bundles by index in descending order QStringList bundleNames; // Add "Default" as the first option - bundleNames.append(tr("Use Default")); + bundleNames.append(DEFAULT_MODEL); auto indices = index_to_bundle.keys(); std::sort(indices.begin(), indices.end(), std::greater()); @@ -149,7 +248,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() { bundleNames.append(index_to_bundle[index]); } - currentModelLblBtn->setValue(GetActiveModelName()); + currentModelLblBtn->setValue(GetActiveModelInternalName()); const QString selectedBundleName = MultiOptionDialog::getSelection( tr("Select a Model"), bundleNames, GetActiveModelName(), this); @@ -159,7 +258,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() { } // Handle "Stock" selection differently - if (selectedBundleName == tr("Use Default")) { + if (selectedBundleName == DEFAULT_MODEL) { params.remove("ModelManager_ActiveBundle"); currentModelLblBtn->setValue(tr("Default")); showResetParamsDialog(); @@ -190,7 +289,7 @@ void ModelsPanel::updateLabels() { updateModelManagerState(); handleBundleDownloadProgress(); currentModelLblBtn->setEnabled(!is_onroad && !isDownloading()); - currentModelLblBtn->setValue(GetActiveModelName()); + currentModelLblBtn->setValue(GetActiveModelInternalName()); } /** diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h index 4ba526651e..8b8cf69759 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h @@ -7,6 +7,8 @@ #pragma once +#include + #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" class ModelsPanel : public QWidget { @@ -17,6 +19,7 @@ public: private: QString GetActiveModelName(); + QString GetActiveModelInternalName(); void updateModelManagerState(); bool isDownloading() const { @@ -33,6 +36,8 @@ private: void handleCurrentModelLblBtnClicked(); void handleBundleDownloadProgress(); void showResetParamsDialog(); + QProgressBar* createProgressBar(QWidget *parent); + QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar); cereal::ModelManagerSP::Reader model_manager; cereal::ModelManagerSP::DownloadStatus download_status{}; cereal::ModelManagerSP::DownloadStatus prev_download_status{}; @@ -59,6 +64,14 @@ private: bool is_onroad = false; ButtonControlSP *currentModelLblBtn; + QProgressBar *supercomboProgressBar; + QFrame *supercomboFrame; + QProgressBar *navigationProgressBar; + QFrame *navigationFrame; + QProgressBar *visionProgressBar; + QFrame *visionFrame; + QProgressBar *policyProgressBar; + QFrame *policyFrame; Params params; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h new file mode 100644 index 0000000000..32d169ad15 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h @@ -0,0 +1,63 @@ +/** + * 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. + */ + +#pragma once + +#include // for std::sort +#include +#include +#include + +#include +#include + +#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h" + +static const std::tuple defaultLocation = std::make_tuple("== None ==", ""); + +// New class LocationsFetcher that handles web requests and JSON parsing +class LocationsFetcher { +public: + inline std::vector > + getLocationsFromURL(const QUrl &url, const std::tuple &customLocation = defaultLocation) const { + // Initialize an empty vector to hold the locations + std::vector > locations; + + JsonFetcher fetcher; + QJsonObject json = fetcher.getJsonFromURL(url.toString()); + + for (auto it = json.begin(); it != json.end(); ++it) { + QString code = it.key(); + QJsonObject obj = it.value().toObject(); + QString fullName = obj["full_name"].toString(); + + locations.push_back(std::make_tuple(fullName, code, QString(), QString())); + } + // Sort locations by full name + std::sort(locations.begin(), locations.end(), [](const auto &lhs, const auto &rhs) { + return std::get<0>(lhs) < std::get<0>(rhs); // Compare full names + }); + // Optionally, you can now add defaultName entry at the beginning + locations.insert(locations.begin(), std::tuple_cat(customLocation, std::make_tuple("", ""))); + return locations; + } + + inline std::vector > + getLocationsFromURL(const QString &url, const std::tuple &customLocation = defaultLocation) const { + return getLocationsFromURL(QUrl(url), customLocation); + } + + inline std::vector > + getOsmLocations(const std::tuple &customLocation = defaultLocation) const { + return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/nation_bounding_boxes.json", customLocation); + } + + inline std::vector > + getUsStatesLocations(const std::tuple &customLocation = defaultLocation) const { + return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/us_states_bounding_boxes.json", customLocation); + } +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc new file mode 100644 index 0000000000..b67e41e09d --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc @@ -0,0 +1,158 @@ +/** + * 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. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h" + +#include + +ModelsFetcher::ModelsFetcher(QObject *parent) : QObject(parent) { + manager = new QNetworkAccessManager(this); +} + +QByteArray ModelsFetcher::verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches) { + hashMatches = false; // Default to false + QByteArray fileData; + + if (expectedHash.isEmpty()) { + // If no hash is provided, assume verification isn't required but return the file data + hashMatches = true; + } else { + QFile file(filePath); + if (file.open(QIODevice::ReadOnly)) { + QCryptographicHash hash(QCryptographicHash::Sha256); // Or your chosen algorithm + fileData = file.readAll(); // Read the file data once + hash.addData(fileData); + file.close(); + + QString currentHash = QString(hash.result().toHex()); + hashMatches = (currentHash == expectedHash); + } + } + + // Return the file data if hash matches or no hash was provided; empty otherwise + return hashMatches ? fileData : QByteArray(); +} + + +void ModelsFetcher::download(const DownloadInfo &downloadInfo, const QString &filename, const QString &destinationPath) { + QString fullPath = destinationPath + "/" + filename; + QFileInfo fileInfo(fullPath); + bool hashMatches = false; + QByteArray data = verifyFileHash(fullPath, downloadInfo.sha256, hashMatches); + + if (fileInfo.exists() && hashMatches) { + // Hash matches or no hash provided, and we have the file data + LOGD("File already downloaded and verified: %s", filename.toStdString().c_str()); + emit downloadProgress(100); + emit downloadComplete(data, true); // Use the data returned from verifyFileHash + return; // Exit early + } + + // Proceed with download if file does not exist or hash verification failed + QNetworkRequest request(downloadInfo.url); + QNetworkReply *reply = manager->get(request); + connect(reply, &QNetworkReply::downloadProgress, this, &ModelsFetcher::onDownloadProgress); + connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename, downloadInfo]() { + onFinished(reply, destinationPath, filename, downloadInfo.sha256); + }); +} + +QString extractFileName(const QString &contentDisposition) { + const QString filenameTag = "filename="; + const int idx = contentDisposition.indexOf(filenameTag); + if (idx < 0) { + return QString(); + } + + QString filename = contentDisposition.mid(idx + filenameTag.length()); + if (filename.startsWith("\"") && filename.endsWith("\"")) { + return filename.mid(1, filename.size() - 2); + } + + return filename; +} + +void ModelsFetcher::onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, const QString &expectedHash) { + // Handle download error + if (reply->error()) { + return; // Possibly emit a signal or log an error as per your error handling policy + } + + const QByteArray data = reply->readAll(); + + QString finalFilename = filename; + if (finalFilename.isEmpty()) { + finalFilename = extractFileName(reply->header(QNetworkRequest::ContentDispositionHeader).toString()); + } + + QString finalPath = QDir(destinationPath).filePath(finalFilename); + + // Save the downloaded file + QFile file(finalPath); + //ensure if the path exists and if not create it + if (!QDir().mkpath(destinationPath)) { + LOGE("Unable to create directory: %s", destinationPath.toStdString().c_str()); + emit downloadFailed(filename); + return; // Stop further processing + } + + //Retry the file open and write 3 times with a little delay between each retry + for (int i = 0; i < 3; i++) { + if (file.isOpen()) break; + + file.open(QIODevice::WriteOnly); + if (!file.isOpen()) QThread::msleep(100); + } + + // If the file is still not open, log an error and emit a failure signal + if (!file.isOpen()) { + LOGE("Unable to open file for writing: %s", finalPath.toStdString().c_str()); + emit downloadFailed(filename); + return; // Stop further processing + } + + file.write(data); + file.close(); + + bool hashMatches = false; + verifyFileHash(finalPath, expectedHash, hashMatches); + + // Verify the file hash if expectedHash is provided + if (!expectedHash.isEmpty() && !hashMatches) { + LOGE("The downloaded file didn't pass the hash validation!: %s", filename.toStdString().c_str()); + // Hash verification failed, handle accordingly + // This could involve deleting the file, logging an error, or emitting a failure signal + QFile::remove(finalPath); // Example action: Remove the invalid file + emit downloadFailed(filename); + return; // Stop further processing + } + + emit downloadComplete(data, false); // Emit your success signal +} + +void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) { + const double progress = (bytesReceived * 100.0) / bytesTotal; + emit downloadProgress(progress); +} + +std::vector ModelsFetcher::getModelsFromURL(const QUrl &url) { + std::vector models; + JsonFetcher fetcher; + QJsonObject json = fetcher.getJsonFromURL(url.toString()); + for (auto it = json.begin(); it != json.end(); ++it) { + models.push_back(Model(it.value().toObject())); + } + return models; +} + +std::vector ModelsFetcher::getModelsFromURL(const QString &url) { + return getModelsFromURL(QUrl(url)); +} + +std::vector ModelsFetcher::getModelsFromURL() { + return getModelsFromURL("https://docs.sunnypilot.ai/models_v5.json"); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h new file mode 100644 index 0000000000..73890e9d5a --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h @@ -0,0 +1,143 @@ +/** + * 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. + */ + +#pragma once + +#include // for std::sort +#include +#include +#include + +#include +#include +#include + +#include "common/swaglog.h" +#include "common/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h" +#ifdef SUNNYPILOT +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#else +#include "selfdrive/ui/qt/widgets/controls.h" +#endif +#include "system/hardware/hw.h" + +static const QString MODELS_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/models/" : "/data/media/0/models/"; + +struct DownloadInfo { + QString url; + QString sha256; +}; + +// New class ModelsFetcher with a new function that handles web requests and JSON parsing for the new JSON structure +class Model { +public: + explicit Model(const QJsonObject &json) { + displayName = json["display_name"].toString(); + fullName = json["full_name"].toString(); + fileName = json["file_name"].toString(); + + // Parse downloadUri as an object + QJsonObject downloadUriObj = json["download_uri"].toObject(); + downloadUri.url = downloadUriObj["url"].toString(); + downloadUri.sha256 = downloadUriObj["sha256"].toString(); + + fullNameNav = json["full_name_nav"].toString(); + fileNameNav = json["file_name_nav"].toString(); + + // Parse downloadUriNav as an object + QJsonObject downloadUriNavObj = json["download_uri_nav"].toObject(); + downloadUriNav.url = downloadUriNavObj["url"].toString(); + downloadUriNav.sha256 = downloadUriNavObj["sha256"].toString(); + + fullNameMetadata = json["full_name_metadata"].toString(); + fileNameMetadata = json["file_name_metadata"].toString(); + + // Parse downloadUriMetadata as an object + QJsonObject downloadUriMetadataObj = json["download_uri_metadata"].toObject(); + downloadUriMetadata.url = downloadUriMetadataObj["url"].toString(); + downloadUriMetadata.sha256 = downloadUriMetadataObj["sha256"].toString(); + + index = json["index"].toString(); + environment = json["environment"].toString(); + generation = json["generation"].toString(); + } + + // Method to convert model back to QJsonObject, if needed + QJsonObject toJson() const { + QJsonObject json; + json["display_name"] = displayName; + json["full_name"] = fullName; + json["file_name"] = fileName; + + QJsonObject uriObj; + uriObj["url"] = downloadUri.url; + uriObj["sha256"] = downloadUri.sha256; + json["download_uri"] = uriObj; + + QJsonObject uriNavObj; + uriNavObj["url"] = downloadUriNav.url; + uriNavObj["sha256"] = downloadUriNav.sha256; + json["download_uri_nav"] = uriNavObj; + + QJsonObject uriMetadataObj; + uriMetadataObj["url"] = downloadUriMetadata.url; + uriMetadataObj["sha256"] = downloadUriMetadata.sha256; + json["download_uri_metadata"] = uriMetadataObj; + + json["full_name_nav"] = fullNameNav; + json["file_name_nav"] = fileNameNav; + json["full_name_metadata"] = fullNameMetadata; + json["file_name_metadata"] = fileNameMetadata; + json["index"] = index; + json["environment"] = environment; + json["generation"] = generation; + return json; + } + + QString displayName; + QString fullName; + QString fileName; + DownloadInfo downloadUri; + DownloadInfo downloadUriNav; + DownloadInfo downloadUriMetadata; + + QString fullNameNav; + QString fileNameNav; + QString fullNameMetadata; + QString fileNameMetadata; + QString index; + QString environment; + QString generation; +}; + +class ModelsFetcher : public QObject { + Q_OBJECT + +public: + explicit ModelsFetcher(QObject *parent = nullptr); + void download(const DownloadInfo &url, const QString &filename = "", const QString &destinationPath = MODELS_PATH); + static std::vector getModelsFromURL(const QUrl &url); + static std::vector getModelsFromURL(const QString &url); + static std::vector getModelsFromURL(); + +signals: + void downloadProgress(double percentage); + void downloadComplete(const QByteArray &data, bool fromCache = false); + void downloadFailed(const QString &filename); + +private: + // static bool verifyFileHash(const QString& filePath, const QString& expectedHash); + static QByteArray verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches); + void onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal); + void onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, + const QString &expectedHash); + + QNetworkAccessManager *manager; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc new file mode 100644 index 0000000000..332fd71a18 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc @@ -0,0 +1,283 @@ +/** + * 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. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h" + +#include +#include +#include + +#include "common/swaglog.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) { + main_layout = new QStackedLayout(this); + + const auto list = new ListWidgetSP(this, false); + list->addItem(mapdVersion = new LabelControlSP(tr("Mapd Version"), "Loading...")); + list->addItem(setupOsmDeleteMapsButton(parent)); + list->addItem(offlineMapsETA = new LabelControlSP(tr("Offline Maps ETA"), "")); + list->addItem(offlineMapsElapsed = new LabelControlSP(tr("Time Elapsed"), "")); + list->addItem(setupOsmUpdateButton(parent)); + list->addItem(setupOsmDownloadButton(parent)); + list->addItem(setupUsStatesButton(parent)); + + connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) { + updateLabels(); + }); + + timer = new QTimer(this); + connect(timer, &QTimer::timeout, this, QOverload<>::of(&OsmPanel::updateLabels)); + timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds. + updateLabels(); + + osmScreen = new QWidget(this); + auto *vlayout = new QVBoxLayout(osmScreen); + vlayout->setContentsMargins(50, 20, 50, 20); + vlayout->addWidget(new ScrollViewSP(list, this), 1); + main_layout->addWidget(osmScreen); +} + +ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) { + osmDeleteMapsBtn = new ButtonControlSP(tr("Downloaded Maps"), tr("DELETE")); // Updated on updateLabels() + connect(osmDeleteMapsBtn, &ButtonControlSP::clicked, [=]() { + if (showConfirmationDialog(parent, tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all the maps?"), tr("Yes, delete all the maps."))) { + QtConcurrent::run([=]() { + QDir dir(MAP_PATH); + osmDeleteMapsBtn->setEnabled(false); + osmDeleteMapsBtn->setText("⌛"); + dir.removeRecursively(); + updateMapSize(); + osmDeleteMapsBtn->setEnabled(true); + osmDeleteMapsBtn->setText(tr("DELETE")); + }); + updateLabels(); + } + }); + return osmDeleteMapsBtn; +} + +ButtonControlSP *OsmPanel::setupOsmUpdateButton(QWidget *parent) { + osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels() + connect(osmUpdateBtn, &ButtonControlSP::clicked, [=]() { + if (osm_download_in_progress && !download_failed_state) { + updateLabels(); + } else if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } + }); + return osmUpdateBtn; +} + +ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) { + osmDownloadBtn = new ButtonControlSP(tr("Country"), tr("SELECT")); + connect(osmDownloadBtn, &ButtonControlSP::clicked, [=]() { + osmDownloadBtn->setEnabled(false); + osmDownloadBtn->setValue(tr("Fetching Country list...")); + const std::vector > locations = getOsmLocations(); + osmDownloadBtn->setEnabled(true); + osmDownloadBtn->setValue(""); + const QString initTitle = QString::fromStdString(params.get("OsmLocationTitle")); + const QString currentTitle = ((initTitle == "== None ==") || (initTitle.length() == 0)) ? "== None ==" : initTitle; + + QStringList locationTitles; + for (auto &loc: locations) { + locationTitles.push_back(std::get<0>(loc)); + } + + const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this); + if (!selection.isEmpty()) { + params.put("OsmLocal", "1"); + params.put("OsmLocationTitle", selection.toStdString()); + for (auto &loc: locations) { + if (std::get<0>(loc) == selection) { + params.put("OsmLocationName", std::get<1>(loc).toStdString()); + break; + } + } + if (params.get("OsmLocationName") == "US") { + usStatesBtn->click(); + return; + } else if (selection != "== None ==") { + if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } + } + } + updateLabels(); + }); + return osmDownloadBtn; +} + +ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) { + usStatesBtn = new ButtonControlSP(tr("State"), tr("SELECT")); + connect(usStatesBtn, &ButtonControlSP::clicked, [=]() { + const std::tuple allStatesOption = std::make_tuple("All States (~4.8 GB)", "All"); + usStatesBtn->setEnabled(false); + usStatesBtn->setValue(tr("Fetching State list...")); + const std::vector > locations = + getUsStatesLocations(allStatesOption); + usStatesBtn->setEnabled(true); + usStatesBtn->setValue(""); + const QString initTitle = QString::fromStdString(params.get("OsmStateTitle")); + const QString currentTitle = ((initTitle == std::get<0>(allStatesOption)) || (initTitle.length() == 0)) ? tr("All") : initTitle; + + QStringList locationTitles; + for (auto &loc: locations) { + locationTitles.push_back(std::get<0>(loc)); + } + + const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this); + if (!selection.isEmpty()) { + params.put("OsmStateTitle", selection.toStdString()); + for (auto &loc: locations) { + if (std::get<0>(loc) == selection) { + params.put("OsmStateName", std::get<1>(loc).toStdString()); + break; + } + } + usStatesBtn->setValue(selection); + if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } + } + updateLabels(); + }); + usStatesBtn->setVisible(false); // initially hidden + return usStatesBtn; +} + +void OsmPanel::showEvent(QShowEvent *event) { + updateLabels(); // For snappier feeling + if (!timer->isActive()) { + timer->start(FAST_REFRESH_INTERVAL); + } +} + +void OsmPanel::hideEvent(QHideEvent *event) { + if (timer->isActive()) { + timer->stop(); + } +} + + +void OsmPanel::updateLabels() { + if (!isVisible()) { + return; + } + mapd_version = params.get("MapdVersion"); + mapdVersion->setText(mapd_version.c_str()); + + updateMapSize(); + osm_download_locations = mem_params.get("OSMDownloadLocations"); + osm_download_in_progress = !osm_download_locations.empty(); + + timer->setInterval(osm_download_in_progress ? FAST_REFRESH_INTERVAL : SLOW_REFRESH_INTERVAL); + LOGT("Timer Interval %d", timer->interval()); + + const std::string osmLastDownloadTimeStr = params.get("OsmDownloadedDate"); + if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) { + const double osmLastDownloadTime = std::stod(osmLastDownloadTimeStr); + lastDownloadedTimePoint = std::chrono::system_clock::from_time_t(static_cast(osmLastDownloadTime)); + } + + osmDownloadBtn->setEnabled(!osm_download_in_progress); + usStatesBtn->setEnabled(!osm_download_in_progress); + + updateDownloadProgress(); + + const QString locationName = QString::fromStdString(params.get("OsmLocationName")); + const bool isUs = !locationName.isEmpty() && locationName == "US"; + usStatesBtn->setVisible(isUs); + + if (!locationName.isEmpty()) { + if (!isUs) { + params.remove("OsmStateName"); + params.remove("OsmStateTitle"); + } + osmUpdateBtn->setVisible(true); + } else { + params.remove("OsmLocal"); + params.remove("OsmLocationName"); + params.remove("OsmLocationTitle"); + params.remove("OsmStateName"); + params.remove("OsmStateTitle"); + osmUpdateBtn->setVisible(false); + usStatesBtn->setVisible(false); + } + + osmDownloadBtn->setValue(QString::fromStdString(params.get("OsmLocationTitle"))); + usStatesBtn->setValue(QString::fromStdString(params.get("OsmStateTitle"))); + update(); +} + +void OsmPanel::updateDownloadProgress() { + const auto pending_update_check = params.getBool("OsmDbUpdatesCheck"); + const QJsonObject osmDownloadProgress = QJsonDocument::fromJson(params.get("OSMDownloadProgress").c_str()).object(); + if (osm_download_in_progress && lastDownloadedTimePoint.has_value()) { + offlineMapsETA->setVisible(true); + offlineMapsElapsed->setVisible(true); + offlineMapsETA->setText(calculateETA(osmDownloadProgress, lastDownloadedTimePoint.value())); + offlineMapsElapsed->setText(calculateElapsedTime(osmDownloadProgress, lastDownloadedTimePoint.value())); + } else { + offlineMapsETA->setVisible(false); + offlineMapsElapsed->setVisible(false); + } + + const int total_files = extractIntFromJson(osmDownloadProgress, "total_files"); + const int downloaded_files = extractIntFromJson(osmDownloadProgress, "downloaded_files"); + download_failed_state = total_files && osm_download_in_progress && !lastDownloadedTimePoint.has_value() && downloaded_files < total_files; + + QString updateButtonText = processUpdateStatus(pending_update_check, total_files, downloaded_files, osmDownloadProgress, download_failed_state); + + osmUpdateBtn->setValue(updateButtonText); + osmUpdateBtn->setText(osm_download_in_progress && !download_failed_state ? tr("REFRESH") : tr("UPDATE")); + osmDeleteMapsBtn->setValue(formatSize(mapsDirSize)); +} + +int OsmPanel::extractIntFromJson(const QJsonObject &json, const QString &key) { + return (json.contains(key)) ? json[key].toInt() : 0; +} + +QString OsmPanel::processUpdateStatus(bool pending_update, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state) { + if (pending_update && !osm_download_in_progress && !total_files) { + lastDownloadedTimePoint.reset(); + return tr("Download starting..."); + } else if (failed_state) { + return tr("Error: Invalid download. Retry."); + } else if (osm_download_in_progress && total_files > downloaded_files) { + return formatDownloadStatus(json); + } else if (osm_download_in_progress && downloaded_files >= total_files) { + osm_download_in_progress = false; + lastDownloadedTimePoint.reset(); + return tr("Download complete!"); + } + + if (lastDownloadedTimePoint.has_value()) { + QDateTime dateTime = QDateTime::fromTime_t(std::chrono::system_clock::to_time_t(lastDownloadedTimePoint.value())); //fromMSecsSinceEpoch(duration); + dateTime = dateTime.toLocalTime(); + return QString("%1").arg(dateTime.toString("yyyy-MM-dd HH:mm:ss")); + } + + return ""; +} + +void OsmPanel::updateMapSize() { + if (mapSizeFuture.has_value() && mapSizeFuture.value().isFinished()) { + mapsDirSize = mapSizeFuture.value().result(); + } + + if (!mapSizeFuture.has_value() || !mapSizeFuture.value().isRunning()) { + mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h new file mode 100644 index 0000000000..171129a11c --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h @@ -0,0 +1,232 @@ +/** + * 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. + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "selfdrive/ui/qt/network/wifi_manager.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "system/hardware/hw.h" + +constexpr int FAST_REFRESH_INTERVAL = 1000; // ms +constexpr int SLOW_REFRESH_INTERVAL = 5000; // ms + +static const QString MAP_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/osm/offline/" : "/data/media/0/osm/offline/"; + +class OsmPanel : public QFrame { + Q_OBJECT + +public: + explicit OsmPanel(QWidget *parent = nullptr); + +private: + QStackedLayout *main_layout = nullptr; + QWidget *osmScreen = nullptr; + Params params; + Params mem_params{Hardware::PC() ? "" : "/dev/shm/params"}; + std::map toggles; + std::optional > mapSizeFuture; + const SubMaster &sm = *uiStateSP()->sm; + + + bool is_onroad = false; + std::string mapd_version; + + bool isWifi() const { return sm["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI; } + bool isMetered() const { return sm["deviceState"].getDeviceState().getNetworkMetered(); } + bool osm_download_in_progress = false; + bool download_failed_state = false; + quint64 mapsDirSize = 0; + + QLabel *osmUpdateLbl; + ButtonControlSP *osmDownloadBtn; + ButtonControlSP *osmUpdateBtn; + ButtonControlSP *usStatesBtn; + ButtonControlSP *osmDeleteMapsBtn; + + ButtonControlSP *setupOsmDeleteMapsButton(QWidget *parent);; + ButtonControlSP *setupOsmUpdateButton(QWidget *parent); + ButtonControlSP *setupOsmDownloadButton(QWidget *parent); + ButtonControlSP *setupUsStatesButton(QWidget *parent); + + QTimer *timer; + std::string osm_download_locations; + // void updateButtonControlSP(ButtonControlSP *btnControl, QWidget *parent, const QString &initTitle, const QString &allStatesOption); + + void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; + void updateLabels(); + void updateDownloadProgress(); + static int extractIntFromJson(const QJsonObject &json, const QString &key); + QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state); + + ConfirmationDialog *confirmationDialog; + LabelControlSP *mapdVersion; + LabelControlSP *offlineMapsStatus; + LabelControlSP *offlineMapsETA; + LabelControlSP *offlineMapsElapsed; + std::optional lastDownloadedTimePoint; + LocationsFetcher locationsFetcher; + + void updateMapSize(); + + bool showConfirmationDialog(QWidget *parent, + const QString &message = QString(), + const QString &confirmButtonText = QString()) const { + const auto _is_metered = isMetered(); + const QString warning_message = _is_metered ? tr("\n\nWarning: You are on a metered connection!") : QString(); + QString final_message = message.isEmpty() ? tr("This will start the download process and it might take a while to complete.") : message; + final_message += warning_message; // Append the warning message if the connection is metered + + const QString final_buttonText = confirmButtonText.isEmpty() ? (_is_metered ? tr("Continue on Metered") : tr("Start Download")) : confirmButtonText; + + return ConfirmationDialog::confirm(final_message, final_buttonText, parent); + } + + // Refactored methods + std::vector > getOsmLocations(const std::tuple &customLocation = defaultLocation) const { + return locationsFetcher.getOsmLocations(customLocation); + } + + std::vector > getUsStatesLocations(const std::tuple &customLocation = defaultLocation) const { + return locationsFetcher.getUsStatesLocations(customLocation); + } + + static QString formatTime(const long timeInSeconds) { + const long minutes = timeInSeconds / 60; + const long seconds = timeInSeconds % 60; + + QString formattedTime; + if (minutes > 0) { + formattedTime = QString::number(minutes) + tr("m "); + } + formattedTime += QString::number(seconds) + tr("s"); + return formattedTime; + } + + static QString calculateElapsedTime(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) { + using namespace std::chrono; + if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files")) + return tr("Calculating..."); + + const int totalFiles = jsonData["total_files"].toInt(); + const int downloadedFiles = jsonData["downloaded_files"].toInt(); + + if (downloadedFiles >= totalFiles || totalFiles <= 0) return tr("Downloaded"); + + const long elapsed = duration_cast(system_clock::now() - startTime).count(); + + if (elapsed == 0 || downloadedFiles == 0) return tr("Calculating..."); + + return formatTime(elapsed); + } + + static QString calculateETA(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) { + using namespace std::chrono; + static steady_clock::time_point lastUpdateTime = steady_clock::now(); + static std::deque rateHistory; + + constexpr int minDataPoints = 3; + constexpr int historySize = 10; + + static QString lastETA = tr("Calculating ETA..."); + + if (duration_cast(steady_clock::now() - lastUpdateTime).count() < 1) { + return lastETA; + } + + if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files")) + return lastETA; + + const int totalFiles = jsonData["total_files"].toInt(); + const int downloadedFiles = jsonData["downloaded_files"].toInt(); + + if (totalFiles <= 0 || downloadedFiles >= totalFiles) { + return totalFiles <= 0 ? tr("Ready") : tr("Downloaded"); + } + + const long elapsed = duration_cast(system_clock::now() - startTime).count(); + if (elapsed == 0 || downloadedFiles == 0) return lastETA; + + const double rate = downloadedFiles / static_cast(elapsed); + if (rateHistory.size() >= historySize) rateHistory.pop_front(); + rateHistory.push_back(rate); + + if (rateHistory.size() < minDataPoints) return lastETA; + + double weightedSum = 0; + for (int i = 0, weight = 1; i < rateHistory.size(); ++i, ++weight) { + weightedSum += rateHistory[i] * weight; + } + const double avgRate = 2 * weightedSum / (rateHistory.size() * (rateHistory.size() + 1)); + + const long remainingTime = static_cast((totalFiles - downloadedFiles) / avgRate); + if (remainingTime <= 0) return lastETA; + + lastETA = tr("Time remaining: ") + formatTime(remainingTime); + lastUpdateTime = steady_clock::now(); + return lastETA; + } + + static QString formatDownloadStatus(const QJsonObject &json) { + if (!json.contains("total_files") || !json.contains("downloaded_files")) + return ""; + + const int total_files = json["total_files"].toInt(); + const int downloaded_files = json["downloaded_files"].toInt(); + + if (total_files <= 0) return tr("Ready"); + if (downloaded_files >= total_files) return tr("Downloaded"); + + const int percentage = static_cast(100.0 * downloaded_files / total_files); + return QString::asprintf("%d/%d (%d%%)", downloaded_files, total_files, percentage); + } + + QString formatSize(quint64 size) const { + if (size == 0 && (!mapSizeFuture.has_value() || mapSizeFuture.value().isRunning())) { + return tr("Calculating..."); + } + + constexpr qint64 kb = 1024; + constexpr qint64 mb = 1024 * kb; + constexpr qint64 gb = 1024 * mb; + + if (size < gb) { + const double sizeMB = size / static_cast(mb); + return QString::number(sizeMB, 'f', 2) + " MB"; + } else { + const double sizeGB = size / static_cast(gb); + return QString::number(sizeGB, 'f', 2) + " GB"; + } + } + + static quint64 getDirSize(QString dirPath) { + quint64 size = 0; + const QString actualDirPath = dirPath.startsWith("~") ? dirPath.replace(0, 1, QDir::homePath()) : dirPath; + QDirIterator it(actualDirPath, QDir::Files | QDir::Dirs | QDir::NoDotAndDotDot | QDir::NoSymLinks, QDirIterator::Subdirectories); + while (it.hasNext()) { + it.next(); + if (it.fileInfo().isFile()) { + size += it.fileInfo().size(); + } + } + return size; + } +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index ad057ac714..05ea5ff899 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -18,8 +18,10 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h" TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) { QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState); @@ -70,6 +72,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { TogglesPanelSP *toggles = new TogglesPanelSP(this); QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); + QObject::connect(this, &SettingsWindowSP::scrollToToggle, toggles, &TogglesPanel::scrollToToggle); auto networking = new NetworkingSP(this); QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &NetworkingSP::setPrimeType); @@ -83,6 +86,8 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { PanelInfo(" " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"), PanelInfo(" " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"), PanelInfo(" " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"), + PanelInfo(" " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"), + PanelInfo(" " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"), diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc new file mode 100644 index 0000000000..0d42bd74f4 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -0,0 +1,70 @@ +/** + * 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. