ui: Speed Limit Assist preActive improvements (#1743)

* mici init

* obv

* hybrid

* too soon junior

* make them all flash the same pls

* abstract

* shorter

* also too soon junior

* not so fast

selfdrive/ui/sunnypilot/onroad/speed_limit.py

@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from dataclasses import dataclass
-import math
 import pyray as rl
 
 from cereal import custom
@@ -41,9 +40,32 @@ class Colors:
   MUTCD_LINES = rl.Color(255, 255, 255, 100)
 
 
-class SpeedLimitRenderer(Widget):
+class SpeedLimitAlertRenderer:
   def __init__(self):
-    super().__init__()
+    arrow_size = 200
+    self.arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
+    self.arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
+
+    self._pre_active_alpha_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps)
+    self._pre_active_alert_frame = 0
+
+  def update(self):
+    assist_state = ui_state.sm['longitudinalPlanSP'].speedLimit.assist.state
+    if assist_state == AssistState.preActive:
+      self._pre_active_alert_frame += 1
+      if (self._pre_active_alert_frame % gui_app.target_fps) < (gui_app.target_fps * 0.75):
+        self._pre_active_alpha_filter.x = 1.0
+      else:
+        self._pre_active_alpha_filter.update(0.0)
+    else:
+      self._pre_active_alert_frame = 0
+      self._pre_active_alpha_filter.update(1.0)
+
+
+class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
+  def __init__(self):
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
 
     self.speed_limit = 0.0
     self.speed_limit_last = 0.0
@@ -60,7 +82,6 @@ class SpeedLimitRenderer(Widget):
     self.speed_limit_ahead_valid = False
     self.speed_limit_ahead_frame = 0
 
-    self.assist_frame = 0
     self.is_cruise_set: bool = False
     self.is_cruise_available: bool = True
     self.set_speed: float = SET_SPEED_NA
@@ -70,17 +91,13 @@ class SpeedLimitRenderer(Widget):
     self.font_bold = gui_app.font(FontWeight.BOLD)
     self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
     self.font_norm = gui_app.font(FontWeight.NORMAL)
-    self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps)
-
-    arrow_size = 90
-    self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
-    self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
 
   @property
   def speed_conv(self):
     return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
 
   def update(self):
+    SpeedLimitAlertRenderer.update(self)
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
       self.set_speed = SET_SPEED_NA
@@ -143,13 +160,7 @@ class SpeedLimitRenderer(Widget):
 
     sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
 
-    if self.speed_limit_assist_state == AssistState.preActive:
-      self.assist_frame += 1
-      pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps)
-      alpha = self._sign_alpha_filter.update(pulse_value)
-    else:
-      self.assist_frame = 0
-      alpha = self._sign_alpha_filter.update(1.0)
+    alpha = self._pre_active_alpha_filter.x
 
     if ui_state.speed_limit_mode != SpeedLimitMode.off:
       self._draw_sign_main(sign_rect, alpha)
@@ -184,19 +195,19 @@ class SpeedLimitRenderer(Widget):
     set_speed_rounded = round(self.set_speed)
     limit_rounded = round(self.speed_limit_final_last)
 
-    bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5)
-    bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency))
-
     sign_margin = 12
     arrow_spacing = int(sign_margin * 1.4)
     arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
 
-    if set_speed_rounded < limit_rounded:
-      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset
-      rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE)
-    elif set_speed_rounded > limit_rounded:
-      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset
-      rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE)
+    icon_alpha = max(0.0, min(self._pre_active_alpha_filter.x * 255.0, 255.0))
+    if icon_alpha > 0:
+      color = rl.Color(255, 255, 255, int(icon_alpha))
+      if set_speed_rounded < limit_rounded:
+        arrow_y = sign_rect.y + (sign_rect.height - self.arrow_up.height) / 2
+        rl.draw_texture(self.arrow_up, int(arrow_x), int(arrow_y), color)
+      elif set_speed_rounded > limit_rounded:
+        arrow_y = sign_rect.y + (sign_rect.height - self.arrow_down.height) / 2
+        rl.draw_texture(self.arrow_down, int(arrow_x), int(arrow_y), color)
 
   def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
     center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)

sunnypilot/selfdrive/assets/img_minus_arrow_down.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0f4a0bf26cfd2c64939759d43bee839aadfd017a6f74065095a27b03615e55a4
-size 26627
+oid sha256:ad42ecaeff96a0a6c1a6db67b01e3c0452566906dd3a7f0336a1010ae854d27b
+size 60924

sunnypilot/selfdrive/assets/img_plus_arrow_up.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e451ff31e9b3f144822ab282b8e47cd5a603ca59ff94bd1849271181b86c6b1
-size 29220
+oid sha256:1fdea39873f60a0c4b216b75792e826f3633091a72ea2abd05740bd6e4e72089
+size 63058

sunnypilot/selfdrive/selfdrived/events.py

@@ -1,3 +1,9 @@
+"""
+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 cereal.messaging as messaging
 from cereal import log, car, custom
 from openpilot.common.constants import CV
@@ -34,7 +40,6 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
   alert_1_str = ""
-  alert_2_str = ""
   alert_size = AlertSize.none
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
@@ -44,13 +49,12 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
     speed_unit = "km/h" if metric else "mph"
 
-    alert_1_str = "Speed Limit Assist: Activation Required"
-    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-    alert_size = AlertSize.mid
+    alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
+    alert_size = AlertSize.small
 
   return Alert(
     alert_1_str,
-    alert_2_str,
+    "",
     AlertStatus.normal, alert_size,
     Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
@@ -193,7 +197,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.speedLimitActive: {
     ET.WARNING: Alert(
-      "Automatically adjusting to the posted speed limit",
+      "Auto adjusting to speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
@@ -213,7 +217,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.speedLimitPending: {
     ET.WARNING: Alert(
-      "Automatically adjusting to the last speed limit",
+      "Auto adjusting to last speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),