From d992d138bf6f4a72a7bc21442ddfb8deb2901105 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 1 Jun 2025 01:17:15 +0800 Subject: [PATCH 01/44] system/ui: enhance polygon fill with AABB clipping and fixed fill color issues (#35408) enhance polygon fill with AABB clipping and fixed fill color issues --- system/ui/lib/shader_polygon.py | 124 ++++++++++---------------------- 1 file changed, 36 insertions(+), 88 deletions(-) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index 9ecaa926bc..94190abc36 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -16,13 +16,12 @@ 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 +29,9 @@ 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 +44,11 @@ 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++; @@ -104,24 +85,24 @@ 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); @@ -180,7 +161,6 @@ class ShaderState: 'gradientStops': None, 'gradientColorCount': None, 'mvp': None, - 'visibleGradientRange': None, } # Pre-allocated FFI objects @@ -191,7 +171,6 @@ 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 +211,40 @@ 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 +270,16 @@ 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 +288,21 @@ 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, From d2f417ee6368f50b7ea87369c5b87fe0709fa950 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sat, 31 May 2025 14:17:55 -0300 Subject: [PATCH 02/44] Multilang: update pt-BR translation. (#35394) Multilang: update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f98f32b9a8..3182370f42 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -84,7 +84,7 @@ Prevent large data uploads when on a metered cellular connection - + Previna o envio de grandes volumes de dados em conexões de celular com franquia de limite de dados default @@ -104,7 +104,7 @@ Prevent large data uploads when on a metered Wi-Fi connection - + Previna o envio de grandes volumes de dados em conexões Wi-Fi com franquia de limite de dados From e9f917836bd004fb1e343851b7c4e88ad64521b1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 31 May 2025 10:26:03 -0700 Subject: [PATCH 03/44] cereal: fixup build deps --- cereal/SConscript | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/cereal/SConscript b/cereal/SConscript index a58a9490ce..9fccfc6075 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -1,19 +1,20 @@ -Import('env', 'common', 'msgq') +Import('env', 'msgq') cereal_dir = Dir('.') gen_dir = Dir('gen') # Build cereal schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] -env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], +schema_cpp = [f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files] +env.Command(schema_cpp, schema_files, f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") -cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files]) +cereal = env.Library('cereal', schema_cpp) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread']) +env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, 'zmq', 'pthread']) socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc']) From e734413a2170a2c10a90ed9821f460e8372f2348 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 1 Jun 2025 01:50:41 +0800 Subject: [PATCH 04/44] system/ui: fix path clip issues (#35409) fix path clip issues --- system/ui/onroad/model_renderer.py | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index ef7e567cda..a016f1cec6 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -105,13 +105,13 @@ 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 @@ -136,23 +136,23 @@ 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) 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 +168,8 @@ 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 ) @@ -309,8 +309,10 @@ 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""" From 5605c398a20d8206d235abee53264921d781da58 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Jun 2025 12:37:12 -0700 Subject: [PATCH 05/44] Revert "cereal: fixup build deps" This reverts commit e9f917836bd004fb1e343851b7c4e88ad64521b1. --- cereal/SConscript | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/cereal/SConscript b/cereal/SConscript index 9fccfc6075..a58a9490ce 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -1,20 +1,19 @@ -Import('env', 'msgq') +Import('env', 'common', 'msgq') cereal_dir = Dir('.') gen_dir = Dir('gen') # Build cereal schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] -schema_cpp = [f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files] -env.Command(schema_cpp, +env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], schema_files, f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") -cereal = env.Library('cereal', schema_cpp) +cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files]) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, 'zmq', 'pthread']) +env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread']) socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc']) From 1935871267bce0cabf2f7bba669d56c959a338b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:37:36 +0800 Subject: [PATCH 06/44] system/ui: add stream switching capability to CameraView (#35414) add stream switching capability to CameraView --- system/ui/onroad/augmented_road_view.py | 14 ++++++++------ system/ui/widgets/cameraview.py | 20 +++++++++++++++++++- 2 files changed, 27 insertions(+), 7 deletions(-) diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 18f94325f4..053307bb69 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -30,9 +30,6 @@ class AugmentedRoadView(CameraView): 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.device_camera: DeviceCameraConfig | None = None self.view_from_calib = view_frame_from_device_frame.copy() self.view_from_wide_calib = view_frame_from_device_frame.copy() @@ -130,9 +127,10 @@ class AugmentedRoadView(CameraView): # 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 == VisionStreamType.VISION_STREAM_WIDE_ROAD + 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]) @@ -184,9 +182,13 @@ if __name__ == "__main__": "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan"]) road_camera_view = AugmentedRoadView(sm, VisionStreamType.VISION_STREAM_ROAD) + print("***press space to switch camera view***") try: for _ in gui_app.render(): sm.update(0) + if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): + is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD + road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) 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/system/ui/widgets/cameraview.py index 49832444f8..329b8349ba 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -3,6 +3,7 @@ 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 @@ -57,6 +58,9 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): self.client = VisionIpcClient(name, stream_type, False) + self._name = name + self._stream_type = stream_type + self._texture_needs_update = True self.last_connection_attempt: float = 0.0 self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) @@ -80,6 +84,18 @@ class CameraView: self.egl_texture = rl.load_texture_from_image(temp_image) rl.unload_image(temp_image) + def switch_stream(self, stream_type: VisionStreamType) -> None: + if self._stream_type != stream_type: + cloudlog.debug(f'switching stream from {self._stream_type} to {stream_type}') + self._clear_textures() + self.frame = None + self._stream_type = stream_type + self.client = VisionIpcClient(self._name, stream_type, False) + + @property + def stream_type(self) -> VisionStreamType: + return self._stream_type + def close(self) -> None: self._clear_textures() @@ -92,6 +108,8 @@ 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) @@ -201,12 +219,12 @@ class CameraView: 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 + cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}") self._clear_textures() if not TICI: From 74541e677c62fa6068dc7bdba8681dfb59e5e734 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:37:57 +0800 Subject: [PATCH 07/44] system/ui: fix timeout logc and add pre-defined alerts (#35417) fix timeout logc and add pre-defined alerts --- system/ui/onroad/alert_renderer.py | 115 +++++++++++++---------------- 1 file changed, 51 insertions(+), 64 deletions(-) diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py index 600c721680..947b19663d 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/system/ui/onroad/alert_renderer.py @@ -1,14 +1,15 @@ -import numpy as np +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 # 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 + log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 220), # Black + log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 220), # Orange + log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 220), # Red } ALERT_HEIGHTS = { @@ -16,6 +17,7 @@ ALERT_HEIGHTS = { log.SelfdriveState.AlertSize.mid: 420, } +ALERT_BORDER_RADIUS = 30 SELFDRIVE_STATE_TIMEOUT = 5 # Seconds SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds @@ -28,95 +30,80 @@ class Alert: 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 - ) + +# Pre-defined alert instances +ALERT_STARTUP_PENDING = Alert( + text1="openpilot Unavailable", + text2="Waiting to start", + alert_type="selfdriveWaiting", + size=log.SelfdriveState.AlertSize.mid, + status=log.SelfdriveState.AlertStatus.normal, +) + +ALERT_CRITICAL_TIMEOUT = Alert( + text1="TAKE CONTROL IMMEDIATELY", + text2="System Unresponsive", + alert_type="selfdriveUnresponsive", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, +) + +ALERT_CRITICAL_REBOOT = Alert( + text1="System Unresponsive", + text2="Reboot Device", + alert_type="selfdriveUnresponsivePermanent", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, +) class AlertRenderer: def __init__(self): """Initialize the alert renderer.""" self.alert: Alert = Alert() + # TODO: use ui_state to determine when to start 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: + def update_state(self, sm: messaging.SubMaster) -> 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 + self.alert = self.get_alert(sm) 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( + # Check if waiting to start + if sm.recv_frame['selfdriveState'] < self.started_frame: + return ALERT_STARTUP_PENDING + + # Handle selfdrive timeout + ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] + if TICI: + 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 + + # Return current alert from selfdrive state + 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() + status=self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus)) 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']) + self.update_state(sm) 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, @@ -129,7 +116,7 @@ class AlertRenderer: 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) + roundness = ALERT_BORDER_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) From 79f3f30c6367a06f0e3b83c042d49b3e98a550b8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:39:09 +0800 Subject: [PATCH 08/44] =?UTF-8?q?system/ui:=20fix=20cruise=20disabled=20st?= =?UTF-8?q?ate=20displaying=20"=3F"=20instead=20of=20"=E2=80=93"=20(#35416?= =?UTF-8?q?)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit fix curise disabled state showed '?' --- system/ui/lib/application.py | 2 ++ system/ui/onroad/hud_renderer.py | 3 ++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 9bb56fec8d..a8b55b9e79 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -192,10 +192,12 @@ class GuiApplication: # Create a character set from our keyboard layouts from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS + from openpilot.system.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR all_chars = set() 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 += CRUISE_DISABLED_CHAR codepoint_count = rl.ffi.new("int *", 1) codepoints = rl.load_codepoints(all_chars, codepoint_count) diff --git a/system/ui/onroad/hud_renderer.py b/system/ui/onroad/hud_renderer.py index b63b50f26d..ee182daef8 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/system/ui/onroad/hud_renderer.py @@ -8,6 +8,7 @@ from enum import IntEnum # Constants SET_SPEED_NA = 255 KM_TO_MILE = 0.621371 +CRUISE_DISABLED_CHAR = '–' @dataclass(frozen=True) @@ -153,7 +154,7 @@ class HudRenderer: max_color, ) - set_speed_text = "–" if not self.is_cruise_set else str(round(self.set_speed)) + set_speed_text = CRUISE_DISABLED_CHAR 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 rl.draw_text_ex( self._font_bold, From 6ece69610bbe2336d3067c4e18998a323547562e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:39:22 +0800 Subject: [PATCH 09/44] systme/ui: add global ARC_POINT_COUNT and ARC_ANGLES to DriverState (#35415) optimize arc rRendering with Pre-computed values --- system/ui/onroad/driver_state.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py index b998936903..7527fa6255 100644 --- a/system/ui/onroad/driver_state.py +++ b/system/ui/onroad/driver_state.py @@ -27,6 +27,9 @@ 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.""" @@ -57,8 +60,8 @@ 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) @@ -218,9 +221,7 @@ 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 From 1e702de434f10e80c22f7424d6c41edb8c2edf30 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:39:41 +0800 Subject: [PATCH 10/44] system/ui: add face detection box and driver state icon to DriverCameraView (#35410) add face detection box and driver state icon to DriverCameraView --- system/ui/widgets/driver_camera_view.py | 56 +++++++++++++++++++++++-- 1 file changed, 52 insertions(+), 4 deletions(-) diff --git a/system/ui/widgets/driver_camera_view.py b/system/ui/widgets/driver_camera_view.py index 174fac378d..56dcbf2b9e 100644 --- a/system/ui/widgets/driver_camera_view.py +++ b/system/ui/widgets/driver_camera_view.py @@ -1,18 +1,63 @@ import numpy as np import pyray as rl +from cereal import messaging from openpilot.system.ui.widgets.cameraview import CameraView from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.onroad.driver_state import DriverStateRenderer class DriverCameraView(CameraView): def __init__(self, stream_type: VisionStreamType): super().__init__("camerad", stream_type) + self.driver_state_renderer = DriverStateRenderer() - def render(self, rect): + def render(self, rect, sm): super().render(rect) - # TODO: Add additional rendering logic + if not self.frame: + gui_label( + rect, + "camera starting", + font_size=100, + font_weight=FontWeight.BOLD, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + ) + return + + self._draw_face_detection(rect, sm) + self.driver_state_renderer.draw(rect, sm) + + def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None: + driver_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 @@ -38,9 +83,12 @@ class DriverCameraView(CameraView): if __name__ == "__main__": gui_app.init_window("Driver Camera View") + sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"]) + 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)) + sm.update() + driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm) finally: driver_camera_view.close() From ad58fea2f0a6a3ba30b7250ecec22163ee3e6822 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Jun 2025 16:34:22 -0700 Subject: [PATCH 11/44] no more pylint (#35418) * no more pylint * bump opendbc --- common/logging_extra.py | 1 - opendbc_repo | 2 +- panda | 2 +- system/manager/process.py | 1 - 4 files changed, 2 insertions(+), 4 deletions(-) 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/opendbc_repo b/opendbc_repo index d33a033a7f..4fe147125a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d33a033a7fceaf660a1ae1e6e7d00fb4737f6745 +Subproject commit 4fe147125a6193a6133daefde7bd9c4c871afc1f diff --git a/panda b/panda index 4f227f88c8..c19692245c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4f227f88c827d02188763d676aab941401be8212 +Subproject commit c19692245cfe681389a1e9ddb2401340cf08759d diff --git a/system/manager/process.py b/system/manager/process.py index 6c233c21ab..7f8044461d 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -96,7 +96,6 @@ 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 From 69076c50d88d3858357ac1873a1aaff6f8ff022e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 1 Jun 2025 23:15:23 -0700 Subject: [PATCH 12/44] bump opendbc (#35419) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 4fe147125a..f01c4b82b1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4fe147125a6193a6133daefde7bd9c4c871afc1f +Subproject commit f01c4b82b1cd41ef8053a038ad631bbd31105fc6 From d488529a94f05f08b7d69e5c28938aaa016ba406 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 23:48:35 +0800 Subject: [PATCH 13/44] system/ui: add font_weight parameter to gui_text_box (#35420) add font_weight parameter to gui_text_box --- system/ui/lib/label.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index 5244c6baf2..00a4eda7c6 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -56,7 +56,8 @@ 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 +67,12 @@ 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)) + From 070711426459f5ae3a3354be9a822bbe0b8d52c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 23:56:47 +0800 Subject: [PATCH 14/44] system/ui: optimize point allocation, cllipping, and HSLA Color Conversion in model renderer (#35423) * faster hsla_to_color * pre-allc points * use np.clip * re-alloc points --- system/ui/onroad/model_renderer.py | 29 +++++++++++++++++++++++------ 1 file changed, 23 insertions(+), 6 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index a016f1cec6..44bd3f72ca 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -14,6 +14,8 @@ 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) @@ -61,6 +63,11 @@ class ModelRenderer: self._transform_dirty = True self._clip_region = None self._rect = None + + # Pre-allocated arrays for polygon conversion + self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32) + self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32) + self._exp_gradient = { 'start': (0.0, 1.0), # Bottom of path 'end': (0.0, 0.0), # Top of path @@ -140,10 +147,13 @@ class ModelRenderer: """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(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: @@ -336,20 +346,22 @@ 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 = self._temp_points_3d[:n_points * 2] 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 # Single matrix multiplication for projections - proj = self._car_space_transform @ points_3d.T + proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2]) # Slice the pre-allocated array + np.dot(self._car_space_transform, points_3d.T, out=proj) valid_z = np.abs(proj[2]) > 1e-6 if not np.any(valid_z): return np.empty((0, 2), dtype=np.float32) @@ -390,15 +402,20 @@ class ModelRenderer: @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): From b59841329b65bc81f468dfe7a243a9c769981306 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 00:07:19 +0800 Subject: [PATCH 15/44] system/ui: refactor AlertRenderer for improved maintainability and consistency (#35421) refactor alert --- system/ui/onroad/alert_renderer.py | 221 +++++++++++------------------ 1 file changed, 81 insertions(+), 140 deletions(-) diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py index 947b19663d..e61396b89f 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/system/ui/onroad/alert_renderer.py @@ -4,38 +4,42 @@ 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 +from openpilot.system.ui.lib.label import gui_text_box + + +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, 220), # Black - log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 220), # Orange - log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 220), # Red + 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 } -ALERT_HEIGHTS = { - log.SelfdriveState.AlertSize.small: 271, - log.SelfdriveState.AlertSize.mid: 420, -} - -ALERT_BORDER_RADIUS = 30 -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 + size: int = 0 + status: int = 0 # Pre-defined alert instances ALERT_STARTUP_PENDING = Alert( text1="openpilot Unavailable", text2="Waiting to start", - alert_type="selfdriveWaiting", size=log.SelfdriveState.AlertSize.mid, status=log.SelfdriveState.AlertStatus.normal, ) @@ -43,7 +47,6 @@ ALERT_STARTUP_PENDING = Alert( ALERT_CRITICAL_TIMEOUT = Alert( text1="TAKE CONTROL IMMEDIATELY", text2="System Unresponsive", - alert_type="selfdriveUnresponsive", size=log.SelfdriveState.AlertSize.full, status=log.SelfdriveState.AlertStatus.critical, ) @@ -51,7 +54,6 @@ ALERT_CRITICAL_TIMEOUT = Alert( ALERT_CRITICAL_REBOOT = Alert( text1="System Unresponsive", text2="Reboot Device", - alert_type="selfdriveUnresponsivePermanent", size=log.SelfdriveState.AlertSize.full, status=log.SelfdriveState.AlertStatus.critical, ) @@ -59,19 +61,13 @@ ALERT_CRITICAL_REBOOT = Alert( class AlertRenderer: def __init__(self): - """Initialize the alert renderer.""" - self.alert: Alert = Alert() # TODO: use ui_state to determine when to start 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 update_state(self, sm: messaging.SubMaster) -> None: - """Update alert state based on SubMaster data.""" - self.alert = self.get_alert(sm) - - def get_alert(self, sm: messaging.SubMaster) -> Alert: + def get_alert(self, sm: messaging.SubMaster) -> Alert | None: """Generate the current alert based on selfdrive state.""" ss = sm['selfdriveState'] @@ -80,142 +76,87 @@ class AlertRenderer: return ALERT_STARTUP_PENDING # Handle selfdrive timeout - ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] if TICI: + 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 - # Return current alert from selfdrive state - return Alert( - text1=ss.alertText1, - text2=ss.alertText2, - alert_type=ss.alertType, - size=self._get_enum_value(ss.alertSize, log.SelfdriveState.AlertSize), - status=self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus)) + # 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 draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None: - """Render the alert within the specified rectangle.""" - self.update_state(sm) - alert_size = self._get_enum_value(self.alert.size, log.SelfdriveState.AlertSize) - if alert_size == log.SelfdriveState.AlertSize.none: + alert = self.get_alert(sm) + if not alert: return - # Calculate alert rectangle - margin = 0 if alert_size == log.SelfdriveState.AlertSize.full else 40 - 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, + 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) + + 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 ) - # 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 = ALERT_BORDER_RADIUS / (min(alert_rect.width, alert_rect.height) / 2) - rl.draw_rectangle_rounded(alert_rect, roundness, 10, color) + 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(alert_rect, color) + rl.draw_rectangle_rec(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, 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) - 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 + 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 - 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, - ) + 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) - 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 + 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 _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 + def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None: + text_size = self._measure_text(font, text, font_size, 'bold' if font == self.font_bold else 'regular') + 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) From d46066225d189de79c3c980bacfb463a29a7a725 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 01:18:44 +0800 Subject: [PATCH 16/44] system/ui: add centralized UIState singleton for global state management (#35397) * add centralized UIState singleton for global state management * safely import ui_state * merge master * merge master --- system/ui/lib/application.py | 14 +++ system/ui/lib/ui_state.py | 129 ++++++++++++++++++++++++ system/ui/onroad/alert_renderer.py | 5 +- system/ui/onroad/augmented_road_view.py | 47 ++++----- system/ui/onroad/driver_state.py | 8 +- system/ui/onroad/hud_renderer.py | 36 +++---- system/ui/onroad/model_renderer.py | 4 +- 7 files changed, 183 insertions(+), 60 deletions(-) create mode 100644 system/ui/lib/ui_state.py diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index a8b55b9e79..2e3553038a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -36,6 +36,16 @@ class FontWeight(IntEnum): BLACK = 8 +def _get_ui_state(): + """Safely import and return ui_state, or None if unavailable.""" + try: + from openpilot.system.ui.lib.ui_state import ui_state + + return ui_state + except ImportError: + return None + + class GuiApplication: def __init__(self, width: int, height: int): self._fonts: dict[FontWeight, rl.Font] = {} @@ -139,6 +149,7 @@ class GuiApplication: rl.close_window() def render(self): + ui_state = _get_ui_state() try: while not (self._window_close_requested or rl.window_should_close()): if self._render_texture: @@ -148,6 +159,9 @@ class GuiApplication: rl.begin_drawing() rl.clear_background(rl.BLACK) + if ui_state is not None: + ui_state.update() + yield if self._render_texture: diff --git a/system/ui/lib/ui_state.py b/system/ui/lib/ui_state.py new file mode 100644 index 0000000000..d9a8c40597 --- /dev/null +++ b/system/ui/lib/ui_state.py @@ -0,0 +1,129 @@ +import pyray as rl +from enum import Enum +from cereal import messaging, log +from openpilot.common.params import Params, UnknownKeyName + + +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", + ] + ) + + # 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 update(self) -> None: + self.sm.update(0) + self._update_state() + self._update_status() + + 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 + + +# Global instance +ui_state = UIState() diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py index e61396b89f..5bdfebb18c 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/system/ui/onroad/alert_renderer.py @@ -5,6 +5,7 @@ from cereal import messaging, log from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box +from openpilot.system.ui.lib.ui_state import ui_state ALERT_MARGIN = 40 @@ -61,8 +62,6 @@ ALERT_CRITICAL_REBOOT = Alert( class AlertRenderer: def __init__(self): - # TODO: use ui_state to determine when to start - 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] = {} @@ -72,7 +71,7 @@ class AlertRenderer: ss = sm['selfdriveState'] # Check if waiting to start - if sm.recv_frame['selfdriveState'] < self.started_frame: + if sm.recv_frame['selfdriveState'] < ui_state.started_frame: return ALERT_STARTUP_PENDING # Handle selfdrive timeout diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 053307bb69..63404f3f9e 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -1,9 +1,9 @@ import numpy as np import pyray as rl -from enum import Enum -from cereal import messaging, log +from cereal import log from msgq.visionipc import VisionStreamType +from openpilot.system.ui.lib.ui_state import ui_state, UIStatus, UI_BORDER_SIZE 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 @@ -17,19 +17,18 @@ from openpilot.common.transformations.orientation import rot_from_euler OpState = log.SelfdriveState.OpenpilotState CALIBRATED = log.LiveCalibrationData.Status.calibrated 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 +} class AugmentedRoadView(CameraView): - def __init__(self, sm: messaging.SubMaster, stream_type: VisionStreamType): + def __init__(self, stream_type: VisionStreamType): super().__init__("camerad", stream_type) - self.sm = sm self.device_camera: DeviceCameraConfig | None = None self.view_from_calib = view_frame_from_device_frame.copy() self.view_from_wide_calib = view_frame_from_device_frame.copy() @@ -72,10 +71,10 @@ class AugmentedRoadView(CameraView): 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.draw(self._content_rect, ui_state.sm) + self._hud_renderer.draw(self._content_rect, ui_state.sm) + self.alert_renderer.draw(self._content_rect, ui_state.sm) + self.driver_state_renderer.draw(self._content_rect, ui_state.sm) # Custom UI extension point - add custom overlays here # Use self._content_rect for positioning within camera bounds @@ -84,18 +83,12 @@ class AugmentedRoadView(CameraView): 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 - - rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, status.value) + border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED]) + rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color) 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))] @@ -103,7 +96,7 @@ 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 @@ -118,7 +111,7 @@ 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 @@ -178,14 +171,10 @@ 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(VisionStreamType.VISION_STREAM_ROAD) print("***press space to switch camera view***") try: for _ in gui_app.render(): - sm.update(0) if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py index 7527fa6255..8017021ee5 100644 --- a/system/ui/onroad/driver_state.py +++ b/system/ui/onroad/driver_state.py @@ -2,6 +2,8 @@ import numpy as np import pyray as rl from dataclasses import dataclass from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.ui_state import ui_state, UI_BORDER_SIZE + # Default 3D coordinates for face keypoints as a NumPy array DEFAULT_FACE_KPTS_3D = np.array([ @@ -17,7 +19,6 @@ DEFAULT_FACE_KPTS_3D = np.array([ ], dtype=np.float32) # UI constants -UI_BORDER_SIZE = 30 BTN_SIZE = 192 IMG_SIZE = 144 ARC_LENGTH = 133 @@ -95,8 +96,7 @@ 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 @@ -107,7 +107,7 @@ class DriverStateRenderer: def _is_visible(self, sm): """Check if the visualization should be rendered.""" - return (sm.seen['driverStateV2'] and + return (sm.recv_frame['driverStateV2'] > ui_state.started_frame and sm.seen['driverMonitoringState'] and sm['selfdriveState'].alertSize == 0) diff --git a/system/ui/onroad/hud_renderer.py b/system/ui/onroad/hud_renderer.py index ee182daef8..3ba2cb2280 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/system/ui/onroad/hud_renderer.py @@ -1,9 +1,9 @@ import pyray as rl from dataclasses import dataclass from cereal.messaging import SubMaster +from openpilot.system.ui.lib.