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h" + +VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { + param_watcher = new ParamWatcher(this); + connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { + paramsRefresh(); + }); + + main_layout = new QStackedLayout(this); + ListWidgetSP *list = new ListWidgetSP(this, false); + + sunnypilotScreen = new QWidget(this); + QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen); + vlayout->setContentsMargins(50, 20, 50, 20); + + std::vector > toggle_defs{ + { + "BlindSpot", + tr("Show Blind Spot Warnings"), + tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."), + "../assets/offroad/icon_monitoring.png", + false, + }, + }; + + for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) { + auto toggle = new ParamControlSP(param, title, desc, icon, this); + + bool locked = params.getBool((param + "Lock").toStdString()); + toggle->setEnabled(!locked); + + if (needs_restart && !locked) { + toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on.")); + + QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) { + toggle->setEnabled(!engaged); + }); + + QObject::connect(toggle, &ParamControlSP::toggleFlipped, [=](bool state) { + params.putBool("OnroadCycleRequested", true); + }); + } + + list->addItem(toggle); + toggles[param.toStdString()] = toggle; + param_watcher->addParam(param); + } + + sunnypilotScroller = new ScrollViewSP(list, this); + vlayout->addWidget(sunnypilotScroller); + + main_layout->addWidget(sunnypilotScreen); +} + +void VisualsPanel::paramsRefresh() { + if (!isVisible()) { + return; + } + + for (auto toggle : toggles) { + toggle.second->refresh(); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h new file mode 100644 index 0000000000..42e0688957 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h @@ -0,0 +1,30 @@ +/** + * 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. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +class ScrollViewSP; + +class VisualsPanel : public QWidget { + Q_OBJECT + +public: + explicit VisualsPanel(QWidget *parent = nullptr); + + void paramsRefresh(); + +protected: + QStackedLayout* main_layout = nullptr; + QWidget* sunnypilotScreen = nullptr; + ScrollViewSP *sunnypilotScroller = nullptr; + Params params; + std::map toggles; + ParamWatcher * param_watcher; +}; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc index 617b64f58e..af0177c344 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc @@ -6,3 +6,47 @@ */ #include "selfdrive/ui/sunnypilot/qt/onroad/model.h" + + +void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) { + ModelRenderer::update_model(model, lead); + const auto &model_position = model.getPosition(); + const auto &lane_lines = model.getLaneLines(); + float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); + int max_idx = get_path_length_idx(lane_lines[0], max_distance); + // update blindspot vertices + float max_distance_barrier = 100; + int max_idx_barrier = std::min(max_idx, get_path_length_idx(lane_lines[0], max_distance_barrier)); + mapLineToPolygon(model.getLaneLines()[1], 0.2, -0.05, &left_blindspot_vertices, max_idx_barrier); + mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier); +} + +void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) { + auto *s = uiState(); + auto &sm = *(s->sm); + bool blindspot = Params().getBool("BlindSpot"); + + if (blindspot) { + bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot(); + bool right_blindspot = sm["carState"].getCarState().getRightBlindspot(); + + //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4)); // Red with alpha for blind spot + + if (left_blindspot && !left_blindspot_vertices.isEmpty()) { + QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right + gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha + gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha + painter.setBrush(gradient); + painter.drawPolygon(left_blindspot_vertices); + } + + if (right_blindspot && !right_blindspot_vertices.isEmpty()) { + QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left + gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha + gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha + painter.setBrush(gradient); + painter.drawPolygon(right_blindspot_vertices); + } + } + ModelRenderer::drawPath(painter, model, surface_rect.height()); +} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h index e8594629cb..24404f32f0 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h @@ -11,5 +11,12 @@ class ModelRendererSP : public ModelRenderer { public: - ModelRendererSP() {} + ModelRendererSP() = default; + +private: + void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override; + void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override; + + QPolygonF left_blindspot_vertices; + QPolygonF right_blindspot_vertices; }; diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index e31c4047e9..c8849faf53 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -247,14 +247,11 @@ public: if (inline_layout) { button_param_layout->setMargin(0); button_param_layout->setSpacing(0); + spacingItem = nullptr; if (!title.isEmpty()) { main_layout->removeWidget(title_label); hlayout->addWidget(title_label, 1); } - if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) { - main_layout->removeItem(spacingItem); - spacingItem = nullptr; - } } button_group = new QButtonGroup(this); diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc index 032abdbbfb..bfdcac2564 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc +++ b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc @@ -34,7 +34,7 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) { int row = 0; grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3); - grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1); + grid_layout->addItem(new QSpacerItem(0, 30), row++, 0, 1, 1); grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft); grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc index 586a03b1dd..b2701356cc 100644 --- a/selfdrive/ui/sunnypilot/ui.cc +++ b/selfdrive/ui/sunnypilot/ui.cc @@ -41,6 +41,7 @@ void UIStateSP::update() { DeviceSP::DeviceSP(QObject *parent) : Device(parent) { QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update); + QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged); } UIStateSP *uiStateSP() { @@ -62,3 +63,10 @@ DeviceSP *deviceSP() { static DeviceSP _device; return &_device; } + +void DeviceSP::handleDisplayPowerChanged(bool on) { + // if enabled, trigger offroad mode when device goes to sleep + if (params.get("DeviceBootMode") == "1" && not on) { + params.putBool("OffroadMode", true); + } +} diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index a94dfca3b3..cf8de1c4bb 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -84,6 +84,10 @@ class DeviceSP : public Device { public: DeviceSP(QObject *parent = 0); + +private: + Params params; + void handleDisplayPowerChanged(bool on); }; DeviceSP *deviceSP(); diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 0b9d266ad6..b263e28297 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -246,10 +246,16 @@ def setup_settings_steering_alc(click, pm: PubMaster, scroll=None): click(970, 534) time.sleep(UI_DELAY) -def setup_settings_driving(click, pm: PubMaster, scroll=None): +def setup_settings_cruise(click, pm: PubMaster, scroll=None): setup_settings_device(click, pm) - scroll(-1, 278, 962) - click(278, 962) + scroll(-400, 278, 962) + click(278, 324) + time.sleep(UI_DELAY) + +def setup_settings_visuals(click, pm: PubMaster, scroll=None): + setup_settings_device(click, pm) + scroll(-400, 278, 962) + click(278, 560) time.sleep(UI_DELAY) def setup_settings_trips(click, pm: PubMaster, scroll=None): @@ -306,7 +312,8 @@ CASES.update({ "settings_steering": setup_settings_steering, "settings_steering_mads": setup_settings_steering_mads, "settings_steering_alc": setup_settings_steering_alc, - "settings_driving": setup_settings_driving, + "settings_cruise": setup_settings_cruise, + "settings_visuals": setup_settings_visuals, "settings_trips": setup_settings_trips, "settings_vehicle": setup_settings_vehicle, }) @@ -384,9 +391,9 @@ def create_screenshots(): driver_img = frames[2] else: with open(frames_cache, 'wb') as f: - road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0] - wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0] - driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0] + road_img = FrameReader(route.camera_paths()[segnum], pix_fmt="nv12").get(0) + wide_road_img = FrameReader(route.ecamera_paths()[segnum], pix_fmt="nv12").get(0) + driver_img = FrameReader(route.dcamera_paths()[segnum], pix_fmt="nv12").get(0) pickle.dump([road_img, wide_road_img, driver_img], f) STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes())) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 2aba1e4e9f..de24097d8f 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -1397,6 +1397,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index e5d90381e1..6229920121 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1377,6 +1377,10 @@ Dies kann bis zu einer Minute dauern. Developer Entwickler + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index edc2295bc7..3d9622166a 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -1377,6 +1377,10 @@ Esto puede tardar un minuto. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 5f7c7502cf..741cc606a7 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -1377,6 +1377,10 @@ Cela peut prendre jusqu'à une minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d4b3f3e742..f85ee37689 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1372,6 +1372,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index e5d139e83e..89f30ea545 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1372,6 +1372,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index ef4b4c1ee3..bc9e50ee0a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1377,6 +1377,10 @@ Isso pode levar até um minuto. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 3f6a199a83..2c3d0bdb6c 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -1372,6 +1372,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index b20e38fbf7..fd06e81ef1 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -1370,6 +1370,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 0c4029c7fe..06c6c67152 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1372,6 +1372,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 116e7b0725..c46157e78e 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1372,6 +1372,10 @@ This may take up to a minute. Cruise + + Visuals + + Setup diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 06208638db..c9dc70cdff 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -80,8 +80,12 @@ void UIState::updateStatus() { status = STATUS_OVERRIDE; } else { if (mads.getAvailable()) { - if (mads.getEnabled()) { - status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY; + if (mads.getEnabled() && ss.getEnabled()) { + status = STATUS_ENGAGED; + } else if (mads.getEnabled()) { + status = STATUS_LAT_ONLY; + } else if (ss.getEnabled()) { + status = STATUS_LONG_ONLY; } else { status = STATUS_DISENGAGED; } @@ -167,6 +171,8 @@ void Device::resetInteractiveTimeout(int timeout) { } void Device::updateBrightness(const UIState &s) { + int brightness; + int brightness_override = QString::fromStdString(Params().get("Brightness")).toInt(); float clipped_brightness = offroad_brightness; if (s.scene.started && s.scene.light_sensor >= 0) { clipped_brightness = s.scene.light_sensor; @@ -178,11 +184,19 @@ void Device::updateBrightness(const UIState &s) { clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0); } - // Scale back to 10% to 100% - clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); + if (brightness_override == 1) { + clipped_brightness = std::clamp(100.0f * clipped_brightness, 1.0f, 100.0f); // Scale back to 1% to 100% + } else if (brightness_override == 0) { + clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); // Scale back to 10% to 100% + } + } + + if (brightness_override == 0 || brightness_override == 1) { + brightness = brightness_filter.update(clipped_brightness); + } else { + brightness = brightness_override; } - int brightness = brightness_filter.update(clipped_brightness); if (!awake) { brightness = 0; } diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py new file mode 100755 index 0000000000..bb2b431e03 --- /dev/null +++ b/selfdrive/ui/ui.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +import pyray as rl +from openpilot.common.watchdog import kick_watchdog +from openpilot.system.ui.lib.application import gui_app +from openpilot.selfdrive.ui.layouts.main import MainLayout +from openpilot.selfdrive.ui.ui_state import ui_state + + +def main(): + gui_app.init_window("UI") + main_layout = MainLayout() + main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + for _ in gui_app.render(): + ui_state.update() + + # TODO handle brigntness and awake state here + + main_layout.render() + + kick_watchdog() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py new file mode 100644 index 0000000000..3738ea6d5d --- /dev/null +++ b/selfdrive/ui/ui_state.py @@ -0,0 +1,171 @@ +import pyray as rl +import time +from collections.abc import Callable +from enum import Enum +from cereal import messaging, log +from openpilot.common.params import Params, UnknownKeyName +from openpilot.selfdrive.ui.lib.prime_state import PrimeState + +UI_BORDER_SIZE = 30 + + +class UIStatus(Enum): + DISENGAGED = "disengaged" + ENGAGED = "engaged" + OVERRIDE = "override" + + +class UIState: + _instance: 'UIState | None' = None + + def __new__(cls): + if cls._instance is None: + cls._instance = super().__new__(cls) + cls._instance._initialize() + return cls._instance + + def _initialize(self): + self.params = Params() + self.sm = messaging.SubMaster( + [ + "modelV2", + "controlsState", + "liveCalibration", + "radarState", + "deviceState", + "pandaStates", + "carParams", + "driverMonitoringState", + "carState", + "driverStateV2", + "roadCameraState", + "wideRoadCameraState", + "managerState", + "selfdriveState", + "longitudinalPlan", + ] + ) + + self.prime_state = PrimeState() + + # UI Status tracking + self.status: UIStatus = UIStatus.DISENGAGED + self.started_frame: int = 0 + self._engaged_prev: bool = False + self._started_prev: bool = False + + # Core state variables + self.is_metric: bool = self.params.get_bool("IsMetric") + self.started: bool = False + self.ignition: bool = False + self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown + self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard + self.light_sensor: float = -1.0 + + self._update_params() + + @property + def engaged(self) -> bool: + return self.started and self.sm["selfdriveState"].enabled + + def is_onroad(self) -> bool: + return self.started + + def is_offroad(self) -> bool: + return not self.started + + def update(self) -> None: + self.sm.update(0) + self._update_state() + self._update_status() + device.update() + + def _update_state(self) -> None: + # Handle panda states updates + if self.sm.updated["pandaStates"]: + panda_states = self.sm["pandaStates"] + + if len(panda_states) > 0: + # Get panda type from first panda + self.panda_type = panda_states[0].pandaType + # Check ignition status across all pandas + if self.panda_type != log.PandaState.PandaType.unknown: + self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states) + elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps(): + self.panda_type = log.PandaState.PandaType.unknown + + # Handle wide road camera state updates + if self.sm.updated["wideRoadCameraState"]: + cam_state = self.sm["wideRoadCameraState"] + + # Scale factor based on sensor type + scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0 + self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0) + elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]: + self.light_sensor = -1 + + # Update started state + self.started = self.sm["deviceState"].started and self.ignition + + def _update_status(self) -> None: + if self.started and self.sm.updated["selfdriveState"]: + ss = self.sm["selfdriveState"] + state = ss.state + + if state in (log.SelfdriveState.OpenpilotState.preEnabled, log.SelfdriveState.OpenpilotState.overriding): + self.status = UIStatus.OVERRIDE + else: + self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED + + # Check for engagement state changes + if self.engaged != self._engaged_prev: + self._engaged_prev = self.engaged + + # Handle onroad/offroad transition + if self.started != self._started_prev or self.sm.frame == 1: + if self.started: + self.status = UIStatus.DISENGAGED + self.started_frame = self.sm.frame + + self._started_prev = self.started + + def _update_params(self) -> None: + try: + self.is_metric = self.params.get_bool("IsMetric") + except UnknownKeyName: + self.is_metric = False + + +class Device: + def __init__(self): + self._ignition = False + self._interaction_time: float = 0.0 + self._interactive_timeout_callbacks: list[Callable] = [] + self._prev_timed_out = False + self.reset_interactive_timeout() + + def reset_interactive_timeout(self, timeout: int = -1) -> None: + if timeout == -1: + timeout = 10 if ui_state.ignition else 30 + self._interaction_time = time.monotonic() + timeout + + def add_interactive_timeout_callback(self, callback: Callable): + self._interactive_timeout_callbacks.append(callback) + + def update(self): + # Handle interactive timeout + ignition_just_turned_off = not ui_state.ignition and self._ignition + self._ignition = ui_state.ignition + + interaction_timeout = time.monotonic() > self._interaction_time + if ignition_just_turned_off or rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + self.reset_interactive_timeout() + elif interaction_timeout and not self._prev_timed_out: + for callback in self._interactive_timeout_callbacks: + callback() + self._prev_timed_out = interaction_timeout + + +# Global instance +ui_state = UIState() +device = Device() diff --git a/selfdrive/ui/widgets/__init__.py b/selfdrive/ui/widgets/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py new file mode 100644 index 0000000000..83caf413d1 --- /dev/null +++ b/selfdrive/ui/widgets/exp_mode_button.py @@ -0,0 +1,74 @@ +import pyray as rl +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.widget import Widget + + +class ExperimentalModeButton(Widget): + def __init__(self): + super().__init__() + + self.img_width = 80 + self.horizontal_padding = 50 + self.button_height = 125 + + self.params = Params() + self.experimental_mode = self.params.get_bool("ExperimentalMode") + self.is_pressed = False + + self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width) + self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width) + + def _get_gradient_colors(self): + alpha = 0xCC if self.is_pressed else 0xFF + + if self.experimental_mode: + return rl.Color(255, 155, 63, alpha), rl.Color(219, 56, 34, alpha) + else: + return rl.Color(20, 255, 171, alpha), rl.Color(35, 149, 255, alpha) + + def _draw_gradient_background(self, rect): + start_color, end_color = self._get_gradient_colors() + rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height), + start_color, end_color) + + def _handle_interaction(self, rect): + mouse_pos = rl.get_mouse_position() + mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect) + + self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT) + return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT) + + def _render(self, rect): + if self._handle_interaction(rect): + self.experimental_mode = not self.experimental_mode + # TODO: Opening settings for ExperimentalMode + self.params.put_bool("ExperimentalMode", self.experimental_mode) + + rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255)) + + rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) + self._draw_gradient_background(rect) + rl.end_scissor_mode() + + # Draw vertical separator line + line_x = rect.x + rect.width - self.img_width - (2 * self.horizontal_padding) + separator_color = rl.Color(0, 0, 0, 77) # 0x4d = 77 + rl.draw_line_ex(rl.Vector2(line_x, rect.y), rl.Vector2(line_x, rect.y + rect.height), 3, separator_color) + + # Draw text label (left aligned) + text = "EXPERIMENTAL MODE ON" if self.experimental_mode else "CHILL MODE ON" + text_x = rect.x + self.horizontal_padding + text_y = rect.y + rect.height / 2 - 45 // 2 # Center vertically + + rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255)) + + # Draw icon (right aligned) + icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width + icon_y = rect.y + (rect.height - self.img_width) / 2 + icon_rect = rl.Rectangle(icon_x, icon_y, self.img_width, self.img_width) + + # Draw current mode icon + current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap + source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height) + rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255)) diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py new file mode 100644 index 0000000000..aba07139db --- /dev/null +++ b/selfdrive/ui/widgets/offroad_alerts.py @@ -0,0 +1,330 @@ +import json +import pyray as rl +from abc import ABC, abstractmethod +from collections.abc import Callable +from dataclasses import dataclass +from openpilot.common.params import Params +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.widget import Widget + + +class AlertColors: + HIGH_SEVERITY = rl.Color(226, 44, 44, 255) + LOW_SEVERITY = rl.Color(41, 41, 41, 255) + BACKGROUND = rl.Color(57, 57, 57, 255) + BUTTON = rl.WHITE + BUTTON_TEXT = rl.BLACK + SNOOZE_BG = rl.Color(79, 79, 79, 255) + TEXT = rl.WHITE + + +class AlertConstants: + BUTTON_SIZE = (400, 125) + SNOOZE_BUTTON_SIZE = (550, 125) + REBOOT_BUTTON_SIZE = (600, 125) + MARGIN = 50 + SPACING = 30 + FONT_SIZE = 48 + BORDER_RADIUS = 30 + ALERT_HEIGHT = 120 + ALERT_SPACING = 20 + + +@dataclass +class AlertData: + key: str + text: str + severity: int + visible: bool = False + + +class AbstractAlert(Widget, ABC): + def __init__(self, has_reboot_btn: bool = False): + super().__init__() + self.params = Params() + self.has_reboot_btn = has_reboot_btn + self.dismiss_callback: Callable | None = None + + self.dismiss_btn_rect = rl.Rectangle(0, 0, *AlertConstants.BUTTON_SIZE) + self.snooze_btn_rect = rl.Rectangle(0, 0, *AlertConstants.SNOOZE_BUTTON_SIZE) + self.reboot_btn_rect = rl.Rectangle(0, 0, *AlertConstants.REBOOT_BUTTON_SIZE) + + self.snooze_visible = False + self.content_rect = rl.Rectangle(0, 0, 0, 0) + self.scroll_panel_rect = rl.Rectangle(0, 0, 0, 0) + self.scroll_panel = GuiScrollPanel() + + def set_dismiss_callback(self, callback: Callable): + self.dismiss_callback = callback + + @abstractmethod + def refresh(self) -> bool: + pass + + @abstractmethod + def get_content_height(self) -> float: + pass + + def handle_input(self, mouse_pos: rl.Vector2, mouse_clicked: bool) -> bool: + if not mouse_clicked or not self.scroll_panel.is_touch_valid(): + return False + + if rl.check_collision_point_rec(mouse_pos, self.dismiss_btn_rect): + if self.dismiss_callback: + self.dismiss_callback() + return True + + if self.snooze_visible and rl.check_collision_point_rec(mouse_pos, self.snooze_btn_rect): + self.params.put_bool("SnoozeUpdate", True) + if self.dismiss_callback: + self.dismiss_callback() + return True + + if self.has_reboot_btn and rl.check_collision_point_rec(mouse_pos, self.reboot_btn_rect): + HARDWARE.reboot() + return True + + return False + + def _render(self, rect: rl.Rectangle): + rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.width, 10, AlertColors.BACKGROUND) + + footer_height = AlertConstants.BUTTON_SIZE[1] + AlertConstants.SPACING + content_height = rect.height - 2 * AlertConstants.MARGIN - footer_height + + self.content_rect = rl.Rectangle( + rect.x + AlertConstants.MARGIN, + rect.y + AlertConstants.MARGIN, + rect.width - 2 * AlertConstants.MARGIN, + content_height, + ) + self.scroll_panel_rect = rl.Rectangle( + self.content_rect.x, self.content_rect.y, self.content_rect.width, self.content_rect.height + ) + + self._render_scrollable_content() + self._render_footer(rect) + + def _render_scrollable_content(self): + content_total_height = self.get_content_height() + content_bounds = rl.Rectangle(0, 0, self.scroll_panel_rect.width, content_total_height) + scroll_offset = self.scroll_panel.handle_scroll(self.scroll_panel_rect, content_bounds) + + rl.begin_scissor_mode( + int(self.scroll_panel_rect.x), + int(self.scroll_panel_rect.y), + int(self.scroll_panel_rect.width), + int(self.scroll_panel_rect.height), + ) + + content_rect_with_scroll = rl.Rectangle( + self.scroll_panel_rect.x, + self.scroll_panel_rect.y + scroll_offset.y, + self.scroll_panel_rect.width, + content_total_height, + ) + + self._render_content(content_rect_with_scroll) + rl.end_scissor_mode() + + @abstractmethod + def _render_content(self, content_rect: rl.Rectangle): + pass + + def _render_footer(self, rect: rl.Rectangle): + footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_SIZE[1] + font = gui_app.font(FontWeight.MEDIUM) + + self.dismiss_btn_rect.x = rect.x + AlertConstants.MARGIN + self.dismiss_btn_rect.y = footer_y + rl.draw_rectangle_rounded(self.dismiss_btn_rect, 0.3, 10, AlertColors.BUTTON) + + text = "Close" + text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x + text_x = self.dismiss_btn_rect.x + (AlertConstants.BUTTON_SIZE[0] - text_width) // 2 + text_y = self.dismiss_btn_rect.y + (AlertConstants.BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2 + rl.draw_text_ex( + font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT + ) + + if self.snooze_visible: + self.snooze_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.SNOOZE_BUTTON_SIZE[0] + self.snooze_btn_rect.y = footer_y + rl.draw_rectangle_rounded(self.snooze_btn_rect, 0.3, 10, AlertColors.SNOOZE_BG) + + text = "Snooze Update" + text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x + text_x = self.snooze_btn_rect.x + (AlertConstants.SNOOZE_BUTTON_SIZE[0] - text_width) // 2 + text_y = self.snooze_btn_rect.y + (AlertConstants.SNOOZE_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2 + rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.TEXT) + + elif self.has_reboot_btn: + self.reboot_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.REBOOT_BUTTON_SIZE[0] + self.reboot_btn_rect.y = footer_y + rl.draw_rectangle_rounded(self.reboot_btn_rect, 0.3, 10, AlertColors.BUTTON) + + text = "Reboot and Update" + text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x + text_x = self.reboot_btn_rect.x + (AlertConstants.REBOOT_BUTTON_SIZE[0] - text_width) // 2 + text_y = self.reboot_btn_rect.y + (AlertConstants.REBOOT_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2 + rl.draw_text_ex( + font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT + ) + + +class OffroadAlert(AbstractAlert): + def __init__(self): + super().__init__(has_reboot_btn=False) + self.sorted_alerts: list[AlertData] = [] + + def refresh(self): + if not self.sorted_alerts: + self._build_alerts() + + active_count = 0 + connectivity_needed = False + + for alert_data in self.sorted_alerts: + text = "" + bytes_data = self.params.get(alert_data.key) + + if bytes_data: + try: + alert_json = json.loads(bytes_data) + text = alert_json.get("text", "").replace("{}", alert_json.get("extra", "")) + except json.JSONDecodeError: + text = "" + + alert_data.text = text + alert_data.visible = bool(text) + + if alert_data.visible: + active_count += 1 + + if alert_data.key == "Offroad_ConnectivityNeeded" and alert_data.visible: + connectivity_needed = True + + self.snooze_visible = connectivity_needed + return active_count + + def get_content_height(self) -> float: + if not self.sorted_alerts: + return 0 + + total_height = 20 + font = gui_app.font(FontWeight.NORMAL) + + for alert_data in self.sorted_alerts: + if not alert_data.visible: + continue + + text_width = int(self.content_rect.width - 90) + wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width) + line_count = len(wrapped_lines) + text_height = line_count * (AlertConstants.FONT_SIZE + 5) + alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT) + total_height += alert_item_height + AlertConstants.ALERT_SPACING + + if total_height > 20: + total_height = total_height - AlertConstants.ALERT_SPACING + 20 + + return total_height + + def _build_alerts(self): + self.sorted_alerts = [] + try: + with open("../selfdrived/alerts_offroad.json", "rb") as f: + alerts_config = json.load(f) + for key, config in sorted(alerts_config.items(), key=lambda x: x[1].get("severity", 0), reverse=True): + severity = config.get("severity", 0) + alert_data = AlertData(key=key, text="", severity=severity) + self.sorted_alerts.append(alert_data) + except (FileNotFoundError, json.JSONDecodeError): + pass + + def _render_content(self, content_rect: rl.Rectangle): + y_offset = 20 + font = gui_app.font(FontWeight.NORMAL) + + for alert_data in self.sorted_alerts: + if not alert_data.visible: + continue + + bg_color = AlertColors.HIGH_SEVERITY if alert_data.severity > 0 else AlertColors.LOW_SEVERITY + text_width = int(content_rect.width - 90) + wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width) + line_count = len(wrapped_lines) + text_height = line_count * (AlertConstants.FONT_SIZE + 5) + alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT) + + alert_rect = rl.Rectangle( + content_rect.x + 10, + content_rect.y + y_offset, + content_rect.width - 30, + alert_item_height, + ) + + rl.draw_rectangle_rounded(alert_rect, 0.2, 10, bg_color) + + text_x = alert_rect.x + 30 + text_y = alert_rect.y + 20 + + for i, line in enumerate(wrapped_lines): + rl.draw_text_ex( + font, + line, + rl.Vector2(text_x, text_y + i * (AlertConstants.FONT_SIZE + 5)), + AlertConstants.FONT_SIZE, + 0, + AlertColors.TEXT, + ) + + y_offset += alert_item_height + AlertConstants.ALERT_SPACING + + +class UpdateAlert(AbstractAlert): + def __init__(self): + super().