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV -from enum import IntEnum # Constants SET_SPEED_NA = 255 @@ -53,17 +53,9 @@ FONT_SIZES = FontSizes() COLORS = Colors() -class HudStatus(IntEnum): - DISENGAGED = 0 - OVERRIDE = 1 - ENGAGED = 2 - - class HudRenderer: def __init__(self): """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 @@ -77,10 +69,7 @@ class HudRenderer: 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 - - if not sm.valid['carState']: + if sm.recv_frame["carState"] < ui_state.started_frame: self.is_cruise_set = False self.set_speed = SET_SPEED_NA self.speed = 0.0 @@ -96,13 +85,13 @@ 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: @@ -125,7 +114,7 @@ class HudRenderer: 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 @@ -137,11 +126,12 @@ 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 @@ -172,7 +162,7 @@ class HudRenderer: 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 = "km/h" if ui_state.is_metric else "mph" unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium') 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) @@ -183,7 +173,7 @@ class HudRenderer: 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 + opacity = 0.7 if ui_state.status == UIStatus.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))) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 44bd3f72ca..eedf10cc4f 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -5,6 +5,7 @@ from cereal import messaging, car from dataclasses import dataclass, field from openpilot.common.params import Params from openpilot.system.ui.lib.application import DEFAULT_FPS +from openpilot.system.ui.lib.ui_state import ui_state from openpilot.system.ui.lib.shader_polygon import draw_polygon @@ -86,7 +87,8 @@ class ModelRenderer: def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster): # 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 From bb36b6687c945468411b4c5686e9e42cf93ad820 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 2 Jun 2025 11:44:00 -0700 Subject: [PATCH 17/44] [bot] Update translations (#35424) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_de.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_es.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_fr.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_ja.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_ko.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_pt-BR.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_th.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_tr.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_zh-CHS.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_zh-CHT.ts | 20 ++++++++++++++++---- 11 files changed, 176 insertions(+), 44 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 0c3b934dde..7ebb1987b2 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -306,6 +306,14 @@ PAIR إقران + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1040,10 +1048,6 @@ This may take up to a minute. Enable openpilot تمكين openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - استخدم نظام openpilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة. - Enable Lane Departure Warnings قم بتمكين تحذيرات مغادرة المسار @@ -1144,6 +1148,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index db0fe97036..386b70476e 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -306,6 +306,14 @@ PAIR KOPPELN + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1022,10 +1030,6 @@ Dies kann bis zu einer Minute dauern. Enable openpilot Openpilot aktivieren - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist. - Enable Lane Departure Warnings Spurverlassenswarnungen aktivieren @@ -1126,6 +1130,14 @@ Dies kann bis zu einer Minute dauern. Enable driver monitoring even when openpilot is not engaged. Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index c4ead7ca9d..ba35d2110b 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -306,6 +306,14 @@ Disengage to Power Off Desactivar para apagar + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1020,10 +1028,6 @@ Esto puede tardar un minuto. Enable openpilot Activar openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado. - Experimental Mode Modo Experimental @@ -1124,6 +1128,14 @@ Esto puede tardar un minuto. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. Activar el control longitudinal (fase experimental) para permitir el modo Experimental. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 74849bd6fc..2b7dd4a5e8 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -306,6 +306,14 @@ PAIR ASSOCIER + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1018,10 +1026,6 @@ Cela peut prendre jusqu'à une minute. Enable openpilot Activer openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Utilisez le système openpilot pour le régulateur de vitesse adaptatif et l'assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte. - Experimental Mode Mode expérimental @@ -1122,6 +1126,14 @@ Cela peut prendre jusqu'à une minute. Enable driver monitoring even when openpilot is not engaged. Activer la surveillance conducteur lorsque openpilot n'est pas actif. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 169df93c33..821fa35752 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -306,6 +306,14 @@ PAIR OK + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot openpilotを有効化 - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - openpilotによるアダプティブクルーズコントロールとレーンキープアシストを利用します。この機能を利用する際は常に前方への注意が必要です。この設定を変更は車の電源が必要です。 - Enable Lane Departure Warnings 車線逸脱警報の有効化 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. openpilotが作動していない場合でも運転者モニタリングを有効にする。 + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index dea01b44ee..0d91b06049 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -306,6 +306,14 @@ PAIR 동기화 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot 오픈파일럿 사용 - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 오픈파일럿 시스템을 사용하여 어댑티브 크루즈 컨트롤과 차로 유지 보조 기능을 활용하십시오. 이 기능을 사용할 때에는 항상 주의를 기울여야 합니다. 설정 변경은 차량을 재시동해야 적용됩니다. - Enable Lane Departure Warnings 차선 이탈 경고 활성화 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 오픈파일럿이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 3182370f42..e25f345ae7 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -306,6 +306,14 @@ PAIR PAREAR + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1020,10 +1028,6 @@ Isso pode levar até um minuto. Enable openpilot Ativar openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado. - Enable Lane Departure Warnings Ativar Avisos de Saída de Faixa @@ -1124,6 +1128,14 @@ Isso pode levar até um minuto. Enable driver monitoring even when openpilot is not engaged. Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index c587cfbd12..034b996606 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -306,6 +306,14 @@ PAIR จับคู่ + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot เปิดใช้งาน openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ - Enable Lane Departure Warnings เปิดใช้งานการเตือนการออกนอกเลน @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. เปิดใช้งานการเฝ้าระวังผู้ขับขี่แม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่ + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 62de11145a..cd30fae20f 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -306,6 +306,14 @@ PAIR + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1011,10 +1019,6 @@ This may take up to a minute. Enable openpilot openpilot'u aktifleştir - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için openpilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor. - Enable Lane Departure Warnings Şerit ihlali uyarı alın @@ -1115,6 +1119,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 26537d3f64..af1f940cf5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -306,6 +306,14 @@ PAIR 配对 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot 启用openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。 - Enable Lane Departure Warnings 启用车道偏离警告 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 即使在openpilot未激活时也启用驾驶员监控。 + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 160c293072..534639e09b 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -306,6 +306,14 @@ PAIR 配對 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot 啟用 openpilot - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 - Enable Lane Departure Warnings 啟用車道偏離警告 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 即使在openpilot未激活時也啟用駕駛監控。 + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + Updater From 29afd667ccf3c72a3a2228b0608b9554e5dee1c4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 04:27:17 +0800 Subject: [PATCH 18/44] move onroad/driving stuff from system/ui to selfdrive/ui (#35425) * mv system/ui/onroad->selfdrive/ui/onroad * mv ui_state * fix import path * fix imports * mv cameraview * remove from application --- selfdrive/ui/onroad/__init__.py | 0 .../ui/onroad/alert_renderer.py | 2 +- .../ui/onroad/augmented_road_view.py | 13 +++++++------ .../ui/onroad}/cameraview.py | 0 .../ui/onroad}/driver_camera_view.py | 4 ++-- {system => selfdrive}/ui/onroad/driver_state.py | 2 +- {system => selfdrive}/ui/onroad/hud_renderer.py | 2 +- .../ui/onroad/model_renderer.py | 2 +- {system/ui/lib => selfdrive/ui}/ui_state.py | 0 system/ui/lib/application.py | 16 +--------------- 10 files changed, 14 insertions(+), 27 deletions(-) create mode 100644 selfdrive/ui/onroad/__init__.py rename {system => selfdrive}/ui/onroad/alert_renderer.py (99%) rename {system => selfdrive}/ui/onroad/augmented_road_view.py (93%) rename {system/ui/widgets => selfdrive/ui/onroad}/cameraview.py (100%) rename {system/ui/widgets => selfdrive/ui/onroad}/driver_camera_view.py (95%) rename {system => selfdrive}/ui/onroad/driver_state.py (99%) rename {system => selfdrive}/ui/onroad/hud_renderer.py (99%) rename {system => selfdrive}/ui/onroad/model_renderer.py (99%) rename {system/ui/lib => selfdrive/ui}/ui_state.py (100%) diff --git a/selfdrive/ui/onroad/__init__.py b/selfdrive/ui/onroad/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py similarity index 99% rename from system/ui/onroad/alert_renderer.py rename to selfdrive/ui/onroad/alert_renderer.py index 5bdfebb18c..cc1b49a6a4 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -5,7 +5,7 @@ from cereal import messaging, log from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box -from openpilot.system.ui.lib.ui_state import ui_state +from openpilot.selfdrive.ui.ui_state import ui_state ALERT_MARGIN = 40 diff --git a/system/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py similarity index 93% rename from system/ui/onroad/augmented_road_view.py rename to selfdrive/ui/onroad/augmented_road_view.py index 63404f3f9e..9a7d88e504 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -3,12 +3,12 @@ import pyray as rl from cereal import log from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.ui_state import ui_state, UIStatus, UI_BORDER_SIZE -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 @@ -175,6 +175,7 @@ if __name__ == "__main__": print("***press space to switch camera view***") try: for _ in gui_app.render(): + ui_state.update() if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) diff --git a/system/ui/widgets/cameraview.py b/selfdrive/ui/onroad/cameraview.py similarity index 100% rename from system/ui/widgets/cameraview.py rename to selfdrive/ui/onroad/cameraview.py diff --git a/system/ui/widgets/driver_camera_view.py b/selfdrive/ui/onroad/driver_camera_view.py similarity index 95% rename from system/ui/widgets/driver_camera_view.py rename to selfdrive/ui/onroad/driver_camera_view.py index 56dcbf2b9e..2f9ff2ca7a 100644 --- a/system/ui/widgets/driver_camera_view.py +++ b/selfdrive/ui/onroad/driver_camera_view.py @@ -1,11 +1,11 @@ import numpy as np import pyray as rl from cereal import messaging -from openpilot.system.ui.widgets.cameraview import CameraView from msgq.visionipc import VisionStreamType +from openpilot.selfdrive.ui.onroad.cameraview import CameraView +from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_label -from openpilot.system.ui.onroad.driver_state import DriverStateRenderer class DriverCameraView(CameraView): diff --git a/system/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py similarity index 99% rename from system/ui/onroad/driver_state.py rename to selfdrive/ui/onroad/driver_state.py index 8017021ee5..8e950f514e 100644 --- a/system/ui/onroad/driver_state.py +++ b/selfdrive/ui/onroad/driver_state.py @@ -1,8 +1,8 @@ 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.ui_state import ui_state, UI_BORDER_SIZE # Default 3D coordinates for face keypoints as a NumPy array diff --git a/system/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py similarity index 99% rename from system/ui/onroad/hud_renderer.py rename to selfdrive/ui/onroad/hud_renderer.py index 3ba2cb2280..ed0b7cc974 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -1,7 +1,7 @@ import pyray as rl from dataclasses import dataclass from cereal.messaging import SubMaster -from openpilot.system.ui.lib.ui_state import ui_state, UIStatus +from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV diff --git a/system/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py similarity index 99% rename from system/ui/onroad/model_renderer.py rename to selfdrive/ui/onroad/model_renderer.py index eedf10cc4f..38951fb504 100644 --- a/system/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -4,8 +4,8 @@ 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.ui_state import ui_state from openpilot.system.ui.lib.shader_polygon import draw_polygon diff --git a/system/ui/lib/ui_state.py b/selfdrive/ui/ui_state.py similarity index 100% rename from system/ui/lib/ui_state.py rename to selfdrive/ui/ui_state.py diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 2e3553038a..fcef55d531 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -36,16 +36,6 @@ class FontWeight(IntEnum): BLACK = 8 -def _get_ui_state(): - """Safely import and return ui_state, or None if unavailable.""" - try: - from openpilot.system.ui.lib.ui_state import ui_state - - return ui_state - except ImportError: - return None - - class GuiApplication: def __init__(self, width: int, height: int): self._fonts: dict[FontWeight, rl.Font] = {} @@ -149,7 +139,6 @@ class GuiApplication: rl.close_window() def render(self): - ui_state = _get_ui_state() try: while not (self._window_close_requested or rl.window_should_close()): if self._render_texture: @@ -159,9 +148,6 @@ class GuiApplication: rl.begin_drawing() rl.clear_background(rl.BLACK) - if ui_state is not None: - ui_state.update() - yield if self._render_texture: @@ -206,7 +192,7 @@ class GuiApplication: # Create a character set from our keyboard layouts from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS - from openpilot.system.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR + from openpilot.selfdrive.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR all_chars = set() for layout in KEYBOARD_LAYOUTS.values(): all_chars.update(key for row in layout for key in row) From 1ee7b4ad0efeb166ad5d54becb5479d59283e5b0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 2 Jun 2025 23:49:29 -0400 Subject: [PATCH 19/44] ci: higher delay between UI Preview screenshots (#978) --- selfdrive/ui/tests/test_ui/run.