__init__(has_reboot_btn=True) + self.release_notes = "" + self._wrapped_release_notes = "" + self._cached_content_height: float = 0.0 + + def refresh(self) -> bool: + update_available: bool = self.params.get_bool("UpdateAvailable") + if update_available: + self.release_notes = self.params.get("UpdaterNewReleaseNotes", encoding='utf-8') + self._cached_content_height = 0 + + return update_available + + def get_content_height(self) -> float: + if not self.release_notes: + return 100 + + if self._cached_content_height == 0: + self._wrapped_release_notes = self.release_notes + size = measure_text_cached(gui_app.font(FontWeight.NORMAL), self._wrapped_release_notes, AlertConstants.FONT_SIZE) + self._cached_content_height = max(size.y + 60, 100) + + return self._cached_content_height + + def _render_content(self, content_rect: rl.Rectangle): + if self.release_notes: + rl.draw_text_ex( + gui_app.font(FontWeight.NORMAL), + self._wrapped_release_notes, + rl.Vector2(content_rect.x + 30, content_rect.y + 30), + AlertConstants.FONT_SIZE, + 0.0, + AlertColors.TEXT, + ) + else: + no_notes_text = "No release notes available." + text_width = rl.measure_text(no_notes_text, AlertConstants.FONT_SIZE) + text_x = content_rect.x + (content_rect.width - text_width) // 2 + text_y = content_rect.y + 50 + rl.draw_text(no_notes_text, int(text_x), int(text_y), AlertConstants.FONT_SIZE, AlertColors.TEXT) diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/selfdrive/ui/widgets/pairing_dialog.py new file mode 100644 index 0000000000..2cb1499499 --- /dev/null +++ b/selfdrive/ui/widgets/pairing_dialog.py @@ -0,0 +1,170 @@ +import pyray as rl +import qrcode +import numpy as np +import time + +from openpilot.common.api import Api +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import FontWeight, gui_app +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.text_measure import measure_text_cached + + +class PairingDialog: + """Dialog for device pairing with QR code.""" + + QR_REFRESH_INTERVAL = 300 # 5 minutes in seconds + + def __init__(self): + self.params = Params() + self.qr_texture: rl.Texture | None = None + self.last_qr_generation = 0 + + def _get_pairing_url(self) -> str: + try: + dongle_id = self.params.get("DongleId", encoding='utf8') or "" + token = Api(dongle_id).get_token() + except Exception as e: + cloudlog.warning(f"Failed to get pairing token: {e}") + token = "" + return f"https://connect.comma.ai/setup?token={token}" + + def _generate_qr_code(self) -> None: + try: + qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4) + qr.add_data(self._get_pairing_url()) + qr.make(fit=True) + + pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA') + img_array = np.array(pil_img, dtype=np.uint8) + + if self.qr_texture and self.qr_texture.id != 0: + rl.unload_texture(self.qr_texture) + + rl_image = rl.Image() + rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data) + rl_image.width = pil_img.width + rl_image.height = pil_img.height + rl_image.mipmaps = 1 + rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8 + + self.qr_texture = rl.load_texture_from_image(rl_image) + except Exception as e: + cloudlog.warning(f"QR code generation failed: {e}") + self.qr_texture = None + + def _check_qr_refresh(self) -> None: + current_time = time.time() + if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL: + self._generate_qr_code() + self.last_qr_generation = current_time + + def render(self, rect: rl.Rectangle) -> int: + rl.clear_background(rl.Color(224, 224, 224, 255)) + + self._check_qr_refresh() + + margin = 70 + content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin) + y = content_rect.y + + # Close button + close_size = 80 + close_icon = gui_app.texture("icons/close.png", close_size, close_size) + close_rect = rl.Rectangle(content_rect.x, y, close_size, close_size) + + mouse_pos = rl.get_mouse_position() + is_hover = rl.check_collision_point_rec(mouse_pos, close_rect) + is_pressed = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) + is_released = rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) + + color = rl.Color(180, 180, 180, 150) if (is_hover and is_pressed) else rl.WHITE + rl.draw_texture(close_icon, int(content_rect.x), int(y), color) + + if (is_hover and is_released) or rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE): + return 1 + + y += close_size + 40 + + # Title + title = "Pair your device to your comma account" + title_font = gui_app.font(FontWeight.NORMAL) + left_width = int(content_rect.width * 0.5 - 15) + + title_wrapped = wrap_text(title_font, title, 75, left_width) + rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK) + y += len(title_wrapped) * 75 + 60 + + # Two columns: instructions and QR code + remaining_height = content_rect.height - (y - content_rect.y) + right_width = content_rect.width // 2 - 20 + + # Instructions + self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height)) + + # QR code + qr_size = min(right_width, content_rect.height) - 40 + qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2 + qr_y = content_rect.y + self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size)) + + return -1 + + def _render_instructions(self, rect: rl.Rectangle) -> None: + instructions = [ + "Go to https://connect.comma.ai on your phone", + "Click \"add new device\" and scan the QR code on the right", + "Bookmark connect.comma.ai to your home screen to use it like an app", + ] + + font = gui_app.font(FontWeight.BOLD) + y = rect.y + + for i, text in enumerate(instructions): + circle_radius = 25 + circle_x = rect.x + circle_radius + 15 + text_x = rect.x + circle_radius * 2 + 40 + text_width = rect.width - (circle_radius * 2 + 40) + + wrapped = wrap_text(font, text, 47, int(text_width)) + text_height = len(wrapped) * 47 + circle_y = y + text_height // 2 + + # Circle and number + rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255)) + number = str(i + 1) + number_width = measure_text_cached(font, number, 30).x + rl.draw_text(number, int(circle_x - number_width // 2), int(circle_y - 15), 30, rl.WHITE) + + # Text + rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK) + y += text_height + 50 + + def _render_qr_code(self, rect: rl.Rectangle) -> None: + if not self.qr_texture: + rl.draw_rectangle_rounded(rect, 0.1, 20, rl.Color(240, 240, 240, 255)) + error_font = gui_app.font(FontWeight.BOLD) + rl.draw_text_ex( + error_font, "QR Code Error", rl.Vector2(rect.x + 20, rect.y + rect.height // 2 - 15), 30, 0.0, rl.RED + ) + return + + source = rl.Rectangle(0, 0, self.qr_texture.width, self.qr_texture.height) + rl.draw_texture_pro(self.qr_texture, source, rect, rl.Vector2(0, 0), 0, rl.WHITE) + + def __del__(self): + if self.qr_texture and self.qr_texture.id != 0: + rl.unload_texture(self.qr_texture) + + +if __name__ == "__main__": + gui_app.init_window("pairing device") + pairing = PairingDialog() + try: + for _ in gui_app.render(): + result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + if result != -1: + break + finally: + del pairing diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py new file mode 100644 index 0000000000..afdfa33e7a --- /dev/null +++ b/selfdrive/ui/widgets/prime.py @@ -0,0 +1,62 @@ +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.widget import Widget + + +class PrimeWidget(Widget): + """Widget for displaying comma prime subscription status""" + + PRIME_BG_COLOR = rl.Color(51, 51, 51, 255) + + def _render(self, rect): + if ui_state.prime_state.is_prime(): + self._render_for_prime_user(rect) + else: + self._render_for_non_prime_users(rect) + + def _render_for_non_prime_users(self, rect: rl.Rectangle): + """Renders the advertisement for non-Prime users.""" + + rl.draw_rectangle_rounded(rect, 0.02, 10, self.PRIME_BG_COLOR) + + # Layout + x, y = rect.x + 80, rect.y + 90 + w = rect.width - 160 + + # Title + gui_label(rl.Rectangle(x, y, w, 90), "Upgrade Now", 75, font_weight=FontWeight.BOLD) + + # Description with wrapping + desc_y = y + 140 + font = gui_app.font(FontWeight.LIGHT) + wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w))) + text_size = measure_text_cached(font, wrapped_text, 56) + rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255)) + + # Features section + features_y = desc_y + text_size.y + 50 + gui_label(rl.Rectangle(x, features_y, w, 50), "PRIME FEATURES:", 41, font_weight=FontWeight.BOLD) + + # Feature list + features = ["Remote access", "24/7 LTE connectivity", "1 year of drive storage", "Remote snapshots"] + for i, feature in enumerate(features): + item_y = features_y + 80 + i * 65 + gui_label(rl.Rectangle(x, item_y, 50, 60), "✓", 50, color=rl.Color(70, 91, 234, 255)) + gui_label(rl.Rectangle(x + 60, item_y, w - 60, 60), feature, 50) + + def _render_for_prime_user(self, rect: rl.Rectangle): + """Renders the prime user widget with subscription status.""" + + rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 230), 0.02, 10, self.PRIME_BG_COLOR) + + x = rect.x + 56 + y = rect.y + 40 + + font = gui_app.font(FontWeight.BOLD) + rl.draw_text_ex(font, "✓ SUBSCRIBED", rl.Vector2(x, y), 41, 0, rl.Color(134, 255, 78, 255)) + rl.draw_text_ex(font, "comma prime", rl.Vector2(x, y + 61), 75, 0, rl.WHITE) diff --git a/selfdrive/ui/widgets/setup.py b/selfdrive/ui/widgets/setup.py new file mode 100644 index 0000000000..4fd56aa522 --- /dev/null +++ b/selfdrive/ui/widgets/setup.py @@ -0,0 +1,94 @@ +import pyray as rl +from openpilot.selfdrive.ui.lib.prime_state import PrimeType +from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.widget import Widget + + +class SetupWidget(Widget): + def __init__(self): + super().__init__() + self._open_settings_callback = None + self._pairing_dialog: PairingDialog | None = None + + def set_open_settings_callback(self, callback): + self._open_settings_callback = callback + + def _render(self, rect: rl.Rectangle): + if ui_state.prime_state.get_type() == PrimeType.UNPAIRED: + self._render_registration(rect) + else: + self._render_firehose_prompt(rect) + + def _render_registration(self, rect: rl.Rectangle): + """Render registration prompt.""" + + rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 590), 0.02, 20, rl.Color(51, 51, 51, 255)) + + x = rect.x + 64 + y = rect.y + 48 + w = rect.width - 128 + + # Title + font = gui_app.font(FontWeight.BOLD) + rl.draw_text_ex(font, "Finish Setup", rl.Vector2(x, y), 75, 0, rl.WHITE) + y += 113 # 75 + 38 spacing + + # Description + desc = "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer." + light_font = gui_app.font(FontWeight.LIGHT) + wrapped = wrap_text(light_font, desc, 50, int(w)) + for line in wrapped: + rl.draw_text_ex(light_font, line, rl.Vector2(x, y), 50, 0, rl.WHITE) + y += 50 + + button_rect = rl.Rectangle(x, y + 50, w, 128) + if gui_button(button_rect, "Pair device", button_style=ButtonStyle.PRIMARY): + self._show_pairing() + + def _render_firehose_prompt(self, rect: rl.Rectangle): + """Render firehose prompt widget.""" + + rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 450), 0.02, 20, rl.Color(51, 51, 51, 255)) + + # Content margins (56, 40, 56, 40) + x = rect.x + 56 + y = rect.y + 40 + w = rect.width - 112 + spacing = 42 + + # Title with fire emojis + title_font = gui_app.font(FontWeight.MEDIUM) + title_text = "Firehose Mode" + rl.draw_text_ex(title_font, title_text, rl.Vector2(x, y), 64, 0, rl.WHITE) + y += 64 + spacing + + # Description + desc_font = gui_app.font(FontWeight.NORMAL) + desc_text = "Maximize your training data uploads to improve openpilot's driving models." + wrapped_desc = wrap_text(desc_font, desc_text, 40, int(w)) + + for line in wrapped_desc: + rl.draw_text_ex(desc_font, line, rl.Vector2(x, y), 40, 0, rl.WHITE) + y += 40 + + y += spacing + + # Open button + button_height = 48 + 64 # font size + padding + button_rect = rl.Rectangle(x, y, w, button_height) + if gui_button(button_rect, "Open", button_style=ButtonStyle.PRIMARY): + if self._open_settings_callback: + self._open_settings_callback() + + def _show_pairing(self): + if not self._pairing_dialog: + self._pairing_dialog = PairingDialog() + gui_app.set_modal_overlay(self._pairing_dialog, lambda result: setattr(self, '_pairing_dialog', None)) + + def __del__(self): + if self._pairing_dialog: + del self._pairing_dialog diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py new file mode 100644 index 0000000000..418867c86f --- /dev/null +++ b/selfdrive/ui/widgets/ssh_key.py @@ -0,0 +1,128 @@ +import pyray as rl +import requests +import threading +import copy +from enum import Enum + +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.list_view import ( + ItemAction, + ListItem, + BUTTON_HEIGHT, + BUTTON_BORDER_RADIUS, + BUTTON_FONT_SIZE, + BUTTON_WIDTH, +) +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.widget import DialogResult +from openpilot.system.ui.widgets.confirm_dialog import alert_dialog +from openpilot.system.ui.widgets.keyboard import Keyboard + + +class SshKeyActionState(Enum): + LOADING = "LOADING" + ADD = "ADD" + REMOVE = "REMOVE" + + +class SshKeyAction(ItemAction): + HTTP_TIMEOUT = 15 # seconds + MAX_WIDTH = 500 + + def __init__(self): + super().__init__(self.MAX_WIDTH, True) + + self._keyboard = Keyboard() + self._params = Params() + self._error_message: str = "" + self._text_font = gui_app.font(FontWeight.MEDIUM) + + self._refresh_state() + + def _refresh_state(self): + self._username = self._params.get("GithubUsername", "") + self._state = SshKeyActionState.REMOVE if self._params.get("GithubSshKeys") else SshKeyActionState.ADD + + def _render(self, rect: rl.Rectangle) -> bool: + # Show error dialog if there's an error + if self._error_message: + message = copy.copy(self._error_message) + gui_app.set_modal_overlay(lambda: alert_dialog(message)) + self._username = "" + self._error_message = "" + + # Draw username if exists + if self._username: + text_size = measure_text_cached(self._text_font, self._username, BUTTON_FONT_SIZE) + rl.draw_text_ex( + self._text_font, + self._username, + (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30, rect.y + (rect.height - text_size.y) / 2), + BUTTON_FONT_SIZE, + 1.0, + rl.WHITE, + ) + + # Draw button + if gui_button( + rl.Rectangle( + rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT + ), + self._state.value, + is_enabled=self._state != SshKeyActionState.LOADING, + border_radius=BUTTON_BORDER_RADIUS, + font_size=BUTTON_FONT_SIZE, + button_style=ButtonStyle.LIST_ACTION, + ): + self._handle_button_click() + return True + return False + + def _handle_button_click(self): + if self._state == SshKeyActionState.ADD: + self._keyboard.clear() + self._keyboard.set_title("Enter your GitHub username") + gui_app.set_modal_overlay(self._keyboard, callback=self._on_username_submit) + elif self._state == SshKeyActionState.REMOVE: + self._params.remove("GithubUsername") + self._params.remove("GithubSshKeys") + self._refresh_state() + + def _on_username_submit(self, result: DialogResult): + if result != DialogResult.CONFIRM: + return + + username = self._keyboard.text.strip() + if not username: + return + + self._state = SshKeyActionState.LOADING + threading.Thread(target=lambda: self._fetch_ssh_key(username), daemon=True).start() + + def _fetch_ssh_key(self, username: str): + try: + url = f"https://github.com/{username}.keys" + response = requests.get(url, timeout=self.HTTP_TIMEOUT) + response.raise_for_status() + keys = response.text.strip() + if not keys: + raise requests.exceptions.HTTPError("No SSH keys found") + + # Success - save keys + self._params.put("GithubUsername", username) + self._params.put("GithubSshKeys", keys) + self._state = SshKeyActionState.REMOVE + self._username = username + + except requests.exceptions.Timeout: + self._error_message = "Request timed out" + self._state = SshKeyActionState.ADD + except Exception: + self._error_message = f"No SSH keys found for user '{username}'" + self._state = SshKeyActionState.ADD + + +def ssh_key_item(title: str, description: str): + return ListItem(title=title, description=description, action_item=SshKeyAction()) diff --git a/sunnypilot/mapd/__init__.py b/sunnypilot/mapd/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/sunnypilot/mapd/live_map_data/__init__.py new file mode 100644 index 0000000000..557ad06515 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/__init__.py @@ -0,0 +1,22 @@ +""" +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.swaglog import cloudlog + +LOOK_AHEAD_HORIZON_TIME = 15. # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg. +_DEBUG = False +_CLOUDLOG_DEBUG = False +ROAD_NAME_TIMEOUT = 30 # secs +R = 6373000.0 # approximate radius of earth in mts +QUERY_RADIUS = 3000 # mts. Radius to use on OSM data queries. +QUERY_RADIUS_OFFLINE = 2250 # mts. Radius to use on offline OSM data queries. + + +def get_debug(msg, log_to_cloud=True): + if _CLOUDLOG_DEBUG and log_to_cloud: + cloudlog.debug(msg) + if _DEBUG: + print(msg) diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py new file mode 100644 index 0000000000..536d7720b7 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/base_map_data.py @@ -0,0 +1,76 @@ +""" +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. +""" +import time +from abc import abstractmethod, ABC + +from cereal import messaging +from openpilot.common.gps import get_gps_location_service +from openpilot.common.params import Params +from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param + + +class BaseMapData(ABC): + def __init__(self): + self.params = Params() + + self.gps_location_service = get_gps_location_service(self.params) + self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service]) + self.pm = messaging.PubMaster(['liveMapDataSP']) + + self.last_position = coordinate_from_param("LastGPSPosition", self.params) + self.last_altitude = None + + @abstractmethod + def update_location(self) -> None: + pass + + @abstractmethod + def get_current_speed_limit(self) -> float: + pass + + @abstractmethod + def get_next_speed_limit_and_distance(self) -> tuple[float, float]: + pass + + @abstractmethod + def get_current_road_name(self) -> str: + pass + + def get_current_location(self) -> None: + gps = self.sm[self.gps_location_service] + + # ignore the message if the fix is invalid + gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0 + if not gps_ok and self.sm['livePose'].inputsOK: + return None + + # livePose has these data, but aren't on cereal + self.last_position = Coordinate(gps.latitude, gps.longitude) + self.last_altitude = gps.altitude + + def publish(self) -> None: + speed_limit = self.get_current_speed_limit() + next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance() + + mapd_sp_send = messaging.new_message('liveMapDataSP') + mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose']) + live_map_data = mapd_sp_send.liveMapDataSP + + live_map_data.speedLimitValid = bool(speed_limit > 0) + live_map_data.speedLimit = speed_limit + live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0) + live_map_data.speedLimitAhead = next_speed_limit + live_map_data.speedLimitAheadDistance = next_speed_limit_distance + live_map_data.roadName = self.get_current_road_name() + + self.pm.send('liveMapDataSP', mapd_sp_send) + + def tick(self) -> None: + self.sm.update() + self.get_current_location() + self.update_location() + self.publish() diff --git a/sunnypilot/mapd/live_map_data/debug.py b/sunnypilot/mapd/live_map_data/debug.py new file mode 100644 index 0000000000..da9f4d7771 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/debug.py @@ -0,0 +1,57 @@ +""" +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. +""" +# DISCLAIMER: This code is intended principally for development and debugging purposes. +# Although it provides a standalone entry point to the program, users should refer +# to the actual implementations for consumption. Usage outside of development scenarios +# is not advised and could lead to unpredictable results. + +import threading +import traceback + +from cereal import messaging +from openpilot.common.gps import get_gps_location_service +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver +from openpilot.sunnypilot.mapd.live_map_data import get_debug + + +def excepthook(args): + get_debug(f'MapD: Threading exception:\n{args}') + traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback) + + +def live_map_data_sp_thread(): + config_realtime_process([0, 1, 2, 3], 5) + + params = Params() + gps_location_service = get_gps_location_service(params) + + while True: + live_map_data_sp_thread_debug(gps_location_service) + + +def live_map_data_sp_thread_debug(gps_location_service): + _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service]) + _sub_master.update() + + v_ego = _sub_master['carState'].vEgo + long_spl = _sub_master['longitudinalPlanSP'].speedLimit + _policy = Policy.car_state_priority + _resolver = SpeedLimitResolver(_policy) + _speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master) + print(_speed_limit, _distance, _source, " <-> ", long_spl) + + +def main(): + threading.excepthook = excepthook + live_map_data_sp_thread() + + +if __name__ == "__main__": + main() diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py new file mode 100644 index 0000000000..5f74a5d011 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/osm_map_data.py @@ -0,0 +1,51 @@ +""" +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. +""" +import json +import platform + +from openpilot.common.params import Params +from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData +from openpilot.sunnypilot.navd.helpers import Coordinate + + +class OsmMapData(BaseMapData): + def __init__(self): + super().__init__() + self.params = Params() + self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params + + def update_location(self) -> None: + if self.last_position is None or self.last_altitude is None: + return + + params = { + "latitude": self.last_position.latitude, + "longitude": self.last_position.longitude, + "altitude": self.last_altitude, + } + + self.mem_params.put("LastGPSPosition", json.dumps(params)) + + def get_current_speed_limit(self) -> float: + return float(self.mem_params.get("MapSpeedLimit", encoding='utf8') or 0.0) + + def get_current_road_name(self) -> str: + return self.mem_params.get("RoadName", encoding='utf8') or "" + + def get_next_speed_limit_and_distance(self) -> tuple[float, float]: + next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit", encoding='utf8') + next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {} + next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0) + next_speed_limit_latitude = next_speed_limit_section.get('latitude') + next_speed_limit_longitude = next_speed_limit_section.get('longitude') + next_speed_limit_distance = 0.0 + + if next_speed_limit_latitude and next_speed_limit_longitude: + next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude) + next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates) + + return next_speed_limit, next_speed_limit_distance diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/sunnypilot/mapd/live_map_data/standalone.py new file mode 100644 index 0000000000..f73ecc7724 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/standalone.py @@ -0,0 +1,42 @@ +""" +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. +""" +# DISCLAIMER: This code is intended principally for development and debugging purposes. +# Although it provides a standalone entry point to the program, users should refer +# to the actual implementations for consumption. Usage outside of development scenarios +# is not advised and could lead to unpredictable results. + +import threading +import traceback + +from openpilot.common.realtime import Ratekeeper, config_realtime_process +from openpilot.sunnypilot.mapd.live_map_data import get_debug +from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData + + +def excepthook(args): + get_debug(f'MapD: Threading exception:\n{args}') + traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback) + + +def live_map_data_sp_thread(): + config_realtime_process([0, 1, 2, 3], 5) + + live_map_sp = OsmMapData() + rk = Ratekeeper(1, print_delay_threshold=None) + + while True: + live_map_sp.tick() + rk.keep_time() + + +def main(): + threading.excepthook = excepthook + live_map_data_sp_thread() + + +if __name__ == "__main__": + main() diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py new file mode 100755 index 0000000000..a151dd4807 --- /dev/null +++ b/sunnypilot/mapd/mapd_installer.py @@ -0,0 +1,152 @@ +#!/usr/bin/env python3 +""" +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. +""" +import logging +import os +import stat +import time +import traceback +import requests +from pathlib import Path +from urllib.request import urlopen + +from cereal import messaging +from openpilot.common.params import Params +from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR +from openpilot.system.hardware.hw import Paths +from openpilot.common.spinner import Spinner +from openpilot.system.version import is_prebuilt +import openpilot.system.sentry as sentry + +VERSION = 'v1.9.0' +URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd" + + +class MapdInstallManager: + def __init__(self, spinner_ref: Spinner): + self._spinner = spinner_ref + + def download(self) -> None: + self.ensure_directories_exist() + self._download_file() + self.update_installed_version(VERSION) + + def check_and_download(self) -> None: + if self.download_needed(): + self.download() + + @staticmethod + def download_needed() -> bool: + return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION + + @staticmethod + def ensure_directories_exist() -> None: + if not os.path.exists(Paths.mapd_root()): + os.makedirs(Paths.mapd_root()) + if not os.path.exists(MAPD_BIN_DIR): + os.makedirs(MAPD_BIN_DIR) + + @staticmethod + def _safe_write_and_set_executable(file_path: Path, content: bytes) -> None: + with open(file_path, 'wb') as output: + output.write(content) + output.flush() + os.fsync(output.fileno()) + current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode) + os.chmod(file_path, current_permissions | stat.S_IEXEC) + + def _download_file(self, num_retries=5) -> None: + temp_file = Path(MAPD_PATH + ".tmp") + download_timeout = 60 + for cnt in range(num_retries): + try: + response = requests.get(URL, stream=True, timeout=download_timeout) + response.raise_for_status() + self._safe_write_and_set_executable(temp_file, response.content) + # No exceptions encountered. Safe to replace original file. + temp_file.replace(MAPD_PATH) + return + except requests.exceptions.ReadTimeout: + self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]") + time.sleep(0.5) + except requests.exceptions.RequestException as e: + self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]") + time.sleep(0.5) + + # Delete temp file if the process was not successful. + if temp_file.exists(): + temp_file.unlink() + logging.error("Failed to download file after all retries") + + @staticmethod + def update_installed_version(version: str) -> None: + Params().put("MapdVersion", version) + + @staticmethod + def get_installed_version() -> str: + return Params().get("MapdVersion", encoding="utf-8") or "" + + def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool: + max_retries = 10 + for retries in range(max_retries + 1): + self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]") + time.sleep(2) + try: + _ = urlopen('https://sentry.io', timeout=10) + return True + except Exception as e: + print(f'Wait for internet failed: {e}') + if return_on_failure and retries == max_retries: + return False + + return False + + def non_prebuilt_install(self) -> None: + sm = messaging.SubMaster(['deviceState']) + metered = sm['deviceState'].networkMetered + + if metered: + self._spinner.update("Can't proceed with mapd install since network is metered!") + time.sleep(5) + return + + try: + self.ensure_directories_exist() + if not self.download_needed(): + self._spinner.update("Mapd is good!") + time.sleep(0.1) + return + + if self.wait_for_internet_connection(return_on_failure=True): + self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].") + time.sleep(0.1) + self.check_and_download() + self._spinner.close() + + except Exception: + for i in range(6): + self._spinner.update("Failed to download OSM maps won't work until properly downloaded!" + + "Try again manually rebooting. " + + f"Boot will continue in {5 - i}s...") + time.sleep(1) + + sentry.init(sentry.SentryProject.SELFDRIVE) + traceback.print_exc() + sentry.capture_exception() + + +if __name__ == "__main__": + spinner = Spinner() + install_manager = MapdInstallManager(spinner) + install_manager.ensure_directories_exist() + if is_prebuilt(): + debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]" + spinner.update(debug_msg) + install_manager.update_installed_version(VERSION) + else: + spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]") + install_manager.non_prebuilt_install() diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py new file mode 100755 index 0000000000..342ba3fe7b --- /dev/null +++ b/sunnypilot/mapd/mapd_manager.py @@ -0,0 +1,147 @@ +#!/usr/bin/env python3 +""" +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. +""" +import json +import time +import platform +import os +import glob +import shutil + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper, config_realtime_process +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert +from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData +from openpilot.system.hardware.hw import Paths + +# PFEIFER - MAPD {{ +params = Params() +mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params +# }} PFEIFER - MAPD + +MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj') +MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd') + + +def get_files_for_cleanup() -> list[str]: + paths = [ + f"{Paths.mapd_root()}/db", + f"{Paths.mapd_root()}/v*" + ] + files_to_remove = [] + for path in paths: + if os.path.exists(path): + files = glob.glob(path + '/**', recursive=True) + files_to_remove.extend(files) + # check for version and mapd files + if not os.path.isfile(MAPD_PATH): + files_to_remove.append(MAPD_PATH) + return files_to_remove + + +def cleanup_old_osm_data(files_to_remove: list[str]) -> None: + for file in files_to_remove: + # Remove trailing slash if path is file + if file.endswith('/') and os.path.isfile(file[:-1]): + file = file[:-1] + # Try to remove as file or symbolic link first + if os.path.islink(file) or os.path.isfile(file): + os.remove(file) + elif os.path.isdir(file): # If it's a directory + shutil.rmtree(file, ignore_errors=False) + + +def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None: + params.put("OsmDownloadedDate", str(time.time())) + params.put_bool("OsmDbUpdatesCheck", False) + + osm_download_locations = json.dumps({ + "nations": nations, + "states": states or [] + }) + + print(f"Downloading maps for {osm_download_locations}") + mem_params.put("OSMDownloadLocations", osm_download_locations) + + +def filter_nations_and_states(nations: list[str], states: list[str] = None) -> tuple[list[str], list[str]]: + """Filters and prepares nation and state data for OSM map download. + + If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list. + If the nation is 'US' and the state is 'All', the 'All' is removed from the list. + The idea behind these filters is that if a specific state in the US is provided, + there's no need to download map data for the entire US. Conversely, + if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US, + and 'All' isn't a valid state name, so it's removed. + + Parameters: + nations (list): A list of nations for which the map data is to be downloaded. + states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None. + + Returns: + tuple: Two lists. The first list is filtered nations and the second list is filtered states. + """ + + if "US" in nations and states and not any(x.lower() == "all" for x in states): + # If a specific state in the US is provided, remove 'US' from nations + nations.remove("US") + elif "US" in nations and states and any(x.lower() == "all" for x in states): + # If 'All' is provided as a state (case invariant), remove those instances from states + states = [x for x in states if x.lower() != "all"] + elif "US" not in nations and states and any(x.lower() == "all" for x in states): + states.remove("All") + return nations, states or [] + + +def update_osm_db() -> None: + # last_downloaded_date = float(params.get('OsmDownloadedDate', encoding='utf-8') or 0.0) + # if params.get_bool("OsmDbUpdatesCheck") or time.time() - last_downloaded_date >= 604800: # 7 days * 24 hours/day * 60 + if params.get_bool("OsmDbUpdatesCheck"): + cleanup_old_osm_data(get_files_for_cleanup()) + country = params.get('OsmLocationName', encoding='utf-8') + state = params.get('OsmStateName', encoding='utf-8') or "All" + filtered_nations, filtered_states = filter_nations_and_states([country], [state]) + request_refresh_osm_location_data(filtered_nations, filtered_states) + + if not mem_params.get("OSMDownloadBounds"): + mem_params.put("OSMDownloadBounds", "") + + if not mem_params.get("LastGPSPosition"): + mem_params.put("LastGPSPosition", "{}") + + +def main_thread(): + config_realtime_process([0, 1, 2, 3], 5) + + rk = Ratekeeper(1, print_delay_threshold=None) + live_map_sp = OsmMapData() + + # Create folder needed for OSM + try: + os.mkdir(Paths.mapd_root()) + except FileExistsError: + pass + except PermissionError: + cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}") + + while True: + show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal") + set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.") + + update_osm_db() + live_map_sp.tick() + rk.keep_time() + + +def main(): + main_thread() + + +if __name__ == "__main__": + main() diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py index 2ac3f5700e..d4bd96ff66 100755 --- a/sunnypilot/modeld/modeld.py +++ b/sunnypilot/modeld/modeld.py @@ -25,6 +25,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants +from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext @@ -201,8 +202,9 @@ def main(demo=False): cloudlog.info("modeld got CarParams: %s", CP.brand) + modeld_lagd = ModeldLagd() + # Enable lagd support for sunnypilot modeld - steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -246,6 +248,8 @@ def main(demo=False): v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId + steer_delay = modeld_lagd.lagd_main(CP, sm, model) + if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript index 4ade1469f0..bb4c8d4a50 100644 --- a/sunnypilot/modeld_v2/SConscript +++ b/sunnypilot/modeld_v2/SConscript @@ -13,7 +13,6 @@ common_src = [ "transforms/transform.cc", ] - # OpenCL is a framework on Mac if arch == "Darwin": frameworks += ['OpenCL'] @@ -29,4 +28,3 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor cython_libs = envCython["LIBS"] + libs commonmodel_lib = lenv.Library('commonmodel', common_src) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) - diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py index 411b8177f3..4d04d6e5ec 100644 --- a/sunnypilot/modeld_v2/fill_model_msg.py +++ b/sunnypilot/modeld_v2/fill_model_msg.py @@ -118,30 +118,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # action (includes lateral planning now) modelV2.action = action - # times at X_IDXS according to model plan - PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N - PLAN_T_IDXS[0] = 0.0 - plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist() - for xidx in range(1, ModelConstants.IDX_N): - tidx = 0 - # increment tidx until we find an element that's further away than the current xidx - while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]: - tidx += 1 - if tidx == ModelConstants.IDX_N - 1: - # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break - PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1] - break - # interpolate to find `t` for the current xidx - current_x_val = plan_x[tidx] - next_x_val = plan_x[tidx+1] - p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan') - PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx] + # times at X_IDXS of edges and lines aren't used + LINE_T_IDXS: list[float] = [] # lane lines modelV2.init('laneLines', 4) for i in range(4): lane_line = modelV2.laneLines[i] - fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() @@ -151,7 +135,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D modelV2.init('roadEdges', 2) for i in range(2): road_edge = modelV2.roadEdges[i] - fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) + fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist() # leads diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index 4c8acafcad..5b9c5ef9e5 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -23,6 +23,7 @@ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFr from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants from openpilot.sunnypilot.models.helpers import get_active_bundle +from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd from openpilot.sunnypilot.models.runners.helpers import get_model_runner PROCESS_NAME = "selfdrive.modeld.modeld" @@ -61,7 +62,7 @@ class ModelState: self.MIN_LAT_CONTROL_SPEED = 0.3 buffer_length = 5 if self.model_runner.is_20hz else 2 - self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)} + self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names} self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32) # img buffers are managed in openCL transform code @@ -85,7 +86,7 @@ class ModelState: self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2]) - def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray], inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge inputs['desire'][0] = 0 @@ -109,8 +110,7 @@ class ModelState: if key in inputs and key not in ['desire']: self.numpy_inputs[key][:] = inputs[key] - imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()), - 'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())} + imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names} # Prepare inputs using the model runner self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames) @@ -238,6 +238,9 @@ def main(demo=False): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("modeld got CarParams: %s", CP.brand) + + modeld_lagd = ModeldLagd() + # TODO Move smooth seconds to action function long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -282,7 +285,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) - steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS + steer_delay = modeld_lagd.lagd_main(CP, sm, model) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -311,6 +314,8 @@ def main(demo=False): if prepare_only: cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names} + transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names} inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, @@ -320,7 +325,7 @@ def main(demo=False): inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32) mt1 = time.perf_counter() - model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + model_output = model.run(bufs, transforms, inputs, prepare_only) mt2 = time.perf_counter() model_execution_time = mt2 - mt1 diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index 87f00ea5fa..a614447ceb 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -19,7 +19,7 @@ from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths from pathlib import Path -CURRENT_SELECTOR_VERSION = 5 +CURRENT_SELECTOR_VERSION = 6 REQUIRED_MIN_SELECTOR_VERSION = 5 USE_ONNX = os.getenv('USE_ONNX', PC) diff --git a/sunnypilot/models/modeld_lagd.py b/sunnypilot/models/modeld_lagd.py new file mode 100644 index 0000000000..9e538123a8 --- /dev/null +++ b/sunnypilot/models/modeld_lagd.py @@ -0,0 +1,26 @@ +""" +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.params import Params +from openpilot.common.swaglog import cloudlog + + +class ModeldLagd: + def __init__(self): + self.params = Params() + + def lagd_main(self, CP, sm, model): + if self.params.get_bool("LagdToggle"): + lateral_delay = sm["liveDelay"].lateralDelay + lat_smooth = model.LAT_SMOOTH_SECONDS + result = lateral_delay + lat_smooth + cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}") + return result + steer_actuator_delay = CP.steerActuatorDelay + lat_smooth = model.LAT_SMOOTH_SECONDS + result = (steer_actuator_delay + 0.2) + lat_smooth + cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}") + return result diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py index c210d5b87e..7124662791 100644 --- a/sunnypilot/models/runners/model_runner.py +++ b/sunnypilot/models/runners/model_runner.py @@ -12,8 +12,15 @@ CUSTOM_MODEL_PATH = Paths.model_root() # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration -if TICI: +USBGPU = "USBGPU" in os.environ +if USBGPU: + os.environ['AMD'] = '1' + os.environ['AMD_IFACE'] = 'USB' +elif TICI: os.environ['QCOM'] = '1' +else: + os.environ['LLVM'] = '1' + os.environ['JIT'] = '2' # TODO: This may cause issues class ModelData: @@ -132,6 +139,13 @@ class ModelRunner(ModularRunner): return self._model_data.output_slices raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + @property + def vision_input_names(self) -> list[str]: + """Returns the list of vision input names from the input shapes.""" + if self._model_data: + return list(self._model_data.input_shapes.keys()) + raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + @abstractmethod def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict: """ diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py index 2e4fd45294..270890cace 100644 --- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py +++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py @@ -54,6 +54,11 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny self.input_to_dtype[name] = info[2] # dtype self.input_to_device[name] = info[3] # device + @property + def vision_input_names(self) -> list[str]: + """Returns the list of vision input names from the input shapes.""" + return [name for name in self.input_shapes.keys() if 'img' in name] + def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict): """Prepares vision (image) inputs as Tinygrad Tensors.""" for key in imgs_cl: @@ -109,6 +114,11 @@ class TinygradSplitRunner(ModelRunner): vision_output = self.vision_runner.run_model() return {**policy_output, **vision_output} # Combine results + @property + def vision_input_names(self) -> list[str]: + """Returns the list of vision input names from the vision runner.""" + return list(self.vision_runner.vision_input_names) + @property def input_shapes(self) -> ShapeDict: """Returns the combined input shapes from both vision and policy models.""" diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index 2f50b2085c..f65c628164 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -dec34c57c4131f6fca5d1035201d1afbf43e5250cede7bfdc798371af008afad \ No newline at end of file +71979b29c4bab3007de1a4265442d79f44c0eaef066af66086dddfc432709b94 \ No newline at end of file diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py new file mode 100644 index 0000000000..85894fb2ab --- /dev/null +++ b/sunnypilot/navd/helpers.py @@ -0,0 +1,189 @@ +from __future__ import annotations + +import json +import math +import numpy as np +from typing import Any, cast + +from openpilot.common.conversions import Conversions +from openpilot.common.params import Params + +DIRECTIONS = ('left', 'right', 'straight') +MODIFIABLE_DIRECTIONS = ('left', 'right') + +EARTH_MEAN_RADIUS = 6371007.2 +SPEED_CONVERSIONS = { + 'km/h': Conversions.KPH_TO_MS, + 'mph': Conversions.MPH_TO_MS, +} + + +class Coordinate: + def __init__(self, latitude: float, longitude: float) -> None: + self.latitude = latitude + self.longitude = longitude + self.annotations: dict[str, float] = {} + + @classmethod + def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate: + return cls(t[1], t[0]) + + def as_dict(self) -> dict[str, float]: + return {'latitude': self.latitude, 'longitude': self.longitude} + + def __str__(self) -> str: + return f'Coordinate({self.latitude}, {self.longitude})' + + def __repr__(self) -> str: + return self.__str__() + + def __eq__(self, other) -> bool: + if not isinstance(other, Coordinate): + return False + return (self.latitude == other.latitude) and (self.longitude == other.longitude) + + def __sub__(self, other: Coordinate) -> Coordinate: + return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude) + + def __add__(self, other: Coordinate) -> Coordinate: + return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude) + + def __mul__(self, c: float) -> Coordinate: + return Coordinate(self.latitude * c, self.longitude * c) + + def dot(self, other: Coordinate) -> float: + return self.latitude * other.latitude + self.longitude * other.longitude + + def distance_to(self, other: Coordinate) -> float: + # Haversine formula + dlat = math.radians(other.latitude - self.latitude) + dlon = math.radians(other.longitude - self.longitude) + + haversine_dlat = math.sin(dlat / 2.0) + haversine_dlat *= haversine_dlat + haversine_dlon = math.sin(dlon / 2.0) + haversine_dlon *= haversine_dlon + + y = haversine_dlat \ + + math.cos(math.radians(self.latitude)) \ + * math.cos(math.radians(other.latitude)) \ + * haversine_dlon + x = 2 * math.asin(math.sqrt(y)) + return x * EARTH_MEAN_RADIUS + + +def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate): + if a.distance_to(b) < 0.01: + return a.distance_to(p) + + ap = p - a + ab = b - a + t = np.clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0) + projection = a + ab * t + return projection.distance_to(p) + + +def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float: + if len(geometry) <= 2: + return geometry[0].distance_to(pos) + + # 1. Find segment that is closest to current position + # 2. Total distance is sum of distance to start of closest segment + # + all previous segments + total_distance = 0.0 + total_distance_closest = 0.0 + closest_distance = 1e9 + + for i in range(len(geometry) - 1): + d = minimum_distance(geometry[i], geometry[i + 1], pos) + + if d < closest_distance: + closest_distance = d + total_distance_closest = total_distance + geometry[i].distance_to(pos) + + total_distance += geometry[i].distance_to(geometry[i + 1]) + + return total_distance_closest + + +def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None: + if params is None: + params = Params() + + json_str = params.get(param) + if json_str is None: + return None + + pos = json.loads(json_str) + if 'latitude' not in pos or 'longitude' not in pos: + return None + + return Coordinate(pos['latitude'], pos['longitude']) + + +def string_to_direction(direction: str) -> str: + for d in DIRECTIONS: + if d in direction: + if 'slight' in direction and d in MODIFIABLE_DIRECTIONS: + return 'slight' + d.capitalize() + return d + return 'none' + + +def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float: + unit = cast(str, maxspeed['unit']) + speed = cast(float, maxspeed['speed']) + return SPEED_CONVERSIONS[unit] * speed + + +def field_valid(dat: dict, field: str) -> bool: + return field in dat and dat[field] is not None + + +def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None: + if not len(banners): + return None + + instruction = {} + + # A segment can contain multiple banners, find one that we need to show now + current_banner = banners[0] + for banner in banners: + if distance_to_maneuver < banner['distanceAlongGeometry']: + current_banner = banner + + # Only show banner when close enough to maneuver + instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry'] + + # Primary + p = current_banner['primary'] + if field_valid(p, 'text'): + instruction['maneuverPrimaryText'] = p['text'] + if field_valid(p, 'type'): + instruction['maneuverType'] = p['type'] + if field_valid(p, 'modifier'): + instruction['maneuverModifier'] = p['modifier'] + + # Secondary + if field_valid(current_banner, 'secondary'): + instruction['maneuverSecondaryText'] = current_banner['secondary']['text'] + + # Lane lines + if field_valid(current_banner, 'sub'): + lanes = [] + for component in current_banner['sub']['components']: + if component['type'] != 'lane': + continue + + lane = { + 'active': component['active'], + 'directions': [string_to_direction(d) for d in component['directions']], + } + + if field_valid(component, 'active_direction'): + lane['activeDirection'] = string_to_direction(component['active_direction']) + + lanes.append(lane) + instruction['lanes'] = lanes + + return instruction diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data index 16946bfd9c..b59ab483c8 160000 --- a/sunnypilot/neural_network_data +++ b/sunnypilot/neural_network_data @@ -1 +1 @@ -Subproject commit 16946bfd9cca1a33e8b609d10ca3d1a0089d38e2 +Subproject commit b59ab483c86cd70d04de91ad878024cd66fe86b6 diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png new file mode 100644 index 0000000000..edc5c6e5c2 --- /dev/null +++ b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dbacb55581a5ea8cbcd5cea0560ec21d96ac7185463a40fff0f81bebf044ffa +size 23187 diff --git a/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png new file mode 100644 index 0000000000..1b8308a0ac --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d44f71f7603b106986fff7835f35c4c18c4c619a29e6292f8626ae3eedd85e57 +size 7811 diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/sunnypilot/selfdrive/assets/offroad/icon_map.png new file mode 100644 index 0000000000..82c0236a48 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f +size 28235 diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png new file mode 100644 index 0000000000..3cc9c3b145 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ecaac6fb687fcab3300d1fe2dfea96fb49734d634a663e2c02ee0b26ebd773e +size 20632 diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py new file mode 100644 index 0000000000..6f0419ed14 --- /dev/null +++ b/sunnypilot/selfdrive/car/cruise_ext.py @@ -0,0 +1,47 @@ +""" +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. +""" +import numpy as np + +from cereal import car +from openpilot.common.params import Params + +ButtonType = car.CarState.ButtonEvent.Type + + +class VCruiseHelperSP: + def __init__(self) -> None: + self.params = Params() + + self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled") + self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1) + self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5) + + def read_int_param(self, key: str, default: int = 0) -> int: + try: + return int(self.params.get(key, encoding='utf8')) + except (ValueError, TypeError): + return default + + def read_custom_set_speed_params(self) -> None: + self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled") + self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1) + self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5) + + def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tuple[bool, float]: + if not self.custom_acc_enabled: + v_cruise_delta = v_cruise_delta * (5 if long_press else 1) + return long_press, v_cruise_delta + + # Apply user-specified multipliers to the base increment + short_increment = np.clip(self.short_increment, 1, 10) + long_increment = np.clip(self.long_increment, 1, 10) + + actual_increment = long_increment if long_press else short_increment + round_to_nearest = actual_increment in (5, 10) + v_cruise_delta = v_cruise_delta * actual_increment + + return round_to_nearest, v_cruise_delta diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py new file mode 100644 index 0000000000..2f9d976847 --- /dev/null +++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py @@ -0,0 +1,149 @@ +import pytest +from parameterized import parameterized_class + +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL +from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper + +ButtonEvent = car.CarState.ButtonEvent +ButtonType = car.CarState.ButtonEvent.Type + + +@parameterized_class(('pcm_cruise',), [(False,)]) +class TestCustomAccIncrements(TestVCruiseHelper): + def setup_method(self): + TestVCruiseHelper.setup_method(self) + self.params = Params() + self.reset_custom_params() + + def reset_custom_params(self) -> None: + """Reset to default custom ACC parameters""" + self.params.put_bool("CustomAccIncrementsEnabled", False) + self.params.put("CustomAccShortPressIncrement", "1") + self.params.put("CustomAccLongPressIncrement", "5") + self.v_cruise_helper.read_custom_set_speed_params() + + def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None: + """Simulate a short button press (press + release)""" + CS = car.CarState(cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)] + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True) + + CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)] + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True) + + def press_button_long(self, button_type: car.CarState.ButtonEvent.Type) -> None: + """Simulate a long button press (50+ frames)""" + CS = car.CarState(cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)] + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True) + + # Hold for 50 frames to trigger long press + CS.buttonEvents = [] + for _ in range(50): + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True) + + CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)] + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True) + + def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None: + """Set custom ACC increment parameters""" + self.params.put_bool("CustomAccIncrementsEnabled", enabled) + self.params.put("CustomAccShortPressIncrement", str(short_inc)) + self.params.put("CustomAccLongPressIncrement", str(long_inc)) + self.v_cruise_helper.read_custom_set_speed_params() + + def test_default_behavior_when_disabled(self): + """Test that default increments are used when custom ACC is disabled""" + self.set_custom_increments(enabled=False, short_inc=5, long_inc=10) + self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False) + + initial_speed = self.v_cruise_helper.v_cruise_kph + + # Short press should increment by 1 (default) + self.press_button_short(ButtonType.accelCruise) + assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1 + + @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10)) + def test_custom_short_press_increments(self, increment): + """Test custom short press increments (1-10)""" + self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5) + self.enable(50 * CV.KPH_TO_MS, False, False) + + initial_speed = self.v_cruise_helper.v_cruise_kph + self.press_button_short(ButtonType.accelCruise) + + if increment in (5, 10): + # Should round to nearest increment + expected_speed = ((initial_speed // increment) + 1) * increment + else: + expected_speed = initial_speed + increment + + assert self.v_cruise_helper.v_cruise_kph == expected_speed + + @pytest.mark.parametrize("increment", (1, 5, 10)) + def test_custom_long_press_increments(self, increment): + """Test custom long press increments (1, 5, 10)""" + self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment) + self.enable(50 * CV.KPH_TO_MS, False, False) + + initial_speed = self.v_cruise_helper.v_cruise_kph + self.press_button_long(ButtonType.accelCruise) + + if increment in (5, 10): + # Should round to nearest increment + expected_speed = ((initial_speed // increment) + 1) * increment + else: + expected_speed = initial_speed + increment + + assert self.v_cruise_helper.v_cruise_kph == expected_speed + + @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise]) + def test_accel_decel_symmetry(self, button_type): + """Test that acceleration and deceleration work symmetrically""" + self.set_custom_increments(enabled=True, short_inc=3, long_inc=5) + self.enable(50 * CV.KPH_TO_MS, False, False) + + initial_speed = self.v_cruise_helper.v_cruise_kph + self.press_button_short(button_type) + + expected_change = 3 if button_type == ButtonType.accelCruise else -3 + assert self.v_cruise_helper.v_cruise_kph == initial_speed + expected_change + + def test_rounding_behavior(self): + """Test rounding behavior for 5 and 10 increments""" + test_cases = [ + (47, 5, 50), # 47 -> 50 (round up to next 5) + (45, 5, 50), # 45 -> 50 (already at 5, increment by 5) + (43, 10, 50), # 43 -> 50 (round up to next 10) + (40, 10, 50), # 40 -> 50 (already at 10, increment by 10) + ] + + for initial, increment, expected in test_cases: + self.set_custom_increments(enabled=True, short_inc=increment, long_inc=increment) + self.reset_cruise_speed_state() + self.enable(initial * CV.KPH_TO_MS, False, False) + + self.press_button_short(ButtonType.accelCruise) + assert self.v_cruise_helper.v_cruise_kph == expected + + def test_invalid_values_fallback(self): + """Test that invalid values fallback to safe defaults""" + # Test invalid short increment + self.set_custom_increments(enabled=True, short_inc=-1, long_inc=5) + self.enable(50 * CV.KPH_TO_MS, False, False) + + initial_speed = self.v_cruise_helper.v_cruise_kph + self.press_button_short(ButtonType.accelCruise) + assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1 # Should fallback to 1 + + # Test invalid long increment + self.reset_cruise_speed_state() + self.set_custom_increments(enabled=True, short_inc=1, long_inc=99) + self.enable(50 * CV.KPH_TO_MS, False, False) + + initial_speed = self.v_cruise_helper.v_cruise_kph + self.press_button_long(ButtonType.accelCruise) + assert self.v_cruise_helper.v_cruise_kph == initial_speed + 10 # Should fallback to 10 diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index 4978c01332..9a7f0cb5fc 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -11,12 +11,14 @@ from opendbc.car import structs from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore +from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral class ControlsExt: def __init__(self, CP: structs.CarParams, params: Params): self.CP = CP self.params = params + self.blinker_pause_lateral = BlinkerPauseLateral() self.param_store = ParamStore(self.CP) self.get_params_sp() @@ -29,11 +31,13 @@ class ControlsExt: def get_params_sp(self) -> None: self.param_store.update(self.params) + self.blinker_pause_lateral.get_params() + + def get_lat_active(self, sm: messaging.SubMaster) -> bool: + if self.blinker_pause_lateral.update(sm['carState']): + return False - @staticmethod - def get_lat_active(sm: messaging.SubMaster) -> bool: ss_sp = sm['selfdriveStateSP'] - if ss_sp.mads.available: return bool(ss_sp.mads.active) diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py new file mode 100644 index 0000000000..fb86280358 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py @@ -0,0 +1,34 @@ +""" +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 cereal import car + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params + + +class BlinkerPauseLateral: + def __init__(self): + self.params = Params() + + self.enabled = self.params.get_bool("BlinkerPauseLateralControl") + self.is_metric = self.params.get_bool("IsMetric") + self.min_speed = 0 + + def get_params(self) -> None: + self.enabled = self.params.get_bool("BlinkerPauseLateralControl") + self.is_metric = self.params.get_bool("IsMetric") + self.min_speed = int(self.params.get("BlinkerMinLateralControlSpeed", encoding='utf8')) + + def update(self, CS: car.CarState) -> bool: + if not self.enabled: + return False + + one_blinker = CS.leftBlinker != CS.rightBlinker + speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS + min_speed_ms = self.min_speed * speed_factor + + return bool(one_blinker and CS.vEgo < min_speed_ms) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 800bbac67a..8ccd81d8ff 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N from openpilot.selfdrive.modeld.constants import ModelConstants LAT_PLAN_MIN_IDX = 5 - +LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan def get_predicted_lateral_jerk(lat_accels, t_diffs): # compute finite difference between subsequent model_v2.acceleration.y values @@ -85,12 +85,15 @@ class LatControlTorqueExtBase: # precompute time differences between ModelConstants.T_IDXS self.t_diffs = np.diff(ModelConstants.T_IDXS) - self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3 + self.desired_lat_jerk_time = CP.steerActuatorDelay + LATERAL_LAG_MOD def update_model_v2(self, model_v2): self.model_v2 = model_v2 self.model_valid = self.model_v2 is not None and len(self.model_v2.orientation.x) >= CONTROL_N + def update_lateral_lag(self, lag): + self.desired_lat_jerk_time = max(0.01, lag) + LATERAL_LAG_MOD + def update_friction_input(self, val_1, val_2): _error = val_1 - val_2 _value = self.lat_accel_friction_factor * _error + self.lat_jerk_friction_factor * self.lookahead_lateral_jerk diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py index 218bbb9f6a..2f89594c8f 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py @@ -45,9 +45,8 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase): self.pitch_last = 0.0 # setup future time offsets - self.nn_time_offset = CP.steerActuatorDelay + 0.2 - future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future - self.nn_future_times = [i + self.nn_time_offset for i in future_times] + self.future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future + self.nn_future_times = [i + self.desired_lat_jerk_time for i in self.future_times] # setup past time offsets self.past_times = [-0.3, -0.2, -0.1] @@ -58,6 +57,10 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase): self.error_deque = deque(maxlen=history_check_frames[0]) self.past_future_len = len(self.past_times) + len(self.nn_future_times) + def update_lateral_lag(self, lag): + super().update_lateral_lag(lag) + self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times] + def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None: if not self.enabled or not self.model_valid or not self.has_nn_model: return diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py index 699327cd81..01ddec68ab 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py @@ -73,17 +73,21 @@ class TestNeuralNetworkLateralControl: controller.extension.model_v2 = model_v2 # Saturate for curvature limited and controller limited + test_lag = 0.3 for _ in range(1000): controller.extension.update_model_v2(model_v2) + controller.extension.update_lateral_lag(test_lag) _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True) assert lac_log.saturated for _ in range(1000): controller.extension.update_model_v2(model_v2) + controller.extension.update_lateral_lag(test_lag) _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False) assert not lac_log.saturated for _ in range(1000): controller.extension.update_model_v2(model_v2) + controller.extension.update_lateral_lag(test_lag) _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False) assert lac_log.saturated diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py new file mode 100644 index 0000000000..6ba1dcef41 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py @@ -0,0 +1,130 @@ +""" +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 cereal import car + +from openpilot.common.conversions import Conversions as CV +from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral + + +class TestBlinkerPauseLateral: + + def setup_method(self): + self.blinker_pause_lateral = BlinkerPauseLateral() + self._reset_states() + + def _reset_states(self): + self.blinker_pause_lateral.enabled = True + self.blinker_pause_lateral.is_metric = False + self.blinker_pause_lateral.min_speed = 20 # MPH + + self.CS = car.CarState.new_message() + self.CS.vEgo = 0 + self.CS.leftBlinker = False + self.CS.rightBlinker = False + + def _test_should_blinker_pause_lateral(self, expected_results) -> None: + for left in (True, False): + for right in (True, False): + self.CS.leftBlinker = left + self.CS.rightBlinker = right + + result = self.blinker_pause_lateral.update(self.CS) + assert result == expected_results[(left, right)] + + def test_below_min_speed_blinker(self): + self.CS.vEgo = 4.5 # ~10 MPH + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_above_min_speed_blinker(self): + self.CS.vEgo = 13.4 # ~30 MPH + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_just_below_min_speed(self): + self.CS.vEgo = (20 * CV.MPH_TO_MS) - 0.01 + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_disabled(self): + self.blinker_pause_lateral.enabled = False + self.CS.vEgo = 4.5 # ~10 MPH + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_metric_units_below_min_speed(self): + self.blinker_pause_lateral.is_metric = True + self.CS.vEgo = 5.0 # ~18 km/h + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_metric_units_above_threshold(self): + self.blinker_pause_lateral.is_metric = True + self.CS.vEgo = 6.0 # ~21.6 km/h + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_change_min_speed_threshold(self): + self.blinker_pause_lateral.min_speed = 30 # MPH + + # below min speed + self.CS.vEgo = 11.2 # ~25 MPH + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + # above min speed + self.CS.vEgo = 15.6 # ~35 MPH + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) diff --git a/system/athena/registration.py b/system/athena/registration.py index d1e54181b8..fce984c03a 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -7,6 +7,7 @@ from pathlib import Path from datetime import datetime, timedelta, UTC from openpilot.common.api import api_get from openpilot.common.params import Params +from openpilot.common.spinner import Spinner from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware.hw import Paths @@ -44,7 +45,6 @@ def register(show_spinner=False) -> str | None: cloudlog.warning(f"missing public key: {pubkey}") elif dongle_id is None: if show_spinner: - from openpilot.system.ui.spinner import Spinner spinner = Spinner() spinner.update("registering device") diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 38cbe8c991..223faeaafd 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -323,7 +323,6 @@ def hardware_thread(end_event, hw_queue) -> None: offroad_mode = params.get_bool("OffroadMode") startup_conditions["not_always_offroad"] = not offroad_mode onroad_conditions["not_always_offroad"] = not offroad_mode - set_offroad_alert("OffroadMode_Status", offroad_mode) # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger diff --git a/system/hardware/hw.py b/system/hardware/hw.py index 9722e35e30..5e40fff136 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -77,3 +77,10 @@ class Paths: return str(Path(Paths.comma_home()) / "community" / "crashes") else: return "/data/community/crashes" + + @staticmethod + def mapd_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "media" / "0" / "osm") + else: + return "/data/media/0/osm" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7e5b9f187d..ec2557422c 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": 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"https://commadist.azureedge.net/agnosupdate/userdata_30-06679488f0c5c3fcfd5f351133050751cd189f705e478a979c45fc4a166d18a6.img.xz", + "hash": "875b580cb786f290a842e9187fd945657561886123eb3075a26f7995a18068f6", + "hash_raw": "06679488f0c5c3fcfd5f351133050751cd189f705e478a979c45fc4a166d18a6", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "8dae1cda089828c750d1d646337774ccd9432f567ecefde19a06dc7feeda9cd3" + "ondevice_hash": "16e27ba3c5cf9f0394ce6235ba6021b8a2de293fdb08399f8ca832fa5e4d0b9d" } ] \ No newline at end of file diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection new file mode 100644 index 0000000000..74f6f8e82c --- /dev/null +++ b/system/hardware/tici/esim.nmconnection @@ -0,0 +1,30 @@ +[connection] +id=esim +uuid=fff6553c-3284-4707-a6b1-acc021caaafb +type=gsm +permissions= +autoconnect=true +autoconnect-retries=100 +autoconnect-priority=2 +metered=1 + +[gsm] +apn= +home-only=false +auto-config=true +sim-id= + +[ipv4] +route-metric=1000 +dns-priority=1000 +dns-search= +method=auto + +[ipv6] +ddr-gen-mode=stable-privacy +dns-search= +route-metric=1000 +dns-priority=1000 +method=auto + +[proxy] diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index f46c94c4f0..8e4ba722c4 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -3,6 +3,7 @@ import math import os import subprocess import time +import tempfile from enum import IntEnum from functools import cached_property, lru_cache from pathlib import Path @@ -499,19 +500,18 @@ class Tici(HardwareBase): except Exception: pass - # we use the lte connection built into AGNOS. cleanup esim connection if it exists + # eSIM prime dest = "/etc/NetworkManager/system-connections/esim.nmconnection" - if os.path.exists(dest): - os.system(f"sudo nmcli con delete {dest}") - self.reboot_modem() + if sim_id.startswith('8985235') and not os.path.exists(dest): + with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + dat = f.read() + dat = dat.replace("sim-id=", f"sim-id={sim_id}") + tf.write(dat) + tf.flush() - def reboot_modem(self): - modem = self.get_modem() - for state in (0, 1): - try: - modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) - except Exception: - pass + # needs to be root + os.system(f"sudo cp {tf.name} {dest}") + os.system(f"sudo nmcli con load {dest}") def get_networks(self): r = {} diff --git a/system/manager/build.py b/system/manager/build.py index 49c8128660..ae130f4b04 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -5,16 +5,16 @@ from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR +from openpilot.common.spinner import Spinner +from openpilot.common.text_window import TextWindow from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.hardware import HARDWARE, AGNOS -from openpilot.system.ui.spinner import Spinner -from openpilot.system.ui.text import TextWindow from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 3765 +TOTAL_SCONS_NODES = 3800 MAX_BUILD_PROGRESS = 100 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: @@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: if __name__ == "__main__": - with Spinner() as spinner: - spinner.update_progress(0, 100) - build_metadata = get_build_metadata() - build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) + spinner = Spinner() + spinner.update_progress(0, 100) + build_metadata = get_build_metadata() + build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) diff --git a/system/manager/manager.py