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index f8c64de769..0b9d266ad6 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -26,7 +26,7 @@ from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.route import Route from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR -UI_DELAY = 0.1 # may be slower on CI? +UI_DELAY = 0.5 # may be slower on CI? TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = [] From 1a84b05bded44a17c526292686054f66a9749fe9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Jun 2025 20:53:11 -0700 Subject: [PATCH 20/44] lagd: make method static --- selfdrive/locationd/lagd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 4e207b4882..a61793e223 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -303,7 +303,8 @@ 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) From 28bf362f69d7f1d2069f3b7de6feb80de4e00b32 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 12:13:21 +0800 Subject: [PATCH 21/44] ui: add safety check to prevent ui overlay access to invalid data (#35432) check ui_state.started --- selfdrive/ui/onroad/augmented_road_view.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 9a7d88e504..f987d70c9c 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -44,6 +44,10 @@ class AugmentedRoadView(CameraView): self.driver_state_renderer = DriverStateRenderer() def render(self, rect): + # Only render when system is started to avoid invalid data access + if not ui_state.started: + return + # Update calibration before rendering self._update_calibration() From 8695134b089af6206a10a54aca40cdfa0555e6fa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Jun 2025 21:14:53 -0700 Subject: [PATCH 22/44] Faster lagd test (#35430) * disable in release * pass * one liner * saves 1s so far * clean up * fix * Revert "one liner" This reverts commit 5f419b5692565fc7ddc2abe9a40112fdc47ffe9e. Revert "pass" This reverts commit 47d260e76a9cb1310b95ea1ff83ab7f8808be96d. Revert "disable in release" This reverts commit 1782718b61891d87cbb9daa1c4c65314f505cee4. * clean up * there's more * no mocker! --- selfdrive/locationd/test/test_lagd.py | 48 +++++++++++---------------- 1 file changed, 20 insertions(+), 28 deletions(-) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index b805f1759d..aad8cff229 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) @@ -94,8 +86,8 @@ 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' @@ -103,12 +95,12 @@ class TestLagd: assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag) assert msg.liveDelay.validBlocks == 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) @@ -116,18 +108,18 @@ class TestLagd: assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED - def test_estimator_masking(self, mocker): - mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19) + 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) @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 = [] From 9568f64c574cbe703f13285cfac32cb95cbdd19a Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 3 Jun 2025 13:15:08 +0900 Subject: [PATCH 23/44] Multilang: kor translation update (#35429) kor translation update --- selfdrive/ui/translations/main_ko.ts | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 0d91b06049..bdebdcab73 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -60,7 +60,7 @@ Cellular Metered - 데이터 요금제 + 모바일 데이터 종량제 Hidden Network @@ -84,27 +84,27 @@ Prevent large data uploads when on a metered cellular connection - + 모바일 데이터 종량제 사용 시 대용량 데이터 업로드 방지 default - + 기본 metered - + 종량제 unmetered - + 무제한 Wi-Fi Network Metered - + 제한된 Wi-Fi 네트워크 Prevent large data uploads when on a metered Wi-Fi connection - + 제한된 Wi-Fi 사용 시 대용량 데이터 업로드 방지 @@ -248,7 +248,7 @@ 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. - 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내의 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. @@ -308,11 +308,11 @@ Disengage to Reset Calibration - + 캘리브레이션을 재설정하려면 해제하세요 Resetting calibration will restart openpilot if the car is powered on. - + 차량이 전원이 켜진 경우 캘리브레이션 재설정이 오픈파일럿을 재시작합니다. @@ -1125,11 +1125,11 @@ This may take up to a minute. Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. - + ACC 및 차선 유지 지원을 위해 오픈파일럿 시스템을 사용하십시오. 이 기능을 사용하려면 항상주의를 기울여야합니다. Changing this setting will restart openpilot if the car is powered on. - + 이 설정을 변경하면 차량이 재가동된후 오픈파일럿이 시작됩니다. From 108790870ef3d307fc5d5518d1d50f75dcaea048 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Tue, 3 Jun 2025 01:18:34 -0300 Subject: [PATCH 24/44] Multilang: Update pt-BR translations. (#35428) --- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index e25f345ae7..e977ee7b58 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -308,11 +308,11 @@ Disengage to Reset Calibration - + Desacione para Resetar a Calibração Resetting calibration will restart openpilot if the car is powered on. - + Resetar a calibração fará com que o openpilot reinicie se o carro estiver ligado. @@ -1130,11 +1130,11 @@ Isso pode levar até um minuto. Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. - + Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. Changing this setting will restart openpilot if the car is powered on. - + Alterar esta configuração fará com que o openpilot reinicie se o carro estiver ligado. From 9c28583171ba3336f3c93d6e9d567263dda79ac5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 3 Jun 2025 00:28:55 -0400 Subject: [PATCH 25/44] ui: include MADS enabled state to `engaged` check (#976) * ui: include MADS enabled state to `engaged` check * let's bump it up --- selfdrive/ui/sunnypilot/ui.h | 5 +++++ selfdrive/ui/ui.h | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index 08e1d37b0f..a94dfca3b3 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -20,6 +20,11 @@ class UIStateSP : public UIState { public: UIStateSP(QObject *parent = 0); void updateStatus() override; + inline bool engaged() const override { + return scene.started && ( + (*sm)["selfdriveState"].getSelfdriveState().getEnabled() || (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled() + ); + } void setSunnylinkRoles(const std::vector &roles); void setSunnylinkDeviceUsers(const std::vector &users); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 6ef4f8e6d9..4ead8aecb9 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -72,7 +72,7 @@ class UIState : public QObject { public: UIState(QObject* parent = 0); virtual void updateStatus(); - inline bool engaged() const { + virtual inline bool engaged() const { return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled(); } From 6f6adc10a83aa5ab775a2b0aaebb7ab4396f4268 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Jun 2025 21:29:05 -0700 Subject: [PATCH 26/44] lagd: disable in release (#35426) * disable in release * pass * one liner * Update selfdrive/locationd/lagd.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * test --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- selfdrive/locationd/lagd.py | 11 ++++++++--- selfdrive/locationd/test/test_lagd.py | 12 ++++++++++++ 2 files changed, 20 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index a61793e223..e070c16b1c 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: @@ -367,7 +369,10 @@ 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 aad8cff229..a7f9c75ab4 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -108,6 +108,18 @@ class TestLagd: assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + 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 + 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) From f78ba72a85c4509d4c14b80e96c00804ee7a0844 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 12:32:13 +0800 Subject: [PATCH 27/44] ui: add timeout check for unresponsive system detection (#35433) add time out to check if messages have stopped arriving --- selfdrive/ui/onroad/alert_renderer.