b/system/manager/manager.py index 3fa6f636c3..3910ac5526 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -9,6 +9,7 @@ from cereal import log import cereal.messaging as messaging import openpilot.system.sentry as sentry from openpilot.common.params import Params, ParamKeyType +from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.system.manager.process import ensure_running @@ -18,6 +19,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version from openpilot.system.hardware.hw import Paths +from openpilot.sunnypilot.mapd.mapd_installer import VERSION + def manager_init() -> None: save_bootlog() @@ -44,20 +47,34 @@ def manager_init() -> None: sunnypilot_default_params: list[tuple[str, str | bytes]] = [ ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), + ("BlindSpot", "0"), + ("BlinkerMinLateralControlSpeed", "20"), # MPH or km/h + ("BlinkerPauseLateralControl", "0"), + ("CustomAccIncrementsEnabled", "0"), + ("CustomAccLongPressIncrement", "5"), + ("CustomAccShortPressIncrement", "1"), + ("DeviceBootMode", "0"), ("DynamicExperimentalControl", "0"), ("HyundaiLongitudinalTuning", "0"), + ("LagdToggle", "1"), ("HyundaiRadar", "0"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), ("MadsSteeringMode", "0"), ("MadsUnifiedEngagementMode", "1"), + ("MapdVersion", f"{VERSION}"), ("MaxTimeOffroad", "1800"), + ("Brightness", "0"), ("ModelManager_LastSyncTime", "0"), ("ModelManager_ModelsCache", ""), ("NeuralNetworkLateralControl", "0"), ("QuietMode", "0"), ] + # device boot mode + if params.get("DeviceBootMode") == b"1": # start in always offroad mode + params.put_bool("OffroadMode", True) + if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) @@ -219,8 +236,6 @@ def main() -> None: if __name__ == "__main__": - from openpilot.system.ui.text import TextWindow - unblock_stdout() try: diff --git a/system/manager/process.py b/system/manager/process.py index 6c233c21ab..0ebddae049 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -16,9 +16,8 @@ import openpilot.system.sentry as sentry from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog -from openpilot.system.hardware.hw import Paths +from openpilot.common.watchdog import WATCHDOG_FN -WATCHDOG_FN = f"{Paths.shm_path()}/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None @@ -96,7 +95,6 @@ class ManagerProcess(ABC): try: fn = WATCHDOG_FN + str(self.proc.pid) with open(fn, "rb") as f: - # TODO: why can't pylint find struct.unpack? self.last_watchdog_time = struct.unpack('Q', f.read())[0] except Exception: pass diff --git a/system/manager/process_config.py b/system/manager/process_config.py index d834a8438f..2e3f754a76 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -1,10 +1,14 @@ import os import operator +import platform from cereal import car, custom from openpilot.common.params import Params from openpilot.system.hardware import PC, TICI from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.system.hardware.hw import Paths + +from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH from sunnypilot.models.helpers import get_active_model_runner from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader @@ -100,8 +104,8 @@ procs = [ NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM), PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad, platform.system() != "Darwin"), PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), @@ -156,6 +160,10 @@ procs += [ # Backup PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)), + + # mapd + NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run), + PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run), ] if os.path.exists("./github_runner.sh"): diff --git a/system/ui/README.md b/system/ui/README.md index c71b77ab66..85d32bfd6c 100644 --- a/system/ui/README.md +++ b/system/ui/README.md @@ -3,7 +3,7 @@ The user interfaces here are built with [raylib](https://www.raylib.com/). Quick start: -* set `DEBUG_FPS=1` to show the FPS +* set `SHOW_FPS=1` to show the FPS * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps * set `SCALE=1.5` to scale the entire UI by 1.5x * https://www.raylib.com/cheatsheet/cheatsheet.html diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 9bb56fec8d..805fdcc71f 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -1,7 +1,10 @@ import atexit +import cffi import os import time import pyray as rl +from collections.abc import Callable +from dataclasses import dataclass from enum import IntEnum from importlib.resources import as_file, files from openpilot.common.swaglog import cloudlog @@ -12,8 +15,8 @@ FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions -ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1" -DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' +ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "1") == "1" +SHOW_FPS = os.getenv("SHOW_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' SCALE = float(os.getenv("SCALE", "1.0")) @@ -36,6 +39,12 @@ class FontWeight(IntEnum): BLACK = 8 +@dataclass +class ModalOverlay: + overlay: object = None + callback: Callable | None = None + + class GuiApplication: def __init__(self, width: int, height: int): self._fonts: dict[FontWeight, rl.Font] = {} @@ -50,6 +59,7 @@ class GuiApplication: self._last_fps_log_time: float = time.monotonic() self._window_close_requested = False self._trace_log_callback = None + self._modal_overlay = ModalOverlay() def request_close(self): self._window_close_requested = True @@ -79,6 +89,9 @@ class GuiApplication: self._set_styles() self._load_fonts() + def set_modal_overlay(self, overlay, callback: Callable | None = None): + self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback) + def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" if cache_key in self._textures: @@ -148,7 +161,23 @@ class GuiApplication: rl.begin_drawing() rl.clear_background(rl.BLACK) - yield + # Handle modal overlay rendering and input processing + if self._modal_overlay.overlay: + if hasattr(self._modal_overlay.overlay, 'render'): + result = self._modal_overlay.overlay.render(rl.Rectangle(0, 0, self.width, self.height)) + elif callable(self._modal_overlay.overlay): + result = self._modal_overlay.overlay() + else: + raise Exception + + if result >= 0: + # Execute callback with the result and clear the overlay + if self._modal_overlay.callback is not None: + self._modal_overlay.callback(result) + + self._modal_overlay = ModalOverlay() + else: + yield if self._render_texture: rl.end_texture_mode() @@ -158,7 +187,7 @@ class GuiApplication: dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height)) rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) - if DEBUG_FPS: + if SHOW_FPS: rl.draw_fps(10, 10) rl.end_drawing() @@ -196,6 +225,7 @@ class GuiApplication: for layout in KEYBOARD_LAYOUTS.values(): all_chars.update(key for row in layout for key in row) all_chars = "".join(all_chars) + all_chars += "–✓°" codepoint_count = rl.ffi.new("int *", 1) codepoints = rl.load_codepoints(all_chars, codepoint_count) @@ -217,12 +247,29 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) def _set_log_callback(self): + ffi_libc = cffi.FFI() + ffi_libc.cdef(""" + int vasprintf(char **strp, const char *fmt, void *ap); + void free(void *ptr); + """) + libc = ffi_libc.dlopen(None) + @rl.ffi.callback("void(int, char *, void *)") def trace_log_callback(log_level, text, args): try: - text_str = rl.ffi.string(text).decode('utf-8') - except (TypeError, UnicodeDecodeError): - text_str = str(text) + text_addr = int(rl.ffi.cast("uintptr_t", text)) + args_addr = int(rl.ffi.cast("uintptr_t", args)) + text_libc = ffi_libc.cast("char *", text_addr) + args_libc = ffi_libc.cast("void *", args_addr) + + out = ffi_libc.new("char **") + if libc.vasprintf(out, text_libc, args_libc) >= 0 and out[0] != ffi_libc.NULL: + text_str = ffi_libc.string(out[0]).decode("utf-8", "replace") + libc.free(out[0]) + else: + text_str = rl.ffi.string(text).decode("utf-8", "replace") + except Exception as e: + text_str = f"[Log decode error: {e}]" if log_level == rl.TraceLogLevel.LOG_ERROR: cloudlog.error(f"raylib: {text_str}") diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 9ca82c9732..121e7f86fa 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -1,6 +1,7 @@ import pyray as rl from enum import IntEnum from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached class ButtonStyle(IntEnum): @@ -9,6 +10,7 @@ class ButtonStyle(IntEnum): DANGER = 2 # For critical actions, like reboot or delete TRANSPARENT = 3 # For buttons with transparent background and border ACTION = 4 + LIST_ACTION = 5 # For list items with action buttons class TextAlignment(IntEnum): @@ -19,11 +21,17 @@ class TextAlignment(IntEnum): ICON_PADDING = 15 DEFAULT_BUTTON_FONT_SIZE = 60 -BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255) BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) ACTION_BUTTON_FONT_SIZE = 48 -ACTION_BUTTON_TEXT_COLOR = rl.Color(0, 0, 0, 255) +BUTTON_TEXT_COLOR = { + ButtonStyle.NORMAL: rl.Color(228, 228, 228, 255), + ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255), + ButtonStyle.DANGER: rl.Color(228, 228, 228, 255), + ButtonStyle.TRANSPARENT: rl.BLACK, + ButtonStyle.ACTION: rl.Color(0, 0, 0, 255), + ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255), +} BUTTON_BACKGROUND_COLORS = { ButtonStyle.NORMAL: rl.Color(51, 51, 51, 255), @@ -31,6 +39,7 @@ BUTTON_BACKGROUND_COLORS = { ButtonStyle.DANGER: rl.Color(255, 36, 36, 255), ButtonStyle.TRANSPARENT: rl.BLACK, ButtonStyle.ACTION: rl.Color(189, 189, 189, 255), + ButtonStyle.LIST_ACTION: rl.Color(57, 57, 57, 255), } BUTTON_PRESSED_BACKGROUND_COLORS = { @@ -39,6 +48,7 @@ BUTTON_PRESSED_BACKGROUND_COLORS = { ButtonStyle.DANGER: rl.Color(255, 36, 36, 255), ButtonStyle.TRANSPARENT: rl.BLACK, ButtonStyle.ACTION: rl.Color(130, 130, 130, 255), + ButtonStyle.LIST_ACTION: rl.Color(74, 74, 74, 74), } _pressed_buttons: set[str] = set() # Track mouse press state globally @@ -99,7 +109,7 @@ def gui_button( # Handle icon and text positioning font = gui_app.font(font_weight) - text_size = rl.measure_text_ex(font, text, font_size, 0) + text_size = measure_text_cached(font, text, font_size) text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2) # Vertical centering # Draw icon if provided @@ -132,7 +142,7 @@ def gui_button( # Draw the button text if any if text: - text_color = ACTION_BUTTON_TEXT_COLOR if button_style == ButtonStyle.ACTION else BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR - rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color) + color = BUTTON_TEXT_COLOR[button_style] if is_enabled else BUTTON_DISABLED_TEXT_COLOR + rl.draw_text_ex(font, text, text_pos, font_size, 0, color) return result diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py index d43be482b3..d119a8a832 100644 --- a/system/ui/lib/egl.py +++ b/system/ui/lib/egl.py @@ -4,7 +4,6 @@ from dataclasses import dataclass from typing import Any from openpilot.common.swaglog import cloudlog - # EGL constants EGL_LINUX_DMA_BUF_EXT = 0x3270 EGL_WIDTH = 0x3057 @@ -23,6 +22,7 @@ GL_TEXTURE_EXTERNAL_OES = 0x8D65 # DRM Format for NV12 DRM_FORMAT_NV12 = 842094158 + @dataclass class EGLImage: """Container for EGL image and associated resources""" diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 367e0dc7e4..ccf718ba56 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -1,14 +1,16 @@ import pyray as rl import time from openpilot.system.ui.lib.application import gui_app - +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.widget import Widget PASSWORD_MASK_CHAR = "•" PASSWORD_MASK_DELAY = 1.5 # Seconds to show character before masking -class InputBox: +class InputBox(Widget): def __init__(self, max_text_size=255, password_mode=False): + super().__init__() self._max_text_size = max_text_size self._input_text = "" self._cursor_position = 0 @@ -22,7 +24,7 @@ class InputBox: self._text_offset = 0 self._visible_width = 0 self._last_char_time = 0 # Track when last character was added - self._masked_length = 0 # How many characters are currently masked + self._masked_length = 0 # How many characters are currently masked @property def text(self): @@ -60,7 +62,7 @@ class InputBox: padding = 10 if self._cursor_position > 0: - cursor_x = rl.measure_text_ex(font, display_text[: self._cursor_position], self._font_size, 0).x + cursor_x = measure_text_cached(font, display_text[: self._cursor_position], self._font_size).x else: cursor_x = 0 @@ -75,11 +77,11 @@ class InputBox: def add_char_at_cursor(self, char): """Add a character at the current cursor position.""" if len(self._input_text) < self._max_text_size: - self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position :] + self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position:] self.set_cursor_position(self._cursor_position + 1) if self._password_mode: - self._last_char_time = time.time() + self._last_char_time = time.monotonic() return True return False @@ -87,7 +89,7 @@ class InputBox: def delete_char_before_cursor(self): """Delete the character before the cursor position (backspace).""" if self._cursor_position > 0: - self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position :] + self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position:] self.set_cursor_position(self._cursor_position - 1) return True return False @@ -95,12 +97,12 @@ class InputBox: def delete_char_at_cursor(self): """Delete the character at the cursor position (delete).""" if self._cursor_position < len(self._input_text): - self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1 :] + self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1:] self.set_cursor_position(self._cursor_position) return True return False - def render(self, rect, color=rl.BLACK, border_color=rl.DARKGRAY, text_color=rl.WHITE, font_size=80): + def _render(self, rect, color=rl.BLACK, border_color=rl.DARKGRAY, text_color=rl.WHITE, font_size=80): # Store dimensions for text offset calculations self._visible_width = rect.width self._font_size = font_size @@ -141,7 +143,7 @@ class InputBox: if self._show_cursor: cursor_x = rect.x + padding if len(display_text) > 0 and self._cursor_position > 0: - cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x + cursor_x += measure_text_cached(font, display_text[: self._cursor_position], font_size).x # Apply text offset to cursor position cursor_x -= self._text_offset @@ -159,18 +161,18 @@ class InputBox: # Show character at last edited position if within delay window masked_text = PASSWORD_MASK_CHAR * len(self._input_text) - recent_edit = time.time() - self._last_char_time < PASSWORD_MASK_DELAY + recent_edit = time.monotonic() - self._last_char_time < PASSWORD_MASK_DELAY if recent_edit and self._input_text: last_pos = max(0, self._cursor_position - 1) if last_pos < len(self._input_text): - return masked_text[:last_pos] + self._input_text[last_pos] + masked_text[last_pos + 1 :] + return masked_text[:last_pos] + self._input_text[last_pos] + masked_text[last_pos + 1:] return masked_text def _handle_mouse_input(self, rect, font_size): """Handle mouse clicks to position cursor.""" mouse_pos = rl.get_mouse_position() - if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect): + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(mouse_pos, rect): # Calculate cursor position from click if len(self._input_text) > 0: font = gui_app.font() @@ -182,7 +184,7 @@ class InputBox: min_distance = float('inf') for i in range(len(self._input_text) + 1): - char_width = rl.measure_text_ex(font, display_text[:i], font_size, 0).x + char_width = measure_text_cached(font, display_text[:i], font_size).x distance = abs(relative_x - char_width) if distance < min_distance: min_distance = distance diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index 5244c6baf2..c3d0e0303a 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -1,5 +1,6 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.utils import GuiStyleContext @@ -14,7 +15,7 @@ def gui_label( elide_right: bool = True ): font = gui_app.font(font_weight) - text_size = rl.measure_text_ex(font, text, font_size, 0) + text_size = measure_text_cached(font, text, font_size) display_text = text # Elide text to fit within the rectangle @@ -24,13 +25,13 @@ def gui_label( while left < right: mid = (left + right) // 2 candidate = text[:mid] + ellipsis - candidate_size = rl.measure_text_ex(font, candidate, font_size, 0) + candidate_size = measure_text_cached(font, candidate, font_size) if candidate_size.x <= rect.width: left = mid + 1 else: right = mid display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis - text_size = rl.measure_text_ex(font, display_text, font_size, 0) + text_size = measure_text_cached(font, display_text, font_size) # Calculate horizontal position based on alignment text_x = rect.x + { @@ -56,7 +57,8 @@ def gui_text_box( font_size: int = DEFAULT_TEXT_SIZE, color: rl.Color = DEFAULT_TEXT_COLOR, alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, - alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP + alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, + font_weight: FontWeight = FontWeight.NORMAL, ): styles = [ (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)), @@ -66,6 +68,11 @@ def gui_text_box( (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical), (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD) ] + if font_weight != FontWeight.NORMAL: + rl.gui_set_font(gui_app.font(font_weight)) with GuiStyleContext(styles): rl.gui_label(rect, text) + + if font_weight != FontWeight.NORMAL: + rl.gui_set_font(gui_app.font(FontWeight.NORMAL)) diff --git a/system/ui/lib/list_view.py b/system/ui/lib/list_view.py new file mode 100644 index 0000000000..f5581be23e --- /dev/null +++ b/system/ui/lib/list_view.py @@ -0,0 +1,368 @@ +import os +import pyray as rl +from collections.abc import Callable +from abc import ABC +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.toggle import Toggle, WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT +from openpilot.system.ui.lib.widget import Widget + +ITEM_BASE_WIDTH = 600 +ITEM_BASE_HEIGHT = 170 +ITEM_PADDING = 20 +ITEM_TEXT_FONT_SIZE = 50 +ITEM_TEXT_COLOR = rl.WHITE +ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255) +ITEM_DESC_FONT_SIZE = 40 +ITEM_DESC_V_OFFSET = 140 +RIGHT_ITEM_PADDING = 20 +ICON_SIZE = 80 +BUTTON_WIDTH = 250 +BUTTON_HEIGHT = 100 +BUTTON_BORDER_RADIUS = 50 +BUTTON_FONT_SIZE = 35 +BUTTON_FONT_WEIGHT = FontWeight.MEDIUM + +TEXT_PADDING = 20 + + +def _resolve_value(value, default=""): + if callable(value): + return value() + return value if value is not None else default + + +# Abstract base class for right-side items +class ItemAction(Widget, ABC): + def __init__(self, width: int = BUTTON_HEIGHT, enabled: bool | Callable[[], bool] = True): + super().__init__() + self.set_rect(rl.Rectangle(0, 0, width, 0)) + self._enabled_source = enabled + + @property + def enabled(self): + return _resolve_value(self._enabled_source, False) + + +class ToggleAction(ItemAction): + def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True): + super().__init__(width, enabled) + self.toggle = Toggle(initial_state=initial_state) + self.state = initial_state + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + super().set_touch_valid_callback(touch_callback) + self.toggle.set_touch_valid_callback(touch_callback) + + def _render(self, rect: rl.Rectangle) -> bool: + self.toggle.set_enabled(self.enabled) + self.toggle.render(rl.Rectangle(rect.x, rect.y + (rect.height - TOGGLE_HEIGHT) / 2, self._rect.width, TOGGLE_HEIGHT)) + return False + + def set_state(self, state: bool): + self.state = state + self.toggle.set_state(state) + + def get_state(self) -> bool: + return self.state + + +class ButtonAction(ItemAction): + def __init__(self, text: str | Callable[[], str], width: int = BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True): + super().__init__(width, enabled) + self._text_source = text + + @property + def text(self): + return _resolve_value(self._text_source, "Error") + + def _render(self, rect: rl.Rectangle) -> bool: + return gui_button( + rl.Rectangle(rect.x, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT), + self.text, + border_radius=BUTTON_BORDER_RADIUS, + font_weight=BUTTON_FONT_WEIGHT, + font_size=BUTTON_FONT_SIZE, + button_style=ButtonStyle.LIST_ACTION, + is_enabled=self.enabled, + ) == 1 + + +class TextAction(ItemAction): + def __init__(self, text: str | Callable[[], str], color: rl.Color = ITEM_TEXT_COLOR, enabled: bool | Callable[[], bool] = True): + self._text_source = text + self.color = color + + self._font = gui_app.font(FontWeight.NORMAL) + initial_text = _resolve_value(text, "") + text_width = measure_text_cached(self._font, initial_text, ITEM_TEXT_FONT_SIZE).x + super().__init__(int(text_width + TEXT_PADDING), enabled) + + @property + def text(self): + return _resolve_value(self._text_source, "Error") + + def _render(self, rect: rl.Rectangle) -> bool: + current_text = self.text + text_size = measure_text_cached(self._font, current_text, ITEM_TEXT_FONT_SIZE) + + text_x = rect.x + (rect.width - text_size.x) / 2 + text_y = rect.y + (rect.height - text_size.y) / 2 + rl.draw_text_ex(self._font, current_text, rl.Vector2(text_x, text_y), ITEM_TEXT_FONT_SIZE, 0, self.color) + return False + + def get_width(self) -> int: + text_width = measure_text_cached(self._font, self.text, ITEM_TEXT_FONT_SIZE).x + return int(text_width + TEXT_PADDING) + + +class DualButtonAction(ItemAction): + def __init__(self, left_text: str, right_text: str, left_callback: Callable = None, + right_callback: Callable = None, enabled: bool | Callable[[], bool] = True): + super().__init__(width=0, enabled=enabled) # Width 0 means use full width + self.left_text, self.right_text = left_text, right_text + self.left_callback, self.right_callback = left_callback, right_callback + + def _render(self, rect: rl.Rectangle) -> bool: + button_spacing = 30 + button_height = 120 + button_width = (rect.width - button_spacing) / 2 + button_y = rect.y + (rect.height - button_height) / 2 + + left_rect = rl.Rectangle(rect.x, button_y, button_width, button_height) + right_rect = rl.Rectangle(rect.x + button_width + button_spacing, button_y, button_width, button_height) + + left_clicked = gui_button(left_rect, self.left_text, button_style=ButtonStyle.LIST_ACTION) == 1 + right_clicked = gui_button(right_rect, self.right_text, button_style=ButtonStyle.DANGER) == 1 + + if left_clicked and self.left_callback: + self.left_callback() + return True + if right_clicked and self.right_callback: + self.right_callback() + return True + return False + + +class MultipleButtonAction(ItemAction): + def __init__(self, buttons: list[str], button_width: int, selected_index: int = 0, callback: Callable = None): + super().__init__(width=len(buttons) * (button_width + 20), enabled=True) + self.buttons = buttons + self.button_width = button_width + self.selected_button = selected_index + self.callback = callback + self._font = gui_app.font(FontWeight.MEDIUM) + + def _render(self, rect: rl.Rectangle) -> bool: + spacing = 20 + button_y = rect.y + (rect.height - BUTTON_HEIGHT) / 2 + clicked = -1 + + for i, text in enumerate(self.buttons): + button_x = rect.x + i * (self.button_width + spacing) + button_rect = rl.Rectangle(button_x, button_y, self.button_width, BUTTON_HEIGHT) + + # Check button state + mouse_pos = rl.get_mouse_position() + is_hovered = rl.check_collision_point_rec(mouse_pos, button_rect) + is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed + is_selected = i == self.selected_button + + # Button colors + if is_selected: + bg_color = rl.Color(51, 171, 76, 255) # Green + elif is_pressed: + bg_color = rl.Color(74, 74, 74, 255) # Dark gray + else: + bg_color = rl.Color(57, 57, 57, 255) # Gray + + # Draw button + rl.draw_rectangle_rounded(button_rect, 1.0, 20, bg_color) + + # Draw text + text_size = measure_text_cached(self._font, text, 40) + text_x = button_x + (self.button_width - text_size.x) / 2 + text_y = button_y + (BUTTON_HEIGHT - text_size.y) / 2 + rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, rl.Color(228, 228, 228, 255)) + + # Handle click + if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed: + clicked = i + + if clicked >= 0: + self.selected_button = clicked + if self.callback: + self.callback(clicked) + return True + return False + + +class ListItem(Widget): + def __init__(self, title: str = "", icon: str | None = None, description: str | Callable[[], str] | None = None, + description_visible: bool = False, callback: Callable | None = None, + action_item: ItemAction | None = None): + super().__init__() + self.title = title + self.icon = icon + self.description = description + self.description_visible = description_visible + self.callback = callback + self.action_item = action_item + + self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT)) + self._font = gui_app.font(FontWeight.NORMAL) + + # Cached properties for performance + self._prev_max_width: int = 0 + self._wrapped_description: str | None = None + self._prev_description: str | None = None + self._description_height: float = 0 + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + super().set_touch_valid_callback(touch_callback) + if self.action_item: + self.action_item.set_touch_valid_callback(touch_callback) + + def set_parent_rect(self, parent_rect: rl.Rectangle): + super().set_parent_rect(parent_rect) + self._rect.width = parent_rect.width + + def _handle_mouse_release(self, mouse_pos: rl.Vector2): + if not self.is_visible: + return + + # Check not in action rect + if self.action_item: + action_rect = self.get_right_item_rect(self._rect) + if rl.check_collision_point_rec(mouse_pos, action_rect): + # Click was on right item, don't toggle description + return + + if self.description: + self.description_visible = not self.description_visible + content_width = self.get_content_width(int(self._rect.width - ITEM_PADDING * 2)) + self._rect.height = self.get_item_height(self._font, content_width) + + def _render(self, _): + if not self.is_visible: + return + + # Don't draw items that are not in parent's viewport + if ((self._rect.y + self.rect.height) <= self._parent_rect.y or + self._rect.y >= (self._parent_rect.y + self._parent_rect.height)): + return + + content_x = self._rect.x + ITEM_PADDING + text_x = content_x + + # Only draw title and icon for items that have them + if self.title: + # Draw icon if present + if self.icon: + icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) + rl.draw_texture(icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE) + text_x += ICON_SIZE + ITEM_PADDING + + # Draw main text + text_size = measure_text_cached(self._font, self.title, ITEM_TEXT_FONT_SIZE) + item_y = self._rect.y + (ITEM_BASE_HEIGHT - text_size.y) // 2 + rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), ITEM_TEXT_FONT_SIZE, 0, ITEM_TEXT_COLOR) + + # Draw description if visible + current_description = self.get_description() + if self.description_visible and current_description and self._wrapped_description: + rl.draw_text_ex( + self._font, + self._wrapped_description, + rl.Vector2(text_x, self._rect.y + ITEM_DESC_V_OFFSET), + ITEM_DESC_FONT_SIZE, + 0, + ITEM_DESC_TEXT_COLOR, + ) + + # Draw right item if present + if self.action_item: + right_rect = self.get_right_item_rect(self._rect) + right_rect.y = self._rect.y + if self.action_item.render(right_rect) and self.action_item.enabled: + # Right item was clicked/activated + if self.callback: + self.callback() + + def get_description(self): + return _resolve_value(self.description, None) + + def get_item_height(self, font: rl.Font, max_width: int) -> float: + if not self.is_visible: + return 0 + + current_description = self.get_description() + if self.description_visible and current_description: + if ( + not self._wrapped_description + or current_description != self._prev_description + or max_width != self._prev_max_width + ): + self._prev_max_width = max_width + self._prev_description = current_description + + wrapped_lines = wrap_text(font, current_description, ITEM_DESC_FONT_SIZE, max_width) + self._wrapped_description = "\n".join(wrapped_lines) + self._description_height = len(wrapped_lines) * ITEM_DESC_FONT_SIZE + 10 + return ITEM_BASE_HEIGHT + self._description_height - (ITEM_BASE_HEIGHT - ITEM_DESC_V_OFFSET) + ITEM_PADDING + return ITEM_BASE_HEIGHT + + def get_content_width(self, total_width: int) -> int: + if self.action_item and self.action_item.rect.width > 0: + return total_width - int(self.action_item.rect.width) - RIGHT_ITEM_PADDING + return total_width + + def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle: + if not self.action_item: + return rl.Rectangle(0, 0, 0, 0) + + right_width = self.action_item.rect.width + if right_width == 0: # Full width action (like DualButtonAction) + return rl.Rectangle(item_rect.x + ITEM_PADDING, item_rect.y, + item_rect.width - (ITEM_PADDING * 2), ITEM_BASE_HEIGHT) + + right_x = item_rect.x + item_rect.width - right_width + right_y = item_rect.y + return rl.Rectangle(right_x, right_y, right_width, ITEM_BASE_HEIGHT) + + +# Factory functions +def simple_item(title: str, callback: Callable | None = None) -> ListItem: + return ListItem(title=title, callback=callback) + + +def toggle_item(title: str, description: str | Callable[[], str] | None = None, initial_state: bool = False, + callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True) -> ListItem: + action = ToggleAction(initial_state=initial_state, enabled=enabled) + return ListItem(title=title, description=description, action_item=action, icon=icon, callback=callback) + + +def button_item(title: str, button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None, + callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem: + action = ButtonAction(text=button_text, enabled=enabled) + return ListItem(title=title, description=description, action_item=action, callback=callback) + + +def text_item(title: str, value: str | Callable[[], str], description: str | Callable[[], str] | None = None, + callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem: + action = TextAction(text=value, color=rl.Color(170, 170, 170, 255), enabled=enabled) + return ListItem(title=title, description=description, action_item=action, callback=callback) + + +def dual_button_item(left_text: str, right_text: str, left_callback: Callable = None, right_callback: Callable = None, + description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem: + action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled) + return ListItem(title="", description=description, action_item=action) + + +def multiple_button_item(title: str, description: str, buttons: list[str], selected_index: int, + button_width: int = BUTTON_WIDTH, callback: Callable = None, icon: str = ""): + action = MultipleButtonAction(buttons, button_width, selected_index, callback=callback) + return ListItem(title=title, description=description, icon=icon, action_item=action) diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 43111504bb..32f3b7b575 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -1,11 +1,12 @@ import pyray as rl +from collections import deque from enum import IntEnum # Scroll constants for smooth scrolling behavior MOUSE_WHEEL_SCROLL_SPEED = 30 INERTIA_FRICTION = 0.92 # The rate at which the inertia slows down MIN_VELOCITY = 0.5 # Minimum velocity before stopping the inertia -DRAG_THRESHOLD = 5 # Pixels of movement to consider it a drag, not a click +DRAG_THRESHOLD = 12 # Pixels of movement to consider it a drag, not a click BOUNCE_FACTOR = 0.2 # Elastic bounce when scrolling past boundaries BOUNCE_RETURN_SPEED = 0.15 # How quickly it returns from the bounce MAX_BOUNCE_DISTANCE = 150 # Maximum distance for bounce effect @@ -31,8 +32,7 @@ class GuiScrollPanel: self._velocity_y = 0.0 # Velocity for inertia self._is_dragging: bool = False self._bounce_offset: float = 0.0 - self._last_frame_time = rl.get_time() - self._velocity_history: list[float] = [] + self._velocity_history: deque[float] = deque(maxlen=VELOCITY_HISTORY_SIZE) self._last_drag_time: float = 0.0 self._content_rect: rl.Rectangle | None = None self._bounds_rect: rl.Rectangle | None = None @@ -44,11 +44,6 @@ class GuiScrollPanel: # Calculate time delta current_time = rl.get_time() - delta_time = current_time - self._last_frame_time - self._last_frame_time = current_time - - # Prevent large jumps - delta_time = min(delta_time, 0.05) mouse_pos = rl.get_mouse_position() max_scroll_y = max(content.height - bounds.height, 0) @@ -63,13 +58,15 @@ class GuiScrollPanel: if mouse_pos.x >= scrollbar_x: self._scroll_state = ScrollState.DRAGGING_SCROLLBAR + # TODO: hacky + # when clicking while moving, go straight into dragging + self._is_dragging = abs(self._velocity_y) > MIN_VELOCITY self._last_mouse_y = mouse_pos.y self._start_mouse_y = mouse_pos.y self._last_drag_time = current_time - self._velocity_history = [] + self._velocity_history.clear() self._velocity_y = 0.0 self._bounce_offset = 0.0 - self._is_dragging = False # Handle active dragging if self._scroll_state == ScrollState.DRAGGING_CONTENT or self._scroll_state == ScrollState.DRAGGING_SCROLLBAR: @@ -82,9 +79,6 @@ class GuiScrollPanel: drag_velocity = delta_y / time_since_last_drag / 60.0 self._velocity_history.append(drag_velocity) - if len(self._velocity_history) > VELOCITY_HISTORY_SIZE: - self._velocity_history.pop(0) - self._last_drag_time = current_time # Detect actual dragging @@ -175,13 +169,8 @@ class GuiScrollPanel: return self._offset - def is_click_valid(self) -> bool: - # Check if this is a click rather than a drag - return ( - self._scroll_state == ScrollState.IDLE - and not self._is_dragging - and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) - ) + def is_touch_valid(self): + return not self._is_dragging def get_normalized_scroll_position(self) -> float: """Returns the current scroll position as a value from 0.0 to 1.0""" diff --git a/system/ui/lib/scroller.py b/system/ui/lib/scroller.py new file mode 100644 index 0000000000..8a10221772 --- /dev/null +++ b/system/ui/lib/scroller.py @@ -0,0 +1,74 @@ +import pyray as rl +from openpilot.system.ui.lib.widget import Widget +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel + +ITEM_SPACING = 40 +LINE_COLOR = rl.GRAY +LINE_PADDING = 40 + + +class LineSeparator(Widget): + def __init__(self, height: int = 1): + super().__init__() + self._rect = rl.Rectangle(0, 0, 0, height) + + def set_parent_rect(self, parent_rect: rl.Rectangle) -> None: + super().set_parent_rect(parent_rect) + self._rect.width = parent_rect.width + + def _render(self, _): + rl.draw_line(int(self._rect.x) + LINE_PADDING, int(self._rect.y), + int(self._rect.x + self._rect.width) - LINE_PADDING * 2, int(self._rect.y), + LINE_COLOR) + + +class Scroller(Widget): + def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True): + super().__init__() + self._items: list[Widget] = [] + self._spacing = spacing + self._line_separator = line_separator + self._pad_end = pad_end + + self.scroll_panel = GuiScrollPanel() + + for item in items: + self.add_widget(item) + + def add_widget(self, item: Widget) -> None: + if self._line_separator and len(self._items) > 0: + self._items.append(LineSeparator()) + self._items.append(item) + item.set_touch_valid_callback(self.scroll_panel.is_touch_valid) + + def _render(self, _): + # TODO: don't draw items that are not in the viewport + visible_items = [item for item in self._items if item.is_visible] + content_height = sum(item.rect.height for item in visible_items) + self._spacing * (len(visible_items)) + if not self._pad_end: + content_height -= self._spacing + scroll = self.scroll_panel.handle_scroll(self._rect, rl.Rectangle(0, 0, self._rect.width, content_height)) + + rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), + int(self._rect.width), int(self._rect.height)) + + cur_height = 0 + for idx, item in enumerate(visible_items): + if not item.is_visible: + continue + + # Nicely lay out items vertically + x = self._rect.x + y = self._rect.y + cur_height + self._spacing * (idx != 0) + cur_height += item.rect.height + self._spacing * (idx != 0) + + # Consider scroll + x += scroll.x + y += scroll.y + + # Update item state + item.set_position(x, y) + item.set_parent_rect(self._rect) + item.render() + + rl.end_scissor_mode() diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index 9ecaa926bc..cfde81c554 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -1,13 +1,20 @@ +import platform import pyray as rl import numpy as np from typing import Any MAX_GRADIENT_COLORS = 15 -FRAGMENT_SHADER = """ +VERSION = """ #version 300 es -precision mediump float; +precision highp float; +""" +if platform.system() == "Darwin": + VERSION = """ + #version 330 core + """ +FRAGMENT_SHADER = VERSION + """ in vec2 fragTexCoord; out vec4 finalColor; @@ -16,13 +23,12 @@ uniform int pointCount; uniform vec4 fillColor; uniform vec2 resolution; -uniform bool useGradient; +uniform int useGradient; uniform vec2 gradientStart; uniform vec2 gradientEnd; uniform vec4 gradientColors[15]; uniform float gradientStops[15]; uniform int gradientColorCount; -uniform vec2 visibleGradientRange; vec4 getGradientColor(vec2 pos) { vec2 gradientDir = gradientEnd - gradientStart; @@ -30,22 +36,9 @@ vec4 getGradientColor(vec2 pos) { if (gradientLength < 0.001) return gradientColors[0]; vec2 normalizedDir = gradientDir / gradientLength; - vec2 pointVec = pos - gradientStart; - float projection = dot(pointVec, normalizedDir); + float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0); - float t = projection / gradientLength; - - // Gradient clipping: remap t to visible range - float visibleStart = visibleGradientRange.x; - float visibleEnd = visibleGradientRange.y; - float visibleRange = visibleEnd - visibleStart; - - // Remap t to visible range - if (visibleRange > 0.001) { - t = visibleStart + t * visibleRange; - } - - t = clamp(t, 0.0, 1.0); + if (gradientColorCount <= 1) return gradientColors[0]; for (int i = 0; i < gradientColorCount - 1; i++) { if (t >= gradientStops[i] && t <= gradientStops[i+1]) { float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]); @@ -58,16 +51,11 @@ vec4 getGradientColor(vec2 pos) { bool isPointInsidePolygon(vec2 p) { if (pointCount < 3) return false; - int crossings = 0; for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) { vec2 pi = points[i]; vec2 pj = points[j]; - - // Skip degenerate edges if (distance(pi, pj) < 0.001) continue; - - // Ray-casting if (((pi.y > p.y) != (pj.y > p.y)) && (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y + 0.001) + pi.x)) { crossings++; @@ -104,34 +92,33 @@ float distanceToEdge(vec2 p) { return minDist; } -float signedDistanceToPolygon(vec2 p) { - float dist = distanceToEdge(p); - bool inside = isPointInsidePolygon(p); - return inside ? dist : -dist; -} - void main() { vec2 pixel = fragTexCoord * resolution; - float signedDist = signedDistanceToPolygon(pixel); - + // Compute pixel size for anti-aliasing vec2 pixelGrad = vec2(dFdx(pixel.x), dFdy(pixel.y)); float pixelSize = length(pixelGrad); - float aaWidth = max(0.5, pixelSize * 0.5); // Sharper anti-aliasing + float aaWidth = max(0.5, pixelSize * 1.5); - float alpha = smoothstep(-aaWidth, aaWidth, signedDist); - if (alpha > 0.0) { - vec4 color = useGradient ? getGradientColor(fragTexCoord) : fillColor; + bool inside = isPointInsidePolygon(pixel); + if (inside) { + finalColor = useGradient == 1 ? getGradientColor(pixel) : fillColor; + return; + } + + float sd = -distanceToEdge(pixel); + float alpha = smoothstep(-aaWidth, aaWidth, sd); + if (alpha > 0.0){ + vec4 color = useGradient == 1 ? getGradientColor(pixel) : fillColor; finalColor = vec4(color.rgb, color.a * alpha); } else { - finalColor = vec4(0.0); + discard; } } """ # Default vertex shader -VERTEX_SHADER = """ -#version 300 es +VERTEX_SHADER = VERSION + """ in vec3 vertexPosition; in vec2 vertexTexCoord; out vec2 fragTexCoord; @@ -143,7 +130,6 @@ void main() { } """ - UNIFORM_INT = rl.ShaderUniformDataType.SHADER_UNIFORM_INT UNIFORM_FLOAT = rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT UNIFORM_VEC2 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2 @@ -180,7 +166,6 @@ class ShaderState: 'gradientStops': None, 'gradientColorCount': None, 'mvp': None, - 'visibleGradientRange': None, } # Pre-allocated FFI objects @@ -191,7 +176,6 @@ class ShaderState: self.gradient_start_ptr = rl.ffi.new("float[]", [0.0, 0.0]) self.gradient_end_ptr = rl.ffi.new("float[]", [0.0, 0.0]) self.color_count_ptr = rl.ffi.new("int[]", [0]) - self.visible_gradient_range_ptr = rl.ffi.new("float[]", [0.0, 0.0]) self.gradient_colors_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS * 4) self.gradient_stops_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS) @@ -232,66 +216,41 @@ class ShaderState: self.initialized = False -def _configure_shader_color(state, color, gradient, rect, min_xy, max_xy): - """Configure shader uniforms for solid color or gradient rendering""" +def _configure_shader_color(state, color, gradient, clipped_rect, original_rect): use_gradient = 1 if gradient else 0 state.use_gradient_ptr[0] = use_gradient rl.set_shader_value(state.shader, state.locations['useGradient'], state.use_gradient_ptr, UNIFORM_INT) if use_gradient: - # Set gradient start/end - state.gradient_start_ptr[0:2] = gradient['start'] - state.gradient_end_ptr[0:2] = gradient['end'] + start = np.array(gradient['start']) * np.array([original_rect.width, original_rect.height]) + np.array([original_rect.x, original_rect.y]) + end = np.array(gradient['end']) * np.array([original_rect.width, original_rect.height]) + np.array([original_rect.x, original_rect.y]) + start = start - np.array([clipped_rect.x, clipped_rect.y]) + end = end - np.array([clipped_rect.x, clipped_rect.y]) + state.gradient_start_ptr[0:2] = start.astype(np.float32) + state.gradient_end_ptr[0:2] = end.astype(np.float32) rl.set_shader_value(state.shader, state.locations['gradientStart'], state.gradient_start_ptr, UNIFORM_VEC2) rl.set_shader_value(state.shader, state.locations['gradientEnd'], state.gradient_end_ptr, UNIFORM_VEC2) - # Calculate visible gradient range - width = max_xy[0] - min_xy[0] - height = max_xy[1] - min_xy[1] - - gradient_dir = (gradient['end'][0] - gradient['start'][0], gradient['end'][1] - gradient['start'][1]) - is_vertical = abs(gradient_dir[1]) > abs(gradient_dir[0]) - - visible_start = 0.0 - visible_end = 1.0 - - if is_vertical and height > 0: - visible_start = (rect.y - min_xy[1]) / height - visible_end = visible_start + rect.height / height - elif width > 0: - visible_start = (rect.x - min_xy[0]) / width - visible_end = visible_start + rect.width / width - - # Clamp visible range - visible_start = max(0.0, min(1.0, visible_start)) - visible_end = max(0.0, min(1.0, visible_end)) - - state.visible_gradient_range_ptr[0:2] = [visible_start, visible_end] - rl.set_shader_value(state.shader, state.locations['visibleGradientRange'], state.visible_gradient_range_ptr, UNIFORM_VEC2) - - # Set gradient colors colors = gradient['colors'] color_count = min(len(colors), MAX_GRADIENT_COLORS) + state.color_count_ptr[0] = color_count for i, c in enumerate(colors[:color_count]): base_idx = i * 4 state.gradient_colors_ptr[base_idx:base_idx+4] = [c.r / 255.0, c.g / 255.0, c.b / 255.0, c.a / 255.0] rl.set_shader_value_v(state.shader, state.locations['gradientColors'], state.gradient_colors_ptr, UNIFORM_VEC4, color_count) - # Set gradient stops - stops = gradient.get('stops', [i / (color_count - 1) for i in range(color_count)]) - state.gradient_stops_ptr[0:color_count] = stops[:color_count] + stops = gradient.get('stops', [i / max(1, color_count - 1) for i in range(color_count)]) + stops = np.clip(stops[:color_count], 0.0, 1.0) + state.gradient_stops_ptr[0:color_count] = stops rl.set_shader_value_v(state.shader, state.locations['gradientStops'], state.gradient_stops_ptr, UNIFORM_FLOAT, color_count) - - # Set color count - state.color_count_ptr[0] = color_count rl.set_shader_value(state.shader, state.locations['gradientColorCount'], state.color_count_ptr, UNIFORM_INT) else: - color = color or rl.WHITE # Default to white if no color provided + color = color or rl.WHITE state.fill_color_ptr[0:4] = [color.r / 255.0, color.g / 255.0, color.b / 255.0, color.a / 255.0] rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4) -def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=None): +def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray, color=None, gradient=None): """ Draw a complex polygon using shader-based even-odd fill rule @@ -317,21 +276,16 @@ def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=No # Find bounding box min_xy = np.min(points, axis=0) max_xy = np.max(points, axis=0) - - # Clip coordinates to rectangle - clip_x = max(rect.x, min_xy[0]) - clip_y = max(rect.y, min_xy[1]) - clip_right = min(rect.x + rect.width, max_xy[0]) - clip_bottom = min(rect.y + rect.height, max_xy[1]) + clip_x = max(origin_rect.x, min_xy[0]) + clip_y = max(origin_rect.y, min_xy[1]) + clip_right = min(origin_rect.x + origin_rect.width, max_xy[0]) + clip_bottom = min(origin_rect.y + origin_rect.height, max_xy[1]) # Check if polygon is completely off-screen if clip_x >= clip_right or clip_y >= clip_bottom: return - clipped_width = clip_right - clip_x - clipped_height = clip_bottom - clip_y - - clip_rect = rl.Rectangle(clip_x, clip_y, clipped_width, clipped_height) + clipped_rect = rl.Rectangle(clip_x, clip_y, clip_right - clip_x, clip_bottom - clip_y) # Transform points relative to the CLIPPED area transformed_points = points - np.array([clip_x, clip_y]) @@ -340,21 +294,21 @@ def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=No state.point_count_ptr[0] = len(transformed_points) rl.set_shader_value(state.shader, state.locations['pointCount'], state.point_count_ptr, UNIFORM_INT) - state.resolution_ptr[0:2] = [clipped_width, clipped_height] + state.resolution_ptr[0:2] = [clipped_rect.width, clipped_rect.height] rl.set_shader_value(state.shader, state.locations['resolution'], state.resolution_ptr, UNIFORM_VEC2) flat_points = np.ascontiguousarray(transformed_points.flatten().astype(np.float32)) points_ptr = rl.ffi.cast("float *", flat_points.ctypes.data) rl.set_shader_value_v(state.shader, state.locations['points'], points_ptr, UNIFORM_VEC2, len(transformed_points)) - _configure_shader_color(state, color, gradient, clip_rect, min_xy, max_xy) + _configure_shader_color(state, color, gradient, clipped_rect, origin_rect) # Render rl.begin_shader_mode(state.shader) rl.draw_texture_pro( state.white_texture, rl.Rectangle(0, 0, 2, 2), - clip_rect, + clipped_rect, rl.Vector2(0, 0), 0.0, rl.WHITE, diff --git a/system/ui/lib/text_measure.py b/system/ui/lib/text_measure.py new file mode 100644 index 0000000000..c172f94251 --- /dev/null +++ b/system/ui/lib/text_measure.py @@ -0,0 +1,14 @@ +import pyray as rl + +_cache: dict[int, rl.Vector2] = {} + + +def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: int = 0) -> rl.Vector2: + """Caches text measurements to avoid redundant calculations.""" + key = hash((font.texture.id, text, font_size, spacing)) + if key in _cache: + return _cache[key] + + result = rl.measure_text_ex(font, text, font_size, spacing) # noqa: TID251 + _cache[key] = result + return result diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py index 5ae2500406..8ed9a655ec 100644 --- a/system/ui/lib/toggle.py +++ b/system/ui/lib/toggle.py @@ -1,56 +1,72 @@ import pyray as rl +from openpilot.system.ui.lib.widget import Widget -ON_COLOR = rl.Color(0, 255, 0, 255) +ON_COLOR = rl.Color(51, 171, 76, 255) OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) KNOB_COLOR = rl.WHITE +DISABLED_ON_COLOR = rl.Color(0x22, 0x77, 0x22, 255) # Dark green when disabled + on +DISABLED_OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) +DISABLED_KNOB_COLOR = rl.Color(0x88, 0x88, 0x88, 255) WIDTH, HEIGHT = 160, 80 BG_HEIGHT = 60 ANIMATION_SPEED = 8.0 -class Toggle: - def __init__(self, x, y, initial_state=False): +class Toggle(Widget): + def __init__(self, initial_state=False): + super().__init__() self._state = initial_state - self._rect = rl.Rectangle(x, y, WIDTH, HEIGHT) + self._enabled = True self._progress = 1.0 if initial_state else 0.0 self._target = self._progress - def handle_input(self): - if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON): - if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect): - self._state = not self._state - self._target = 1.0 if self._state else 0.0 + def set_rect(self, rect: rl.Rectangle): + self._rect = rl.Rectangle(rect.x, rect.y, WIDTH, HEIGHT) + + def _handle_mouse_release(self, mouse_pos: rl.Vector2): + if not self._enabled: + return + + self._state = not self._state + self._target = 1.0 if self._state else 0.0 def get_state(self): return self._state + def set_state(self, state: bool): + self._state = state + self._target = 1.0 if state else 0.0 + + def set_enabled(self, enabled: bool): + self._enabled = enabled + + def is_enabled(self): + return self._enabled + def update(self): if abs(self._progress - self._target) > 0.01: delta = rl.get_frame_time() * ANIMATION_SPEED self._progress += delta if self._progress < self._target else -delta self._progress = max(0.0, min(1.0, self._progress)) - def render(self): - self. update() + def _render(self, rect: rl.Rectangle): + self.update() + + if self._enabled: + bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress) + knob_color = KNOB_COLOR + else: + bg_color = self._blend_color(DISABLED_OFF_COLOR, DISABLED_ON_COLOR, self._progress) + knob_color = DISABLED_KNOB_COLOR + # Draw background bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT) - bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress) rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color) # Draw knob knob_x = self._rect.x + HEIGHT / 2 + (WIDTH - HEIGHT) * self._progress knob_y = self._rect.y + HEIGHT / 2 - rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, KNOB_COLOR) + rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, knob_color) def _blend_color(self, c1, c2, t): return rl.Color(int(c1.r + (c2.r - c1.r) * t), int(c1.g + (c2.g - c1.g) * t), int(c1.b + (c2.b - c1.b) * t), 255) - - -if __name__ == "__main__": - from openpilot.system.ui.lib.application import gui_app - - gui_app.init_window("Text toggle example") - toggle = Toggle(100, 100) - for _ in gui_app.render(): - toggle.handle_input() - toggle.render() diff --git a/system/ui/lib/widget.py b/system/ui/lib/widget.py new file mode 100644 index 0000000000..3539f5594b --- /dev/null +++ b/system/ui/lib/widget.py @@ -0,0 +1,96 @@ +import abc +import pyray as rl +from enum import IntEnum +from collections.abc import Callable + + +class DialogResult(IntEnum): + CANCEL = 0 + CONFIRM = 1 + NO_ACTION = -1 + + +class Widget(abc.ABC): + def __init__(self): + self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) + self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) + self._is_pressed = False + self._is_visible: bool | Callable[[], bool] = True + self._touch_valid_callback: Callable[[], bool] | None = None + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + """Set a callback to determine if the widget can be clicked.""" + self._touch_valid_callback = touch_callback + + def _touch_valid(self) -> bool: + """Check if the widget can be touched.""" + return self._touch_valid_callback() if self._touch_valid_callback else True + + @property + def is_visible(self) -> bool: + return self._is_visible() if callable(self._is_visible) else self._is_visible + + @property + def rect(self) -> rl.Rectangle: + return self._rect + + def set_visible(self, visible: bool | Callable[[], bool]) -> None: + self._is_visible = visible + + def set_rect(self, rect: rl.Rectangle) -> None: + changed = (self._rect.x != rect.x or self._rect.y != rect.y or + self._rect.width != rect.width or self._rect.height != rect.height) + self._rect = rect + if changed: + self._update_layout_rects() + + def set_parent_rect(self, parent_rect: rl.Rectangle) -> None: + """Can be used like size hint in QT""" + self._parent_rect = parent_rect + + def set_position(self, x: float, y: float) -> None: + changed = (self._rect.x != x or self._rect.y != y) + self._rect.x, self._rect.y = x, y + if changed: + self._update_layout_rects() + + def render(self, rect: rl.Rectangle = None) -> bool | int | None: + if rect is not None: + self.set_rect(rect) + + self._update_state() + + if not self.is_visible: + return None + + ret = self._render(self._rect) + + # Keep track of whether mouse down started within the widget's rectangle + mouse_pos = rl.get_mouse_position() + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._touch_valid(): + if rl.check_collision_point_rec(mouse_pos, self._rect): + self._is_pressed = True + + elif not self._touch_valid(): + self._is_pressed = False + + elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + if self._is_pressed and rl.check_collision_point_rec(mouse_pos, self._rect): + self._handle_mouse_release(mouse_pos) + self._is_pressed = False + + return ret + + @abc.abstractmethod + def _render(self, rect: rl.Rectangle) -> bool | int | None: + """Render the widget within the given rectangle.""" + + def _update_state(self): + """Optionally update the widget's non-layout state. This is called before rendering.""" + + def _update_layout_rects(self) -> None: + """Optionally update any layout rects on Widget rect change.""" + + def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: + """Optionally handle mouse release events.""" + return False diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index d8a8144fb0..dd08b66373 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -13,6 +13,7 @@ from dbus_next.aio import MessageBus from dbus_next import BusType, Variant, Message from dbus_next.errors import DBusError from dbus_next.constants import MessageType + try: from openpilot.common.params import Params except ImportError: @@ -38,6 +39,7 @@ NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 TETHERING_IP_ADDRESS = "192.168.43.1" DEFAULT_TETHERING_PASSWORD = "12345678" + # NetworkManager device states class NMDeviceState(IntEnum): DISCONNECTED = 30 @@ -46,6 +48,7 @@ class NMDeviceState(IntEnum): IP_CONFIG = 70 ACTIVATED = 100 + class SecurityType(IntEnum): OPEN = 0 WPA = 1 @@ -53,6 +56,7 @@ class SecurityType(IntEnum): WPA3 = 3 UNSUPPORTED = 4 + @dataclass class NetworkInfo: ssid: str @@ -227,7 +231,7 @@ class WifiManager: except Exception as e: self._current_connection_ssid = None cloudlog.error(f"Error connecting to network: {e}") - # Notify UI of failure + # Notify UI of failure if self.callbacks.connection_failed: self.callbacks.connection_failed(ssid, str(e)) diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py deleted file mode 100644 index 989a3b0284..0000000000 --- a/system/ui/lib/window.py +++ /dev/null @@ -1,58 +0,0 @@ -import threading -import time -import os -from typing import Generic, Protocol, TypeVar -from openpilot.common.swaglog import cloudlog -from openpilot.system.ui.lib.application import gui_app - - -class RendererProtocol(Protocol): - def render(self): ... - - -R = TypeVar("R", bound=RendererProtocol) - - -class BaseWindow(Generic[R]): - def __init__(self, title: str): - self._title = title - self._renderer: R | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) - - def _create_renderer(self) -> R: - raise NotImplementedError() - - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window(self._title) - self._renderer = self._create_renderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - self._renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - cloudlog.warning(f"Failed to join {self._title} thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() diff --git a/system/ui/lib/wrap_text.py b/system/ui/lib/wrap_text.py new file mode 100644 index 0000000000..35dc5ac401 --- /dev/null +++ b/system/ui/lib/wrap_text.py @@ -0,0 +1,103 @@ +import pyray as rl +from openpilot.system.ui.lib.text_measure import measure_text_cached + + +def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -> list[str]: + if not word: + return [] + + parts = [] + remaining = word + + while remaining: + if measure_text_cached(font, remaining, font_size).x <= max_width: + parts.append(remaining) + break + + # Binary search for the longest substring that fits + left, right = 1, len(remaining) + best_fit = 1 + + while left <= right: + mid = (left + right) // 2 + substring = remaining[:mid] + width = measure_text_cached(font, substring, font_size).x + + if width <= max_width: + best_fit = mid + left = mid + 1 + else: + right = mid - 1 + + # Add the part that fits + parts.append(remaining[:best_fit]) + remaining = remaining[best_fit:] + + return parts + + +def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[str]: + if not text or max_width <= 0: + return [] + + # Split text by newlines first to preserve explicit line breaks + paragraphs = text.split('\n') + all_lines: list[str] = [] + + for paragraph in paragraphs: + # Handle empty paragraphs (preserve empty lines) + if not paragraph.strip(): + all_lines.append("") + continue + + # Process each paragraph separately + words = paragraph.split() + if not words: + all_lines.append("") + continue + + lines: list[str] = [] + current_line: list[str] = [] + current_width = 0 + space_width = int(measure_text_cached(font, " ", font_size).x) + + for word in words: + word_width = int(measure_text_cached(font, word, font_size).x) + + # Check if word alone exceeds max width (need to break the word) + if word_width > max_width: + # Finish current line if it has content + if current_line: + lines.append(" ".join(current_line)) + current_line = [] + current_width = 0 + + # Break the long word into parts + lines.extend(_break_long_word(font, word, font_size, max_width)) + continue + + # Calculate width if we add this word + needed_width = current_width + if current_line: # Need space before word + needed_width += space_width + needed_width += word_width + + # Check if word fits on current line + if needed_width <= max_width: + current_line.append(word) + current_width = needed_width + else: + # Start new line with this word + if current_line: + lines.append(" ".join(current_line)) + current_line = [word] + current_width = word_width + + # Add remaining words + if current_line: + lines.append(" ".join(current_line)) + + # Add all lines from this paragraph + all_lines.extend(lines) + + return all_lines diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py deleted file mode 100644 index 600c721680..0000000000 --- a/system/ui/onroad/alert_renderer.py +++ /dev/null @@ -1,234 +0,0 @@ -import numpy as np -import pyray as rl -from dataclasses import dataclass -from cereal import messaging, log -from openpilot.system.ui.lib.application import gui_app, FontWeight - -# Constants -ALERT_COLORS = { - log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 150), # Black - log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 100), # Orange - log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 150), # Red -} - -ALERT_HEIGHTS = { - log.SelfdriveState.AlertSize.small: 271, - log.SelfdriveState.AlertSize.mid: 420, -} - -SELFDRIVE_STATE_TIMEOUT = 5 # Seconds -SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds - - -@dataclass -class Alert: - text1: str = "" - text2: str = "" - alert_type: str = "" - size: log.SelfdriveState.AlertSize = log.SelfdriveState.AlertSize.none - status: log.SelfdriveState.AlertStatus = log.SelfdriveState.AlertStatus.normal - - def is_equal(self, other: 'Alert') -> bool: - """Check if two alerts are equal.""" - return ( - self.text1 == other.text1 - and self.text2 == other.text2 - and self.alert_type == other.alert_type - and self.size == other.size - and self.status == other.status - ) - - -class AlertRenderer: - def __init__(self): - """Initialize the alert renderer.""" - self.alert: Alert = Alert() - self.started_frame: int = 0 - self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL) - self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD) - self.font_metrics_cache: dict[tuple[str, int, str], rl.Vector2] = {} - - def clear(self) -> None: - """Reset the alert to its default state.""" - self.alert = Alert() - - def update_state(self, sm: messaging.SubMaster, started_frame: int) -> None: - """Update alert state based on SubMaster data.""" - self.started_frame = started_frame - new_alert = self.get_alert(sm) - if not self.alert.is_equal(new_alert): - self.alert = new_alert - - def get_alert(self, sm: messaging.SubMaster) -> Alert: - """Generate the current alert based on selfdrive state.""" - if not sm.valid['selfdriveState']: - return Alert() - - ss = sm['selfdriveState'] - selfdrive_frame = sm.recv_frame['selfdriveState'] - alert_status = self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus) - - # Return current alert if selfdrive state is recent - if selfdrive_frame >= self.started_frame: - return Alert( - text1=ss.alertText1, - text2=ss.alertText2, - alert_type=ss.alertType, - size=self._get_enum_value(ss.alertSize, log.SelfdriveState.AlertSize), - status=alert_status, - ) - - # Handle selfdrive timeout - ss_missing = (np.uint64(rl.get_time() * 1e9) - sm.recv_time['selfdriveState']) / 1e9 - if selfdrive_frame < self.started_frame: - return Alert( - text1="openpilot Unavailable", - text2="Waiting to start", - alert_type="selfdriveWaiting", - size=log.SelfdriveState.AlertSize.mid, - status=log.SelfdriveState.AlertStatus.normal, - ) - elif ss_missing > SELFDRIVE_STATE_TIMEOUT: - if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: - return Alert( - text1="TAKE CONTROL IMMEDIATELY", - text2="System Unresponsive", - alert_type="selfdriveUnresponsive", - size=log.SelfdriveState.AlertSize.full, - status=log.SelfdriveState.AlertStatus.critical, - ) - return Alert( - text1="System Unresponsive", - text2="Reboot Device", - alert_type="selfdriveUnresponsivePermanent", - size=log.SelfdriveState.AlertSize.mid, - status=log.SelfdriveState.AlertStatus.normal, - ) - - return Alert() - - def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None: - """Render the alert within the specified rectangle.""" - self.update_state(sm, sm.recv_frame['selfdriveState']) - alert_size = self._get_enum_value(self.alert.size, log.SelfdriveState.AlertSize) - if alert_size == log.SelfdriveState.AlertSize.none: - return - - # Calculate alert rectangle - margin = 0 if alert_size == log.SelfdriveState.AlertSize.full else 40 - radius = 0 if alert_size == log.SelfdriveState.AlertSize.full else 30 - height = ALERT_HEIGHTS.get(alert_size, rect.height) - alert_rect = rl.Rectangle( - rect.x + margin, - rect.y + rect.height - height + margin, - rect.width - margin * 2, - height - margin * 2, - ) - - # Draw background - alert_status = self._get_enum_value(self.alert.status, log.SelfdriveState.AlertStatus) - color = ALERT_COLORS.get(alert_status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal]) - if alert_size != log.SelfdriveState.AlertSize.full: - roundness = radius / (min(alert_rect.width, alert_rect.height) / 2) - rl.draw_rectangle_rounded(alert_rect, roundness, 10, color) - else: - rl.draw_rectangle_rec(alert_rect, color) - - # Draw text - center_x = rect.x + rect.width / 2 - center_y = alert_rect.y + alert_rect.height / 2 - self._draw_text(alert_size, alert_rect, center_x, center_y) - - def _draw_text( - self, alert_size: log.SelfdriveState.AlertSize, alert_rect: rl.Rectangle, center_x: float, center_y: float - ) -> None: - """Draw text based on alert size.""" - if alert_size == log.SelfdriveState.AlertSize.small: - font_size = 74 - text_width = self._measure_text(self.font_bold, self.alert.text1, font_size, 'bold').x - rl.draw_text_ex( - self.font_bold, - self.alert.text1, - rl.Vector2(center_x - text_width / 2, center_y - font_size / 2), - font_size, - 0, - rl.WHITE, - ) - elif alert_size == log.SelfdriveState.AlertSize.mid: - font_size1 = 88 - text1_width = self._measure_text(self.font_bold, self.alert.text1, font_size1, 'bold').x - rl.draw_text_ex( - self.font_bold, - self.alert.text1, - rl.Vector2(center_x - text1_width / 2, center_y - 125), - font_size1, - 0, - rl.WHITE, - ) - font_size2 = 66 - text2_width = self._measure_text(self.font_regular, self.alert.text2, font_size2, 'regular').x - rl.draw_text_ex( - self.font_regular, - self.alert.text2, - rl.Vector2(center_x - text2_width / 2, center_y + 21), - font_size2, - 0, - rl.WHITE, - ) - elif alert_size == log.SelfdriveState.AlertSize.full: - is_long = len(self.alert.text1) > 15 - font_size1 = 132 if is_long else 177 - text1_y = alert_rect.y + (240 if is_long else 270) - wrapped_text1 = self._wrap_text(self.alert.text1, alert_rect.width - 100, font_size1, self.font_bold) - for i, line in enumerate(wrapped_text1): - line_width = self._measure_text(self.font_bold, line, font_size1, 'bold').x - rl.draw_text_ex( - self.font_bold, - line, - rl.Vector2(center_x - line_width / 2, text1_y + i * font_size1), - font_size1, - 0, - rl.WHITE, - ) - font_size2 = 88 - text2_y = alert_rect.y + alert_rect.height - (361 if is_long else 420) - wrapped_text2 = self._wrap_text(self.alert.text2, alert_rect.width - 100, font_size2, self.font_regular) - for i, line in enumerate(wrapped_text2): - line_width = self._measure_text(self.font_regular, line, font_size2, 'regular').x - rl.draw_text_ex( - self.font_regular, - line, - rl.Vector2(center_x - line_width / 2, text2_y + i * font_size2), - font_size2, - 0, - rl.WHITE, - ) - - def _wrap_text(self, text: str, max_width: float, font_size: int, font: rl.Font) -> list[str]: - """Wrap text to fit within max width.""" - words = text.split() - lines = [] - current_line = "" - for word in words: - test_line = f"{current_line} {word}" if current_line else word - if self._measure_text(font, test_line, font_size, 'bold' if font == self.font_bold else 'regular').x <= max_width: - current_line = test_line - else: - if current_line: - lines.append(current_line) - current_line = word - if current_line: - lines.append(current_line) - return lines - - def _measure_text(self, font: rl.Font, text: str, font_size: int, font_type: str) -> rl.Vector2: - """Measure text dimensions with caching.""" - key = (text, font_size, font_type) - if key not in self.font_metrics_cache: - self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0) - return self.font_metrics_cache[key] - - @staticmethod - def _get_enum_value(enum_value, enum_type: type): - """Safely convert capnp enum to Python enum value.""" - return enum_value.raw if hasattr(enum_value, 'raw') else enum_value diff --git a/system/ui/reset.py b/system/ui/reset.py index 20b689934b..c0dbd1d956 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -9,6 +9,7 @@ from openpilot.system.hardware import PC from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_label, gui_text_box +from openpilot.system.ui.lib.widget import Widget NVME = "/dev/nvme0n1" USERDATA = "/dev/disk/by-partlabel/userdata" @@ -27,8 +28,9 @@ class ResetState(IntEnum): FAILED = 3 -class Reset: +class Reset(Widget): def __init__(self, mode): + super().__init__() self.mode = mode self.reset_state = ResetState.NONE @@ -54,7 +56,7 @@ class Reset: self.reset_state = ResetState.RESETTING threading.Timer(0.1, self._do_erase).start() - def render(self, rect: rl.Rectangle): + def _render(self, rect: rl.Rectangle): label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100) gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD) @@ -76,7 +78,7 @@ class Reset: if self.reset_state != ResetState.FAILED: if gui_button(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height), - "Confirm", button_style=ButtonStyle.PRIMARY): + "Confirm", button_style=ButtonStyle.PRIMARY): self.confirm() return True diff --git a/system/ui/setup.py b/system/ui/setup.py index 0ec5d6395e..4d9d269480 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -12,6 +12,7 @@ from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_label, gui_text_box +from openpilot.system.ui.lib.widget import Widget from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper from openpilot.system.ui.widgets.keyboard import Keyboard @@ -39,8 +40,9 @@ class SetupState(IntEnum): DOWNLOAD_FAILED = 6 -class Setup: +class Setup(Widget): def __init__(self): + super().__init__() self.state = SetupState.GETTING_STARTED self.network_check_thread = None self.network_connected = threading.Event() @@ -67,7 +69,7 @@ class Setup: except (FileNotFoundError, ValueError): self.state = SetupState.LOW_VOLTAGE - def render(self, rect: rl.Rectangle): + def _render(self, rect: rl.Rectangle): if self.state == SetupState.LOW_VOLTAGE: self.render_low_voltage(rect) elif self.state == SetupState.GETTING_STARTED: @@ -116,7 +118,6 @@ class Setup: if ret: self.state = SetupState.NETWORK_SETUP - self.wifi_manager.request_scan() self.start_network_check() def check_network_connectivity(self): @@ -144,10 +145,6 @@ class Setup: self.network_check_thread.join() def render_network_setup(self, rect: rl.Rectangle): - if self.wifi_ui.require_full_screen: - self.wifi_ui.render(rect) - return - title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) @@ -256,18 +253,20 @@ class Setup: self.state = SetupState.GETTING_STARTED def render_custom_url(self): - result = self.keyboard.render("Enter URL", "for Custom Software") + def handle_keyboard_result(result): + # Enter pressed + if result == 1: + url = self.keyboard.text + self.keyboard.clear() + if url: + self.download(url) - # Enter pressed - if result == 1: - url = self.keyboard.text - self.keyboard.clear() - if url: - self.download(url) + # Cancel pressed + elif result == 0: + self.state = SetupState.SOFTWARE_SELECTION - # Cancel pressed - elif result == 0: - self.state = SetupState.SOFTWARE_SELECTION + self.keyboard.set_title("Enter URL", "for Custom Software") + gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result) def download(self, url: str): # autocomplete incomplete URLs diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 2af24c4e51..279ddf034d 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -1,12 +1,15 @@ #!/usr/bin/env python3 import pyray as rl -import threading -import time +import select +import sys from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.window import BaseWindow +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.widget import Widget from openpilot.system.ui.text import wrap_text +from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp + # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 @@ -22,41 +25,36 @@ def clamp(value, min_value, max_value): return max(min(value, max_value), min_value) -class SpinnerRenderer: +class Spinner(Widget): def __init__(self): - self._comma_texture = gui_app.texture("images/spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE) + super().__init__() + self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE) self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 self._progress: int | None = None self._wrapped_lines: list[str] = [] - self._lock = threading.Lock() def set_text(self, text: str) -> None: - with self._lock: - if text.isdigit(): - self._progress = clamp(int(text), 0, 100) - self._wrapped_lines = [] - else: - self._progress = None - self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) + if text.isdigit(): + self._progress = clamp(int(text), 0, 100) + self._wrapped_lines = [] + else: + self._progress = None + self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) - def render(self): - with self._lock: - progress = self._progress - wrapped_lines = self._wrapped_lines - - if wrapped_lines: + def _render(self, rect: rl.Rectangle): + if self._wrapped_lines: # Calculate total height required for spinner and text spacing = 50 - total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT - center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0 + total_height = TEXTURE_SIZE + spacing + len(self._wrapped_lines) * LINE_HEIGHT + center_y = (rect.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0 else: # Center spinner vertically spacing = 150 - center_y = gui_app.height / 2.0 + center_y = rect.height / 2.0 y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing - center = rl.Vector2(gui_app.width / 2.0, center_y) + center = rl.Vector2(rect.width / 2.0, center_y) spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) @@ -70,38 +68,42 @@ class SpinnerRenderer: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display the progress bar or text based on user input - if progress is not None: + if self._progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) - bar.width *= progress / 100.0 + bar.width *= self._progress / 100.0 rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - elif wrapped_lines: - for i, line in enumerate(wrapped_lines): - text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0) + elif self._wrapped_lines: + for i, line in enumerate(self._wrapped_lines): + text_size = measure_text_cached(gui_app.font(), line, FONT_SIZE) rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT), FONT_SIZE, 0.0, rl.WHITE) -class Spinner(BaseWindow[SpinnerRenderer]): - def __init__(self): - super().__init__("Spinner") - - def _create_renderer(self): - return SpinnerRenderer() - - def update(self, spinner_text: str): - if self._renderer is not None: - self._renderer.set_text(spinner_text) - - def update_progress(self, cur: float, total: float): - self.update(str(round(100 * cur / total))) +def _read_stdin(): + """Non-blocking read of available lines from stdin.""" + lines = [] + while True: + rlist, _, _ = select.select([sys.stdin], [], [], 0.0) + if not rlist: + break + line = sys.stdin.readline().strip() + if line == "": + break + lines.append(line) + return lines def main(): - with Spinner() as s: - s.update("Spinner text") - time.sleep(5) + gui_app.init_window("Spinner") + spinner = Spinner() + for _ in gui_app.render(): + text_list = _read_stdin() + if text_list: + spinner.set_text(text_list[-1]) + + spinner.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) if __name__ == "__main__": diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py new file mode 100644 index 0000000000..10227ce9fd --- /dev/null +++ b/system/ui/sunnypilot/lib/application.py @@ -0,0 +1,21 @@ +from openpilot.system.ui.lib.application import GuiApplication +from importlib.resources import as_file, files + +ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets") + +class GuiApplicationSP(GuiApplication): + + def __init__(self, width: int, height: int): + super().__init__(width, height) + + def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): + cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" + if cache_key in self._textures: + return self._textures[cache_key] + + with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath: + texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio) + self._textures[cache_key] = texture_obj + return texture_obj + +gui_app_sp = GuiApplicationSP(2160, 1080) diff --git a/system/ui/text.py b/system/ui/text.py index 82e64d836f..01a580a12b 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 import re -import time +import sys import pyray as rl from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.window import BaseWindow +from openpilot.system.ui.lib.widget import Widget MARGIN = 50 SPACING = 40 @@ -17,6 +18,7 @@ BUTTON_SIZE = rl.Vector2(310, 160) DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary. The text is long enough to demonstrate scrolling and word wrapping.""" * 30 + def wrap_text(text, font_size, max_width): lines = [] font = gui_app.font() @@ -33,7 +35,7 @@ def wrap_text(text, font_size, max_width): while len(words): word = words.pop(0) test_line = current_line + word + (words.pop(0) if words else "") - if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: + if measure_text_cached(font, test_line, font_size).x <= max_width: current_line = test_line else: lines.append(current_line) @@ -45,15 +47,16 @@ def wrap_text(text, font_size, max_width): return lines -class TextWindowRenderer: +class TextWindow(Widget): def __init__(self, text: str): + super().__init__() self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT) self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0) - def render(self): + def _render(self, rect: rl.Rectangle): scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect) rl.begin_scissor_mode(int(self._textarea_rect.x), int(self._textarea_rect.y), int(self._textarea_rect.width), int(self._textarea_rect.height)) for i, line in enumerate(self._wrapped_lines): @@ -63,7 +66,7 @@ class TextWindowRenderer: rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() - button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) + button_bounds = rl.Rectangle(rect.width - MARGIN - BUTTON_SIZE.x - SPACING, rect.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: if PC: @@ -73,19 +76,9 @@ class TextWindowRenderer: return ret -class TextWindow(BaseWindow[TextWindowRenderer]): - def __init__(self, text: str): - self._text = text - super().__init__("Text") - - def _create_renderer(self): - return TextWindowRenderer(self._text) - - def wait_for_exit(self): - while self._thread.is_alive(): - time.sleep(0.01) - - if __name__ == "__main__": - with TextWindow(DEMO_TEXT): - time.sleep(30) + text = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT + gui_app.init_window("Text Viewer") + text_window = TextWindow(text) + for _ in gui_app.render(): + text_window.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) diff --git a/system/ui/updater.py b/system/ui/updater.py index 3ee02ce97c..3fd60cfb1d 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -10,9 +10,9 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_text_box, gui_label from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.lib.widget import Widget from openpilot.system.ui.widgets.network import WifiManagerUI - # Constants MARGIN = 50 BUTTON_HEIGHT = 160 @@ -31,8 +31,9 @@ class Screen(IntEnum): PROGRESS = 2 -class Updater: +class Updater(Widget): def __init__(self, updater_path, manifest_path): + super().__init__() self.updater = updater_path self.manifest = manifest_path self.current_screen = Screen.PROMPT @@ -60,7 +61,7 @@ class Updater: # TODO: just import it and run in a thread without a subprocess cmd = [self.updater, "--swap", self.manifest] self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, - text=True, bufsize=1, universal_newlines=True) + text=True, bufsize=1, universal_newlines=True) for line in self.process.stdout: parts = line.strip().split(":") @@ -78,21 +79,21 @@ class Updater: self.progress_text = "Update failed" self.show_reboot_button = True - def render_prompt_screen(self): + def render_prompt_screen(self, rect: rl.Rectangle): # Title - title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE) + title_rect = rl.Rectangle(MARGIN + 50, 250, rect.width - MARGIN * 2 - 100, TITLE_FONT_SIZE) gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD) # Description desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " + - "The download size is approximately 1GB.") + "The download size is approximately 1GB.") - desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) + desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, rect.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE) # Buttons at the bottom - button_y = gui_app.height - MARGIN - BUTTON_HEIGHT - button_width = (gui_app.width - MARGIN * 3) // 2 + button_y = rect.height - MARGIN - BUTTON_HEIGHT + button_width = (rect.width - MARGIN * 3) // 2 # WiFi button wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT) @@ -106,24 +107,22 @@ class Updater: self.install_update() return # Return to avoid further processing after action - def render_wifi_screen(self): + def render_wifi_screen(self, rect: rl.Rectangle): # Draw the Wi-Fi manager UI - wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20) + wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, rect.width - MARGIN * 2 - 100, rect.height - MARGIN * 2 - BUTTON_HEIGHT - 20) self.wifi_manager_ui.render(wifi_rect) - if self.wifi_manager_ui.require_full_screen: - return - back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + back_button_rect = rl.Rectangle(MARGIN, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) if gui_button(back_button_rect, "Back"): self.current_screen = Screen.PROMPT return # Return to avoid processing other interactions after screen change - def render_progress_screen(self): - title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100) + def render_progress_screen(self, rect: rl.Rectangle): + title_rect = rl.Rectangle(MARGIN + 100, 330, rect.width - MARGIN * 2 - 200, 100) gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD) # Progress bar - bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT) + bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, rect.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR) # Calculate the width of the progress chunk @@ -134,19 +133,19 @@ class Updater: # Show reboot button if needed if self.show_reboot_button: - reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + reboot_rect = rl.Rectangle(MARGIN + 100, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) if gui_button(reboot_rect, "Reboot"): # Return True to signal main loop to exit before rebooting HARDWARE.reboot() return - def render(self): + def _render(self, rect: rl.Rectangle): if self.current_screen == Screen.PROMPT: - self.render_prompt_screen() + self.render_prompt_screen(rect) elif self.current_screen == Screen.WIFI: - self.render_wifi_screen() + self.render_wifi_screen(rect) elif self.current_screen == Screen.PROGRESS: - self.render_progress_screen() + self.render_progress_screen(rect) def main(): @@ -161,7 +160,7 @@ def main(): gui_app.init_window("System Update") updater = Updater(updater_path, manifest_path) for _ in gui_app.render(): - updater.render() + updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: # Make sure we clean up even if there's an error gui_app.close() diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index f42220053b..00361905d6 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -1,9 +1,9 @@ import pyray as rl -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_text_box +from openpilot.system.ui.lib.widget import DialogResult -# Constants for dialog dimensions and styling DIALOG_WIDTH = 1520 DIALOG_HEIGHT = 600 BUTTON_HEIGHT = 160 @@ -12,7 +12,7 @@ TEXT_AREA_HEIGHT_REDUCTION = 200 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) -def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: +def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> DialogResult: dialog_x = (gui_app.width - DIALOG_WIDTH) / 2 dialog_y = (gui_app.height - DIALOG_HEIGHT) / 2 dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT) @@ -30,28 +30,39 @@ def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR) # Draw the message in the dialog, centered - text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) + text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y, dialog_rect.width - 2 * MARGIN, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) gui_text_box( text_rect, message, - font_size=88, + font_size=70, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + font_weight=FontWeight.BOLD, ) # Initialize result; -1 means no action taken yet - result = -1 + result = DialogResult.NO_ACTION # Check for keyboard input for accessibility if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): - result = 1 # Confirm + result = DialogResult.CONFIRM elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE): - result = 0 # Cancel + result = DialogResult.CANCEL # Check for button clicks - if gui_button(yes_button, confirm_text, button_style=ButtonStyle.PRIMARY): - result = 1 # Confirm - if gui_button(no_button, cancel_text): - result = 0 # Cancel + if cancel_text: + if gui_button(yes_button, confirm_text, button_style=ButtonStyle.PRIMARY): + result = DialogResult.CONFIRM + if gui_button(no_button, cancel_text): + result = DialogResult.CANCEL + else: + centered_button_x = dialog_rect.x + (dialog_rect.width - button_width) / 2 + centered_yes_button = rl.Rectangle(centered_button_x, button_y, button_width, BUTTON_HEIGHT) + if gui_button(centered_yes_button, confirm_text, button_style=ButtonStyle.PRIMARY): + result = DialogResult.CONFIRM return result + + +def alert_dialog(message: str, button_text: str = "OK") -> DialogResult: + return confirm_dialog(message, button_text, cancel_text="") diff --git a/system/ui/widgets/driver_camera_view.py b/system/ui/widgets/driver_camera_view.py deleted file mode 100644 index 174fac378d..0000000000 --- a/system/ui/widgets/driver_camera_view.py +++ /dev/null @@ -1,46 +0,0 @@ -import numpy as np -import pyray as rl -from openpilot.system.ui.widgets.cameraview import CameraView -from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.application import gui_app - - -class DriverCameraView(CameraView): - def __init__(self, stream_type: VisionStreamType): - super().__init__("camerad", stream_type) - - def render(self, rect): - super().render(rect) - - # TODO: Add additional rendering logic - - def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: - driver_view_ratio = 2.0 - - # Get stream dimensions - if self.frame: - stream_width = self.frame.width - stream_height = self.frame.height - else: - # Default values if frame not available - stream_width = 1928 - stream_height = 1208 - - yscale = stream_height * driver_view_ratio / stream_width - xscale = yscale * rect.height / rect.width * stream_width / stream_height - - return np.array([ - [xscale, 0.0, 0.0], - [0.0, yscale, 0.0], - [0.0, 0.0, 1.0] - ]) - - -if __name__ == "__main__": - gui_app.init_window("Driver Camera View") - driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER) - try: - for _ in gui_app.render(): - driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - finally: - driver_camera_view.close() diff --git a/system/ui/widgets/html_render.py b/system/ui/widgets/html_render.py new file mode 100644 index 0000000000..07741af456 --- /dev/null +++ b/system/ui/widgets/html_render.py @@ -0,0 +1,194 @@ +import re +import pyray as rl +from dataclasses import dataclass +from enum import Enum +from typing import Any +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.widget import Widget, DialogResult +from openpilot.system.ui.lib.button import gui_button, ButtonStyle + + +class ElementType(Enum): + H1 = "h1" + H2 = "h2" + H3 = "h3" + H4 = "h4" + H5 = "h5" + H6 = "h6" + P = "p" + BR = "br" + + +@dataclass +class HtmlElement: + type: ElementType + content: str + font_size: int + font_weight: FontWeight + color: rl.Color + margin_top: int + margin_bottom: int + line_height: float = 1.2 + + +class HtmlRenderer(Widget): + def __init__(self, file_path: str): + self.elements: list[HtmlElement] = [] + self._normal_font = gui_app.font(FontWeight.NORMAL) + self._bold_font = gui_app.font(FontWeight.BOLD) + self._scroll_panel = GuiScrollPanel() + + self.styles: dict[ElementType, dict[str, Any]] = { + ElementType.H1: {"size": 68, "weight": FontWeight.BOLD, "color": rl.BLACK, "margin_top": 20, "margin_bottom": 16}, + ElementType.H2: {"size": 60, "weight": FontWeight.BOLD, "color": rl.BLACK, "margin_top": 24, "margin_bottom": 12}, + ElementType.H3: {"size": 52, "weight": FontWeight.BOLD, "color": rl.BLACK, "margin_top": 20, "margin_bottom": 10}, + ElementType.H4: {"size": 48, "weight": FontWeight.BOLD, "color": rl.BLACK, "margin_top": 16, "margin_bottom": 8}, + ElementType.H5: {"size": 44, "weight": FontWeight.BOLD, "color": rl.BLACK, "margin_top": 12, "margin_bottom": 6}, + ElementType.H6: {"size": 40, "weight": FontWeight.BOLD, "color": rl.BLACK, "margin_top": 10, "margin_bottom": 4}, + ElementType.P: {"size": 38, "weight": FontWeight.NORMAL, "color": rl.Color(40, 40, 40, 255), "margin_top": 8, "margin_bottom": 12}, + ElementType.BR: {"size": 0, "weight": FontWeight.NORMAL, "color": rl.BLACK, "margin_top": 0, "margin_bottom": 12}, + } + + self.parse_html_file(file_path) + + def parse_html_file(self, file_path: str) -> None: + with open(file_path, encoding='utf-8') as file: + content = file.read() + self.parse_html_content(content) + + def parse_html_content(self, html_content: str) -> None: + self.elements.clear() + + # Remove HTML comments + html_content = re.sub(r'', '', html_content, flags=re.DOTALL) + + # Remove DOCTYPE, html, head, body tags but keep their content + html_content = re.sub(r']*>', '', html_content) + html_content = re.sub(r']*>', '', html_content) + + # Find all HTML elements + pattern = r'<(h[1-6]|p)(?:[^>]*)>(.*?)|' + matches = re.finditer(pattern, html_content, re.DOTALL | re.IGNORECASE) + + for match in matches: + if match.group(0).lower().startswith(' tags + self._add_element(ElementType.BR, "") + else: + tag = match.group(1).lower() + content = match.group(2).strip() + + # Clean up content - remove extra whitespace + content = re.sub(r'\s+', ' ', content) + content = content.strip() + + if content: # Only add non-empty elements + element_type = ElementType(tag) + self._add_element(element_type, content) + + def _add_element(self, element_type: ElementType, content: str) -> None: + style = self.styles[element_type] + + element = HtmlElement( + type=element_type, + content=content, + font_size=style["size"], + font_weight=style["weight"], + color=style["color"], + margin_top=style["margin_top"], + margin_bottom=style["margin_bottom"], + ) + + self.elements.append(element) + + def _render(self, rect: rl.Rectangle): + margin = 50 + content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - (margin * 2), rect.height - (margin * 2)) + + button_height = 160 + button_spacing = 20 + scrollable_height = content_rect.height - button_height - button_spacing + + scrollable_rect = rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, scrollable_height) + + total_height = self.get_total_height(int(scrollable_rect.width)) + scroll_content_rect = rl.Rectangle(scrollable_rect.x, scrollable_rect.y, scrollable_rect.width, total_height) + scroll_offset = self._scroll_panel.handle_scroll(scrollable_rect, scroll_content_rect) + + rl.begin_scissor_mode(int(scrollable_rect.x), int(scrollable_rect.y), int(scrollable_rect.width), int(scrollable_rect.height)) + self._render_content(scrollable_rect, scroll_offset.y) + rl.end_scissor_mode() + + button_width = (rect.width - 3 * 50) // 3 + button_x = content_rect.x + (content_rect.width - button_width) / 2 + button_y = content_rect.y + content_rect.height - button_height + button_rect = rl.Rectangle(button_x, button_y, button_width, button_height) + if gui_button(button_rect, "OK", button_style=ButtonStyle.PRIMARY) == 1: + return DialogResult.CONFIRM + + return DialogResult.NO_ACTION + + def _render_content(self, rect: rl.Rectangle, scroll_offset: float = 0) -> float: + current_y = rect.y + scroll_offset + padding = 20 + content_width = rect.width - (padding * 2) + + for element in self.elements: + if element.type == ElementType.BR: + current_y += element.margin_bottom + continue + + current_y += element.margin_top + if current_y > rect.y + rect.height: + break + + if element.content: + font = self._get_font(element.font_weight) + wrapped_lines = wrap_text(font, element.content, element.font_size, int(content_width)) + + for line in wrapped_lines: + if current_y < rect.y - element.font_size: + current_y += element.font_size * element.line_height + continue + + if current_y > rect.y + rect.height: + break + + rl.draw_text_ex(font, line, rl.Vector2(rect.x + padding, current_y), element.font_size, 0, rl.WHITE) + + current_y += element.font_size * element.line_height + + # Apply bottom margin + current_y += element.margin_bottom + + return current_y - rect.y - scroll_offset # Return total content height + + def get_total_height(self, content_width: int) -> float: + total_height = 0.0 + padding = 20 + usable_width = content_width - (padding * 2) + + for element in self.elements: + if element.type == ElementType.BR: + total_height += element.margin_bottom + continue + + total_height += element.margin_top + + if element.content: + font = self._get_font(element.font_weight) + wrapped_lines = wrap_text(font, element.content, element.font_size, int(usable_width)) + + for _ in wrapped_lines: + total_height += element.font_size * element.line_height + + total_height += element.margin_bottom + + return total_height + + def _get_font(self, weight: FontWeight): + if weight == FontWeight.BOLD: + return self._bold_font + return self._normal_font diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 0e22f1b527..338706e73d 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -5,6 +5,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import ButtonStyle, gui_button from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.widget import Widget KEY_FONT_SIZE = 96 DOUBLE_CLICK_THRESHOLD = 0.5 # seconds @@ -52,11 +53,14 @@ KEYBOARD_LAYOUTS = { } -class Keyboard: +class Keyboard(Widget): def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False): + super().__init__() self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase" self._caps_lock = False self._last_shift_press_time = 0 + self._title = "" + self._sub_title = "" self._max_text_size = max_text_size self._min_text_size = min_text_size @@ -67,7 +71,7 @@ class Keyboard: # Backspace key repeat tracking self._backspace_pressed: bool = False self._backspace_press_time: float = 0.0 - self._backspace_last_repeat:float = 0.0 + self._backspace_last_repeat: float = 0.0 self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) @@ -89,10 +93,14 @@ class Keyboard: self._input_box.clear() self._backspace_pressed = False - def render(self, title: str, sub_title: str): - rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) - gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90, font_weight=FontWeight.BOLD) - gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, font_weight=FontWeight.NORMAL) + def set_title(self, title: str, sub_title: str = ""): + self._title = title + self._sub_title = sub_title + + def _render(self, rect: rl.Rectangle): + rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN) + gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), self._title, 90, font_weight=FontWeight.BOLD) + gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), self._sub_title, 55, font_weight=FontWeight.NORMAL) if gui_button(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125), "Cancel"): self.clear() return 0 @@ -223,7 +231,8 @@ if __name__ == "__main__": gui_app.init_window("Keyboard") keyboard = Keyboard(min_text_size=8, show_password_toggle=True) for _ in gui_app.render(): - result = keyboard.render("Keyboard", "Type here") + keyboard.set_title("Keyboard Input", "Type your text below") + result = keyboard.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) if result == 1: print(f"You typed: {keyboard.text}") gui_app.request_close() diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 46274dbf7e..0613bb1f12 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -10,12 +10,13 @@ from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog +from openpilot.system.ui.lib.widget import Widget NM_DEVICE_STATE_NEED_AUTH = 60 MIN_PASSWORD_LENGTH = 8 MAX_PASSWORD_LENGTH = 64 ITEM_HEIGHT = 160 -ICON_SIZE = 49 +ICON_SIZE = 50 STRENGTH_ICONS = [ "icons/wifi_strength_low.png", @@ -24,35 +25,42 @@ STRENGTH_ICONS = [ "icons/wifi_strength_full.png", ] + @dataclass class StateIdle: action: Literal["idle"] = "idle" + @dataclass class StateConnecting: network: NetworkInfo action: Literal["connecting"] = "connecting" + @dataclass class StateNeedsAuth: network: NetworkInfo action: Literal["needs_auth"] = "needs_auth" + @dataclass class StateShowForgetConfirm: network: NetworkInfo action: Literal["show_forget_confirm"] = "show_forget_confirm" + @dataclass class StateForgetting: network: NetworkInfo action: Literal["forgetting"] = "forgetting" + UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting -class WifiManagerUI: +class WifiManagerUI(Widget): def __init__(self, wifi_manager: WifiManagerWrapper): + super().__init__() self.state: UIState = StateIdle() self.btn_width: int = 200 self.scroll_panel = GuiScrollPanel() @@ -64,17 +72,17 @@ class WifiManagerUI: self.wifi_manager.set_callbacks( WifiManagerCallbacks( - need_auth = self._on_need_auth, - activated = self._on_activated, - forgotten = self._on_forgotten, - networks_updated = self._on_network_updated, - connection_failed = self._on_connection_failed + need_auth=self._on_need_auth, + activated=self._on_activated, + forgotten=self._on_forgotten, + networks_updated=self._on_network_updated, + connection_failed=self._on_connection_failed ) ) self.wifi_manager.start() self.wifi_manager.connect() - def render(self, rect: rl.Rectangle): + def _render(self, rect: rl.Rectangle): with self._lock: if not self._networks: gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) @@ -82,36 +90,34 @@ class WifiManagerUI: match self.state: case StateNeedsAuth(network): - result = self.keyboard.render("Enter password", f"for {network.ssid}") - if result == 1: - password = self.keyboard.text - self.keyboard.clear() - - if len(password) >= MIN_PASSWORD_LENGTH: - self.connect_to_network(network, password) - elif result == 0: - self.state = StateIdle() - + self.keyboard.set_title("Enter password", f"for {network.ssid}") + gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result)) case StateShowForgetConfirm(network): - result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") - if result == 1: - self.forget_network(network) - elif result == 0: - self.state = StateIdle() - + gui_app.set_modal_overlay(lambda: confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget"), + callback=lambda result: self.on_forgot_confirm_finished(network, result)) case _: self._draw_network_list(rect) - @property - def require_full_screen(self) -> bool: - """Check if the WiFi UI requires exclusive full-screen rendering.""" - with self._lock: - return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm)) + def _on_password_entered(self, network: NetworkInfo, result: int): + if result == 1: + password = self.keyboard.text + self.keyboard.clear() + + if len(password) >= MIN_PASSWORD_LENGTH: + self.connect_to_network(network, password) + elif result == 0: + self.state = StateIdle() + + def on_forgot_confirm_finished(self, network, result: int): + if result == 1: + self.forget_network(network) + elif result == 0: + self.state = StateIdle() def _draw_network_list(self, rect: rl.Rectangle): content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) offset = self.scroll_panel.handle_scroll(rect, content_rect) - clicked = self.scroll_panel.is_click_valid() + clicked = self.scroll_panel.is_touch_valid() and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) for i, network in enumerate(self._networks): @@ -150,7 +156,8 @@ class WifiManagerUI: else: # If the network is saved, show the "Forget" button if network.is_saved: - forget_btn_rect = rl.Rectangle(security_icon_rect.x - self.btn_width - spacing, + forget_btn_rect = rl.Rectangle( + security_icon_rect.x - self.btn_width - spacing, rect.y + (ITEM_HEIGHT - 80) / 2, self.btn_width, 80, @@ -227,7 +234,6 @@ class WifiManagerUI: self.state = StateIdle() - def main(): gui_app.init_window("Wi-Fi Manager") wifi_manager = WifiManagerWrapper() diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py index c25c5c6e6c..a2958ee1f4 100644 --- a/system/ui/widgets/option_dialog.py +++ b/system/ui/widgets/option_dialog.py @@ -1,81 +1,71 @@ import pyray as rl - +from openpilot.system.ui.lib.application import FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle, TextAlignment from openpilot.system.ui.lib.label import gui_label from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.widget import Widget + +# Constants +MARGIN = 50 +TITLE_FONT_SIZE = 70 +ITEM_HEIGHT = 135 +BUTTON_SPACING = 50 +BUTTON_HEIGHT = 160 +ITEM_SPACING = 50 +LIST_ITEM_SPACING = 25 -class MultiOptionDialog: +class MultiOptionDialog(Widget): def __init__(self, title, options, current=""): - self._title = title - self._options = options - self._current = current if current in options else "" - self._selection = self._current - self._option_height = 80 - self._padding = 20 - self.scroll_panel = GuiScrollPanel() + super().__init__() + self.title = title + self.options = options + self.current = current + self.selection = current + self.scroll = GuiScrollPanel() - @property - def selection(self): - return self._selection + def _render(self, rect): + dialog_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - 2 * MARGIN, rect.height - 2 * MARGIN) + rl.draw_rectangle_rounded(dialog_rect, 0.02, 20, rl.Color(30, 30, 30, 255)) - def render(self, rect): - title_rect = rl.Rectangle(rect.x + self._padding, rect.y + self._padding, rect.width - 2 * self._padding, 70) - gui_label(title_rect, self._title, 70) + content_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y + MARGIN, + dialog_rect.width - 2 * MARGIN, dialog_rect.height - 2 * MARGIN) - options_y_start = rect.y + 120 - options_height = len(self._options) * (self._option_height + 10) - options_rect = rl.Rectangle(rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, options_height) + gui_label(rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, TITLE_FONT_SIZE), self.title, 70, font_weight=FontWeight.BOLD) - view_rect = rl.Rectangle( - rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, rect.height - 200 - 2 * self._padding - ) + # Options area + options_y = content_rect.y + TITLE_FONT_SIZE + ITEM_SPACING + options_h = content_rect.height - TITLE_FONT_SIZE - BUTTON_HEIGHT - 2 * ITEM_SPACING + view_rect = rl.Rectangle(content_rect.x, options_y, content_rect.width, options_h) + content_h = len(self.options) * (ITEM_HEIGHT + 10) + list_content_rect = rl.Rectangle(content_rect.x, options_y, content_rect.width, content_h) - offset = self.scroll_panel.handle_scroll(view_rect, options_rect) - is_click_valid = self.scroll_panel.is_click_valid() + # Scroll and render options + offset = self.scroll.handle_scroll(view_rect, list_content_rect) + valid_click = self.scroll.is_touch_valid() and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) - rl.begin_scissor_mode(int(view_rect.x), int(view_rect.y), int(view_rect.width), int(view_rect.height)) + rl.begin_scissor_mode(int(view_rect.x), int(options_y), int(view_rect.width), int(options_h)) + for i, option in enumerate(self.options): + item_y = options_y + i * (ITEM_HEIGHT + LIST_ITEM_SPACING) + offset.y + item_rect = rl.Rectangle(view_rect.x, item_y, view_rect.width, ITEM_HEIGHT) - for i, option in enumerate(self._options): - y_pos = view_rect.y + i * (self._option_height + 10) + offset.y - item_rect = rl.Rectangle(view_rect.x, y_pos, view_rect.width, self._option_height) - - if not rl.check_collision_recs(item_rect, view_rect): - continue - - is_selected = option == self._selection - button_style = ButtonStyle.PRIMARY if is_selected else ButtonStyle.NORMAL - - if gui_button(item_rect, option, button_style=button_style, text_alignment=TextAlignment.LEFT) and is_click_valid: - self._selection = option + if rl.check_collision_recs(item_rect, view_rect): + selected = option == self.selection + style = ButtonStyle.PRIMARY if selected else ButtonStyle.NORMAL + if gui_button(item_rect, option, button_style=style, text_alignment=TextAlignment.LEFT) and valid_click: + self.selection = option rl.end_scissor_mode() - button_y = rect.y + rect.height - 80 - self._padding - button_width = (rect.width - 3 * self._padding) / 2 + # Buttons + button_y = content_rect.y + content_rect.height - BUTTON_HEIGHT + button_w = (content_rect.width - BUTTON_SPACING) / 2 - cancel_rect = rl.Rectangle(rect.x + self._padding, button_y, button_width, 80) - if gui_button(cancel_rect, "Cancel"): - return 0 # Canceled + if gui_button(rl.Rectangle(content_rect.x, button_y, button_w, BUTTON_HEIGHT), "Cancel"): + return 0 - select_rect = rl.Rectangle(rect.x + 2 * self._padding + button_width, button_y, button_width, 80) - has_new_selection = self._selection != "" and self._selection != self._current + if gui_button(rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT), + "Select", is_enabled=self.selection != self.current, button_style=ButtonStyle.PRIMARY): + return 1 - if gui_button(select_rect, "Select", is_enabled=has_new_selection, button_style=ButtonStyle.PRIMARY): - return 1 # Selected - - return -1 # Still active - - -if __name__ == "__main__": - from openpilot.system.ui.lib.application import gui_app - - gui_app.init_window("Multi Option Dialog Example") - options = [f"Option {i}" for i in range(1, 11)] - dialog = MultiOptionDialog("Choose an option", options, options[0]) - - for _ in gui_app.render(): - result = dialog.render(rl.Rectangle(100, 100, 1024, 800)) - if result >= 0: - print(f"Selected: {dialog.selection}" if result > 0 else "Canceled") - break + return -1 diff --git a/third_party/mapd_pfeiferj/README.md b/third_party/mapd_pfeiferj/README.md new file mode 100644 index 0000000000..a814f11260 --- /dev/null +++ b/third_party/mapd_pfeiferj/README.md @@ -0,0 +1,2 @@ +# MAPD implementation by pfeiferj +https://github.com/pfeiferj/openpilot-mapd/releases/ diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd new file mode 100755 index 0000000000..d24d9b757f Binary files /dev/null and b/third_party/mapd_pfeiferj/mapd differ diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh index 21c9af1c0b..9e85f90df9 100755 --- a/third_party/raylib/build.sh +++ b/third_party/raylib/build.sh @@ -30,7 +30,7 @@ fi cd raylib_repo -COMMIT="66030a7de62c9e1ee8ab30a1d657a740333bb4f2" +COMMIT=${1:-66030a7de62c9e1ee8ab30a1d657a740333bb4f2} git fetch origin $COMMIT git reset --hard $COMMIT git clean -xdff . diff --git a/tools/README.md b/tools/README.md index 69b0e025e8..d52c8f4522 100644 --- a/tools/README.md +++ b/tools/README.md @@ -8,42 +8,26 @@ Most of openpilot should work natively on macOS. On Windows you can use WSL for ## Native setup on Ubuntu 24.04 and macOS +Follow these instructions for a fully managed setup experience. If you'd like to manage the dependencies yourself, just read the setup scripts in this directory. + **1. Clone openpilot** - -NOTE: This repository uses Git LFS for large files. Ensure you have [Git LFS](https://git-lfs.com/) installed and set up before cloning or working with it. - -Either do a partial clone for faster download: ``` bash -git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git -``` - -or do a full clone: -``` bash -git clone --recurse-submodules https://github.com/commaai/openpilot.git +git clone https://github.com/commaai/openpilot.git ``` **2. Run the setup script** - ``` bash cd openpilot tools/op.sh setup ``` -**3. Git LFS** - -``` bash -git lfs pull -``` - -**4. Activate a python shell** - +**3. Activate a Python shell** Activate a shell with the Python dependencies installed: ``` bash source .venv/bin/activate ``` -**5. Build openpilot** - +**4. Build openpilot** ``` bash scons -u -j$(nproc) ``` @@ -62,8 +46,6 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md ## Directory Structure ``` -├── ubuntu_setup.sh # Setup script for Ubuntu -├── mac_setup.sh # Setup script for macOS ├── cabana/ # View and plot CAN messages from drives or in realtime ├── camerastream/ # Cameras stream over the network ├── joystick/ # Control your car with a joystick diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index 5080293e29..abae8d9f17 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -2,7 +2,7 @@ import argparse from collections import defaultdict -from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions +from opendbc.car.debug.format_fingerprints import format_brand_fw_versions from opendbc.car.fingerprints import MIGRATION from opendbc.car.fw_versions import MODEL_TO_BRAND, match_fw_to_car diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index 8d4a8b6d90..cdbaca32cf 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -23,8 +23,8 @@ echo "installing python packages..." uv sync --frozen --all-extras source .venv/bin/activate -echo "PYTHONPATH=${PWD}" > "$ROOT"/.env if [[ "$(uname)" == 'Darwin' ]]; then + touch "$ROOT"/.env echo "# msgq doesn't work on mac" >> "$ROOT"/.env echo "export ZMQ=1" >> "$ROOT"/.env echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 06e2345abf..8f7f723c28 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -1,62 +1,68 @@ -import json import os -import pickle -import struct import subprocess -import threading -from enum import IntEnum -from functools import wraps +import json +from collections.abc import Iterator +from collections import OrderedDict import numpy as np -from lru import LRU - -import _io -from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR +from openpilot.tools.lib.filereader import FileReader, resolve_name from openpilot.tools.lib.exceptions import DataUnreadableError from openpilot.tools.lib.vidindex import hevc_index -from openpilot.common.file_helpers import atomic_write_in_dir -from openpilot.tools.lib.filereader import FileReader, resolve_name HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 HEVC_SLICE_I = 2 -class GOPReader: - def get_gop(self, num): - # returns (start_frame_num, num_frames, frames_to_skip, gop_data) - raise NotImplementedError +class LRUCache: + def __init__(self, capacity: int): + self._cache: OrderedDict = OrderedDict() + self.capacity = capacity + + def __getitem__(self, key): + self._cache.move_to_end(key) + return self._cache[key] + + def __setitem__(self, key, value): + self._cache[key] = value + if len(self._cache) > self.capacity: + self._cache.popitem(last=False) + + def __contains__(self, key): + return key in self._cache -class DoNothingContextManager: - def __enter__(self): - return self - - def __exit__(self, *x): - pass - - -class FrameType(IntEnum): - raw = 1 - h265_stream = 2 - - -def fingerprint_video(fn): +def assert_hvec(fn: str) -> None: with FileReader(fn) as f: header = f.read(4) if len(header) == 0: raise DataUnreadableError(f"{fn} is empty") - elif header == b"\x00\xc0\x12\x00": - return FrameType.raw elif header == b"\x00\x00\x00\x01": - if 'hevc' in fn: - return FrameType.h265_stream - else: + if 'hevc' not in fn: raise NotImplementedError(fn) - else: - raise NotImplementedError(fn) +def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.ndarray: + threads = os.getenv("FFMPEG_THREADS", "0") + args = ["ffmpeg", "-v", "quiet", + "-threads", threads, + "-c:v", "hevc", + "-vsync", "0", + "-f", vid_fmt, + "-flags2", "showall", + "-i", "-", + "-f", "rawvideo", + "-pix_fmt", pix_fmt, + "-"] + dat = subprocess.check_output(args, input=rawdat) + + if pix_fmt == "rgb24": + ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) + elif pix_fmt in ["nv12", "yuv420p"]: + ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2)) + else: + raise NotImplementedError(f"Unsupported pixel format: {pix_fmt}") + return ret def ffprobe(fn, fmt=None): fn = resolve_name(fn) @@ -70,42 +76,21 @@ def ffprobe(fn, fmt=None): ffprobe_output = subprocess.check_output(cmd, input=f.read(4096)) except subprocess.CalledProcessError as e: raise DataUnreadableError(fn) from e - return json.loads(ffprobe_output) +def get_index_data(fn: str, index_data: dict|None = None): + if index_data is None: + index_data = get_video_index(fn) + if index_data is None: + raise DataUnreadableError(f"Failed to index {fn!r}") + stream = index_data["probe"]["streams"][0] + return index_data["index"], index_data["global_prefix"], stream["width"], stream["height"] -def cache_fn(func): - @wraps(func) - def cache_inner(fn, *args, **kwargs): - if kwargs.pop('no_cache', None): - cache_path = None - else: - cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR) - cache_path = cache_path_for_file_path(fn, cache_dir) - - if cache_path and os.path.exists(cache_path): - with open(cache_path, "rb") as cache_file: - cache_value = pickle.load(cache_file) - else: - cache_value = func(fn, *args, **kwargs) - if cache_path: - with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file: - pickle.dump(cache_value, cache_file, -1) - - return cache_value - - return cache_inner - - -@cache_fn -def index_stream(fn, ft): - if ft != FrameType.h265_stream: - raise NotImplementedError("Only h265 supported") - +def get_video_index(fn): + assert_hvec(fn) frame_types, dat_len, prefix = hevc_index(fn) index = np.array(frame_types + [(0xFFFFFFFF, dat_len)], dtype=np.uint32) probe = ffprobe(fn, "hevc") - return { 'index': index, 'global_prefix': prefix, @@ -113,447 +98,75 @@ def index_stream(fn, ft): } -def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR): - return index_stream(fn, frame_type, cache_dir=cache_dir) - -def read_file_check_size(f, sz, cookie): - buff = bytearray(sz) - bytes_read = f.readinto(buff) - assert bytes_read == sz, (bytes_read, sz) - return buff - - -def rgb24toyuv(rgb): - yuv_from_rgb = np.array([[ 0.299 , 0.587 , 0.114 ], - [-0.14714119, -0.28886916, 0.43601035 ], - [ 0.61497538, -0.51496512, -0.10001026 ]]) - img = np.dot(rgb.reshape(-1, 3), yuv_from_rgb.T).reshape(rgb.shape) - - - - ys = img[:, :, 0] - us = (img[::2, ::2, 1] + img[1::2, ::2, 1] + img[::2, 1::2, 1] + img[1::2, 1::2, 1]) / 4 + 128 - vs = (img[::2, ::2, 2] + img[1::2, ::2, 2] + img[::2, 1::2, 2] + img[1::2, 1::2, 2]) / 4 + 128 - - return ys, us, vs - - -def rgb24toyuv420(rgb): - ys, us, vs = rgb24toyuv(rgb) - - y_len = rgb.shape[0] * rgb.shape[1] - uv_len = y_len // 4 - - yuv420 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype) - yuv420[:y_len] = ys.reshape(-1) - yuv420[y_len:y_len + uv_len] = us.reshape(-1) - yuv420[y_len + uv_len:y_len + 2 * uv_len] = vs.reshape(-1) - - return yuv420.clip(0, 255).astype('uint8') - - -def rgb24tonv12(rgb): - ys, us, vs = rgb24toyuv(rgb) - - y_len = rgb.shape[0] * rgb.shape[1] - uv_len = y_len // 4 - - nv12 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype) - nv12[:y_len] = ys.reshape(-1) - nv12[y_len::2] = us.reshape(-1) - nv12[y_len+1::2] = vs.reshape(-1) - - return nv12.clip(0, 255).astype('uint8') - - -def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt): - threads = os.getenv("FFMPEG_THREADS", "0") - cuda = os.getenv("FFMPEG_CUDA", "0") == "1" - args = ["ffmpeg", "-v", "quiet", - "-threads", threads, - "-hwaccel", "none" if not cuda else "cuda", - "-c:v", "hevc", - "-vsync", "0", - "-f", vid_fmt, - "-flags2", "showall", - "-i", "-", - "-threads", threads, - "-f", "rawvideo", - "-pix_fmt", pix_fmt, - "-"] - dat = subprocess.check_output(args, input=rawdat) - - if pix_fmt == "rgb24": - ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) - elif pix_fmt == "nv12": - ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2)) - elif pix_fmt == "yuv420p": - ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2)) - elif pix_fmt == "yuv444p": - ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, 3, h, w) - else: - raise NotImplementedError - - return ret - - -class BaseFrameReader: - # properties: frame_type, frame_count, w, h - - def __enter__(self): - return self - - def __exit__(self, *args): - self.close() - - def close(self): - pass - - def get(self, num, count=1, pix_fmt="yuv420p"): - raise NotImplementedError - - -def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None): - frame_type = fingerprint_video(fn) - if frame_type == FrameType.raw: - return RawFrameReader(fn) - elif frame_type in (FrameType.h265_stream,): - if not index_data: - index_data = get_video_index(fn, frame_type, cache_dir) - return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind) - else: - raise NotImplementedError(frame_type) - - -class RawData: - def __init__(self, f): - self.f = _io.FileIO(f, 'rb') - self.lenn = struct.unpack("I", self.f.read(4))[0] - self.count = os.path.getsize(f) / (self.lenn+4) - - def read(self, i): - self.f.seek((self.lenn+4)*i + 4) - return self.f.read(self.lenn) - - -class RawFrameReader(BaseFrameReader): - def __init__(self, fn): - # raw camera +class FfmpegDecoder: + def __init__(self, fn: str, index_data: dict|None = None, + pix_fmt: str = "rgb24"): self.fn = fn - self.frame_type = FrameType.raw - self.rawfile = RawData(self.fn) - self.frame_count = self.rawfile.count - self.w, self.h = 640, 480 - - def load_and_debayer(self, img): - img = np.frombuffer(img, dtype='uint8').reshape(960, 1280) - cimg = np.dstack([img[0::2, 1::2], ((img[0::2, 0::2].astype("uint16") + img[1::2, 1::2].astype("uint16")) >> 1).astype("uint8"), img[1::2, 0::2]]) - return cimg - - def get(self, num, count=1, pix_fmt="yuv420p"): - assert self.frame_count is not None - assert num+count <= self.frame_count - - if pix_fmt not in ("nv12", "yuv420p", "rgb24"): - raise ValueError(f"Unsupported pixel format {pix_fmt!r}") - - app = [] - for i in range(num, num+count): - dat = self.rawfile.read(i) - rgb_dat = self.load_and_debayer(dat) - if pix_fmt == "rgb24": - app.append(rgb_dat) - elif pix_fmt == "nv12": - app.append(rgb24tonv12(rgb_dat)) - elif pix_fmt == "yuv420p": - app.append(rgb24toyuv420(rgb_dat)) - else: - raise NotImplementedError - - return app - - -class VideoStreamDecompressor: - def __init__(self, fn, vid_fmt, w, h, pix_fmt): - self.fn = fn - self.vid_fmt = vid_fmt - self.w = w - self.h = h + self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data) + self.frame_count = len(self.index) - 1 # sentinel row at the end + self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0] self.pix_fmt = pix_fmt - if pix_fmt in ("nv12", "yuv420p"): - self.out_size = w*h*3//2 # yuv420p - elif pix_fmt in ("rgb24", "yuv444p"): - self.out_size = w*h*3 - else: - raise NotImplementedError + def _gop_bounds(self, frame_idx: int): + f_b = frame_idx + while f_b > 0 and self.index[f_b, 0] != HEVC_SLICE_I: + f_b -= 1 + f_e = frame_idx + 1 + while f_e < self.frame_count and self.index[f_e, 0] != HEVC_SLICE_I: + f_e += 1 + return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1] - self.proc = None - self.t = threading.Thread(target=self.write_thread) - self.t.daemon = True + def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]: + yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt) - def write_thread(self): - try: + def get_gop_start(self, frame_idx: int): + return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1] + + def get_iterator(self, start_fidx: int = 0, end_fidx: int|None = None, + frame_skip: int = 1) -> Iterator[tuple[int, np.ndarray]]: + end_fidx = end_fidx or self.frame_count + fidx = start_fidx + while fidx < end_fidx: + f_b, f_e, off_b, off_e = self._gop_bounds(fidx) with FileReader(self.fn) as f: - while True: - r = f.read(1024*1024) - if len(r) == 0: - break - self.proc.stdin.write(r) - except BrokenPipeError: - pass - finally: - self.proc.stdin.close() + f.seek(off_b) + raw = self.prefix + f.read(off_e - off_b) + # number of frames to discard inside this GOP before the wanted one + for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt)): + fidx = f_b + i + if fidx >= end_fidx: + return + elif fidx >= start_fidx and (fidx - start_fidx) % frame_skip == 0: + yield fidx, frm + fidx += 1 - def read(self): - threads = os.getenv("FFMPEG_THREADS", "0") - cuda = os.getenv("FFMPEG_CUDA", "0") == "1" - cmd = [ - "ffmpeg", - "-threads", threads, - "-hwaccel", "none" if not cuda else "cuda", - "-c:v", "hevc", - # "-avioflags", "direct", - "-analyzeduration", "0", - "-probesize", "32", - "-flush_packets", "0", - # "-fflags", "nobuffer", - "-vsync", "0", - "-f", self.vid_fmt, - "-i", "pipe:0", - "-threads", threads, - "-f", "rawvideo", - "-pix_fmt", self.pix_fmt, - "pipe:1" - ] - self.proc = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) - try: - self.t.start() +def FrameIterator(fn: str, index_data: dict|None=None, + pix_fmt: str = "rgb24", + start_fidx:int=0, end_fidx=None, frame_skip:int=1) -> Iterator[np.ndarray]: + dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data) + for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip): + yield frame - while True: - dat = self.proc.stdout.read(self.out_size) - if len(dat) == 0: - break - assert len(dat) == self.out_size - if self.pix_fmt == "rgb24": - ret = np.frombuffer(dat, dtype=np.uint8).reshape((self.h, self.w, 3)) - elif self.pix_fmt == "yuv420p": - ret = np.frombuffer(dat, dtype=np.uint8) - elif self.pix_fmt == "nv12": - ret = np.frombuffer(dat, dtype=np.uint8) - elif self.pix_fmt == "yuv444p": - ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w)) - else: - raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}") - yield ret +class FrameReader: + def __init__(self, fn: str, index_data: dict|None = None, + cache_size: int = 30, pix_fmt: str = "rgb24"): + self.decoder = FfmpegDecoder(fn, index_data, pix_fmt) + self.iframes = self.decoder.iframes + self._cache: LRUCache = LRUCache(cache_size) + self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count + self.pix_fmt = pix_fmt - result_code = self.proc.wait() - assert result_code == 0, result_code - finally: - self.proc.kill() - self.t.join() + self.it: Iterator[tuple[int, np.ndarray]] | None = None + self.fidx = -1 -class StreamGOPReader(GOPReader): - def __init__(self, fn, frame_type, index_data): - assert frame_type == FrameType.h265_stream - - self.fn = fn - - self.frame_type = frame_type - self.frame_count = None - self.w, self.h = None, None - - self.prefix = None - self.index = None - - self.index = index_data['index'] - self.prefix = index_data['global_prefix'] - probe = index_data['probe'] - - self.prefix_frame_data = None - self.num_prefix_frames = 0 - self.vid_fmt = "hevc" - - i = 0 - while i < self.index.shape[0] and self.index[i, 0] != HEVC_SLICE_I: - i += 1 - self.first_iframe = i - - assert self.first_iframe == 0 - - self.frame_count = len(self.index) - 1 - - self.w = probe['streams'][0]['width'] - self.h = probe['streams'][0]['height'] - - def _lookup_gop(self, num): - frame_b = num - while frame_b > 0 and self.index[frame_b, 0] != HEVC_SLICE_I: - frame_b -= 1 - - frame_e = num + 1 - while frame_e < (len(self.index) - 1) and self.index[frame_e, 0] != HEVC_SLICE_I: - frame_e += 1 - - offset_b = self.index[frame_b, 1] - offset_e = self.index[frame_e, 1] - - return (frame_b, frame_e, offset_b, offset_e) - - def get_gop(self, num): - frame_b, frame_e, offset_b, offset_e = self._lookup_gop(num) - assert frame_b <= num < frame_e - - num_frames = frame_e - frame_b - - with FileReader(self.fn) as f: - f.seek(offset_b) - rawdat = f.read(offset_e - offset_b) - - if num < self.first_iframe: - assert self.prefix_frame_data - rawdat = self.prefix_frame_data + rawdat - - rawdat = self.prefix + rawdat - - skip_frames = 0 - if num < self.first_iframe: - skip_frames = self.num_prefix_frames - - return frame_b, num_frames, skip_frames, rawdat - - -class GOPFrameReader(BaseFrameReader): - #FrameReader with caching and readahead for formats that are group-of-picture based - - def __init__(self, readahead=False, readbehind=False): - self.open_ = True - - self.readahead = readahead - self.readbehind = readbehind - self.frame_cache = LRU(64) - - if self.readahead: - self.cache_lock = threading.RLock() - self.readahead_last = None - self.readahead_len = 30 - self.readahead_c = threading.Condition() - self.readahead_thread = threading.Thread(target=self._readahead_thread) - self.readahead_thread.daemon = True - self.readahead_thread.start() - else: - self.cache_lock = DoNothingContextManager() - - def close(self): - if not self.open_: - return - self.open_ = False - - if self.readahead: - self.readahead_c.acquire() - self.readahead_c.notify() - self.readahead_c.release() - self.readahead_thread.join() - - def _readahead_thread(self): - while True: - self.readahead_c.acquire() - try: - if not self.open_: - break - self.readahead_c.wait() - finally: - self.readahead_c.release() - if not self.open_: - break - assert self.readahead_last - num, pix_fmt = self.readahead_last - - if self.readbehind: - for k in range(num - 1, max(0, num - self.readahead_len), -1): - self._get_one(k, pix_fmt) - else: - for k in range(num, min(self.frame_count, num + self.readahead_len)): - self._get_one(k, pix_fmt) - - def _get_one(self, num, pix_fmt): - assert num < self.frame_count - - if (num, pix_fmt) in self.frame_cache: - return self.frame_cache[(num, pix_fmt)] - - with self.cache_lock: - if (num, pix_fmt) in self.frame_cache: - return self.frame_cache[(num, pix_fmt)] - - frame_b, num_frames, skip_frames, rawdat = self.get_gop(num) - - ret = decompress_video_data(rawdat, self.vid_fmt, self.w, self.h, pix_fmt) - ret = ret[skip_frames:] - # assert ret.shape[0] == num_frames - - for i in range(ret.shape[0]): - self.frame_cache[(frame_b+i, pix_fmt)] = ret[i] - - return self.frame_cache[(num, pix_fmt)] - - def get(self, num, count=1, pix_fmt="yuv420p"): - assert self.frame_count is not None - - if num + count > self.frame_count: - raise ValueError(f"{num + count} > {self.frame_count}") - - if pix_fmt not in ("nv12", "yuv420p", "rgb24", "yuv444p"): - raise ValueError(f"Unsupported pixel format {pix_fmt!r}") - - ret = [self._get_one(num + i, pix_fmt) for i in range(count)] - - if self.readahead: - self.readahead_last = (num+count, pix_fmt) - self.readahead_c.acquire() - self.readahead_c.notify() - self.readahead_c.release() - - return ret - - -class StreamFrameReader(StreamGOPReader, GOPFrameReader): - def __init__(self, fn, frame_type, index_data, readahead=False, readbehind=False): - StreamGOPReader.__init__(self, fn, frame_type, index_data) - GOPFrameReader.__init__(self, readahead, readbehind) - - -def GOPFrameIterator(gop_reader, pix_fmt): - dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt) - yield from dec.read() - - -def FrameIterator(fn, pix_fmt, **kwargs): - fr = FrameReader(fn, **kwargs) - if isinstance(fr, GOPReader): - yield from GOPFrameIterator(fr, pix_fmt) - else: - for i in range(fr.frame_count): - yield fr.get(i, pix_fmt=pix_fmt)[0] - - -class NumpyFrameReader: - def __init__(self, name, w, h, cache_size): - self.name = name - self.pos = -1 - self.frames = None - self.w = w - self.h = h - self.cache_size = cache_size - - def close(self): - pass - - def get(self, num, count=1, pix_fmt="nv12"): - num -= 1 - q = num // self.cache_size - if q != self.pos: - del self.frames - self.pos = q - self.frames = np.load(f'{self.name}_{self.pos}.npy') - return [self.frames[num % self.cache_size]] + def get(self, fidx:int): + if fidx in self._cache: # If frame is cached, return it + return self._cache[fidx] + read_start = self.decoder.get_gop_start(fidx) + if not self.it or fidx < self.fidx or read_start != self.decoder.get_gop_start(self.fidx): # If the frame is in a different GOP, reset the iterator + self.it = self.decoder.get_iterator(read_start) + self.fidx = -1 + while self.fidx < fidx: + self.fidx, frame = next(self.it) + self._cache[self.fidx] = frame + return self._cache[fidx] diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py deleted file mode 100644 index 624531a1a8..0000000000 --- a/tools/lib/tests/test_readers.py +++ /dev/null @@ -1,63 +0,0 @@ -import pytest -import requests -import tempfile - -from collections import defaultdict -import numpy as np -from openpilot.tools.lib.framereader import FrameReader -from openpilot.tools.lib.logreader import LogReader - - -class TestReaders: - @pytest.mark.skip("skip for bandwidth reasons") - def test_logreader(self): - def _check_data(lr): - hist = defaultdict(int) - for l in lr: - hist[l.which()] += 1 - - assert hist['carControl'] == 6000 - assert hist['logMessage'] == 6857 - - with tempfile.NamedTemporaryFile(suffix=".bz2") as fp: - r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10) - fp.write(r.content) - fp.flush() - - lr_file = LogReader(fp.name) - _check_data(lr_file) - - lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") - _check_data(lr_url) - - @pytest.mark.skip("skip for bandwidth reasons") - def test_framereader(self): - def _check_data(f): - assert f.frame_count == 1200 - assert f.w == 1164 - assert f.h == 874 - - frame_first_30 = f.get(0, 30) - assert len(frame_first_30) == 30 - - print(frame_first_30[15]) - - print("frame_0") - frame_0 = f.get(0, 1) - frame_15 = f.get(15, 1) - - print(frame_15[0]) - - assert np.all(frame_first_30[0] == frame_0[0]) - assert np.all(frame_first_30[15] == frame_15[0]) - - with tempfile.NamedTemporaryFile(suffix=".hevc") as fp: - r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true", timeout=10) - fp.write(r.content) - fp.flush() - - fr_file = FrameReader(fp.name) - _check_data(fr_file) - - fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true") - _check_data(fr_url) diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index adc0b19e9b..6ddc1b298a 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -47,8 +47,8 @@ def replay(route, segment, loop): if w == 'roadCameraState': try: - img = fr.get(frame_idx[msg.roadCameraState.frameId], pix_fmt="rgb24") - img = img[0][:, :, ::-1] # Convert RGB to BGR, which is what the camera outputs + img = fr.get(frame_idx[msg.roadCameraState.frameId]) + img = img[:, ::-1] # Convert RGB to BGR, which is what the camera outputs msg.roadCameraState.image = img.flatten().tobytes() except (KeyError, ValueError): pass diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py index 521f1597ec..77bf48f946 100755 --- a/tools/scripts/fetch_image_from_route.py +++ b/tools/scripts/fetch_image_from_route.py @@ -37,7 +37,7 @@ fr = FrameReader(segments[segment]) if frame >= fr.frame_count: raise Exception("frame {frame} not found, got {fr.frame_count} frames") -im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0]) +im = Image.fromarray(fr.get(frame)) fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png" im.save(fn) print(f"saved {fn}") diff --git a/tools/webcam/README.md b/tools/webcam/README.md index f4b46d1f66..67ad2cc8cb 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -1,22 +1,22 @@ # Run openpilot with webcam on PC What's needed: -- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) +- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS - GPU (recommended) -- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615) -- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car -- [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer -That's it! +- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60) +- [Car harness](https://comma.ai/shop/products/comma-car-harness) +- [panda](https://comma.ai/shop/panda) +- USB-A to USB-A cable to connect panda to your computer ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements -- Install OpenCL Driver +- Install OpenCL Driver (Ubuntu) ``` sudo apt install pocl-opencl-icd ``` ## Connect the hardware -- Connect the road facing camera first, then the driver facing camera +- Connect the camera first - Connect your computer to panda ## GO @@ -24,12 +24,12 @@ sudo apt install pocl-opencl-icd USE_WEBCAM=1 system/manager/manager.py ``` - Start the car, then the UI should show the road webcam's view -- Adjust and secure the webcams. +- Adjust and secure the webcam - Finish calibration and engage! ## Specify Cameras -Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera): +Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera): ``` -USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py +USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py ``` diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py index 8358846f3a..45f9379038 100644 --- a/tools/webcam/camera.py +++ b/tools/webcam/camera.py @@ -1,4 +1,5 @@ import av +import cv2 as cv class Camera: def __init__(self, cam_type_state, stream_type, camera_id): @@ -10,11 +11,9 @@ class Camera: self.stream_type = stream_type self.cur_frame_id = 0 - self.container = av.open(camera_id) - assert self.container.streams.video, f"Can't open video stream for camera {camera_id}" - self.video_stream = self.container.streams.video[0] - self.W = self.video_stream.codec_context.width - self.H = self.video_stream.codec_context.height + self.cap = cv.VideoCapture(camera_id) + self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH) + self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT) @classmethod def bgr2nv12(self, bgr): @@ -22,8 +21,10 @@ class Camera: return frame.reformat(format='nv12').to_ndarray() def read_frames(self): - for frame in self.container.decode(self.video_stream): - img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24 - yuv = Camera.bgr2nv12(img) + while True: + ret, frame = self.cap.read() + if not ret: + break + yuv = Camera.bgr2nv12(frame) yield yuv.data.tobytes() - self.container.close() + self.cap.release() diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index a0916ed5ee..cb096dc00b 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -9,14 +9,19 @@ from cereal import messaging from openpilot.tools.webcam.camera import Camera from openpilot.common.realtime import Ratekeeper +ROAD_CAM = os.getenv("ROAD_CAM", "0") WIDE_CAM = os.getenv("WIDE_CAM") +DRIVER_CAM = os.getenv("DRIVER_CAM") + CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"]) + CAMERAS = [ - CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")), - CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")), + CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM) ] if WIDE_CAM: CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM)) +if DRIVER_CAM: + CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM)) class Camerad: def __init__(self): diff --git a/uv.lock b/uv.lock index 2f8cf68094..530db4ec9d 100644 --- a/uv.lock +++ b/uv.lock @@ -21,7 +21,7 @@ wheels = [ [[package]] name = "aiohttp" -version = "3.11.18" +version = "3.12.13" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aiohappyeyeballs" }, @@ -32,40 +32,42 @@ dependencies = [ { name = "propcache" }, { name = "yarl" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/63/e7/fa1a8c00e2c54b05dc8cb5d1439f627f7c267874e3f7bb047146116020f9/aiohttp-3.11.18.tar.gz", hash = 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