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index cc1b49a6a4..8efee54373 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -3,7 +3,7 @@ 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 +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEBUG_FPS from openpilot.system.ui.lib.label import gui_text_box from openpilot.selfdrive.ui.ui_state import ui_state @@ -70,17 +70,21 @@ class AlertRenderer: """Generate the current alert based on selfdrive state.""" ss = sm['selfdriveState'] - # Check if waiting to start - if sm.recv_frame['selfdriveState'] < ui_state.started_frame: - return ALERT_STARTUP_PENDING + # Check if selfdriveState messages have stopped arriving + if not sm.updated['selfdriveState']: + recv_frame = sm.recv_frame['selfdriveState'] + if (sm.frame - recv_frame) > 5 * DEBUG_FPS: + # Check if waiting to start + if recv_frame < ui_state.started_frame: + return ALERT_STARTUP_PENDING - # Handle selfdrive timeout - if TICI: - 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 + # Handle selfdrive timeout + if TICI: + 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: From 5505338ffbf080b8d2b060271a256856a38322ec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 2 Jun 2025 21:54:37 -0700 Subject: [PATCH 28/44] model replay: less frames and less complexity (#35427) * Revert "ci: faster model_replay (#34036)" This reverts commit 847a5ce1f3ea18648e1483d2fb6e831f0cdbd40c. * fix conflict * trigger on test change * zst * give start and end frame * unused flags * no print * whitespace * fix plotting * slice correct * no print * Just start from beginning --- selfdrive/test/process_replay/model_replay.py | 68 ++++++------------- tools/lib/framereader.py | 22 ------ 2 files changed, 20 insertions(+), 70 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 0578a61588..201baf6b0e 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -15,15 +15,15 @@ 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 +125,15 @@ 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 +145,9 @@ 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 +164,6 @@ 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 @@ -198,42 +194,21 @@ def model_replay(lr, frs): 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') - - 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)} - - if __name__ == "__main__": update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master') replay_dir = os.path.dirname(os.path.abspath(__file__)) # load logs lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst"))) - frs = get_frames() + frs = { + 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True), + 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True), + 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True) + } 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 +217,10 @@ 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/tools/lib/framereader.py b/tools/lib/framereader.py index 7c01992a28..275b9b65b8 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -535,25 +535,3 @@ def FrameIterator(fn, pix_fmt, **kwargs): 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]] From c7767bddfe3b1f29c601d07ebbbcee2824587dd6 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 3 Jun 2025 04:12:08 -0700 Subject: [PATCH 29/44] UI: prep for custom model rendering (#920) * Refactor and extend ModelRenderer for custom Sunnypilot logic Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components. * Update selfdrive/ui/sunnypilot/qt/onroad/model.cc * Refactor `ModelRenderer` for modularity Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes. * Cleaning logic on ModelRenderSP Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation --------- Co-authored-by: DevTekVE Co-authored-by: Jason Wen --- selfdrive/ui/qt/onroad/annotated_camera.h | 2 ++ selfdrive/ui/qt/onroad/model.cc | 15 +-------------- selfdrive/ui/qt/onroad/model.h | 22 ++++++++++++++++++++-- selfdrive/ui/sunnypilot/qt/onroad/model.h | 2 +- 4 files changed, 24 insertions(+), 17 deletions(-) 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/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h index e8594629cb..8569e58f66 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h @@ -11,5 +11,5 @@ class ModelRendererSP : public ModelRenderer { public: - ModelRendererSP() {} + ModelRendererSP() = default; }; From 10dc40db04d29260ffcc6684d5271aab2c659687 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 02:07:42 +0800 Subject: [PATCH 30/44] ui: fill the bg with disengaged color if not started (#35434) fill the bg with disengaged color if not started --- selfdrive/ui/onroad/augmented_road_view.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index f987d70c9c..58ba822e35 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -45,7 +45,8 @@ class AugmentedRoadView(CameraView): def render(self, rect): # Only render when system is started to avoid invalid data access - if not ui_state.started: + if not ui_state.started or not self.frame: + rl.draw_rectangle_rec(rect, BORDER_COLORS[UIStatus.DISENGAGED]) return # Update calibration before rendering From e6f55a7eea008f042a76e82fa340e6ffbff4e510 Mon Sep 17 00:00:00 2001 From: Nayan Date: Tue, 3 Jun 2025 16:05:02 -0400 Subject: [PATCH 31/44] ui: visuals panel (#919) --- selfdrive/ui/sunnypilot/SConscript | 1 + .../sunnypilot/qt/offroad/settings/settings.cc | 2 ++ .../qt/offroad/settings/visuals_panel.cc | 12 ++++++++++++ .../qt/offroad/settings/visuals_panel.h | 18 ++++++++++++++++++ selfdrive/ui/tests/test_ui/run.py | 7 +++++++ .../selfdrive/assets/offroad/icon_visuals.png | 3 +++ 6 files changed, 43 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_visuals.png diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index b5d18c5b91..0353c9babd 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -31,6 +31,7 @@ qt_src = [ "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", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index ad057ac714..e91de4c903 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -20,6 +20,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_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); @@ -83,6 +84,7 @@ 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("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..cf9729be18 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -0,0 +1,12 @@ +/** + * 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) { + +} 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..9f58104c4e --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h @@ -0,0 +1,18 @@ +/** + * 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" + +class VisualsPanel : public QWidget { + Q_OBJECT + +public: + explicit VisualsPanel(QWidget *parent = nullptr); + +}; diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 0b9d266ad6..536917a1a6 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -252,6 +252,12 @@ def setup_settings_driving(click, pm: PubMaster, scroll=None): click(278, 962) 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): setup_settings_device(click, pm) scroll(-400, 278, 962) @@ -307,6 +313,7 @@ CASES.update({ "settings_steering_mads": setup_settings_steering_mads, "settings_steering_alc": setup_settings_steering_alc, "settings_driving": setup_settings_driving, + "settings_visuals": setup_settings_visuals, "settings_trips": setup_settings_trips, "settings_vehicle": setup_settings_vehicle, }) 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 From da58feb869fef108f2d4c5e9d1b90dcfe661ff96 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 04:08:10 +0800 Subject: [PATCH 32/44] system/ui: fix wifi network icon resize artifacts (#35440) fix wifi network icon resize artifacts --- system/ui/widgets/network.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 46274dbf7e..80f55ebf56 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -15,7 +15,7 @@ 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", From 928dc6259b6e1cec383cd02038ff27f7dd2f9ea5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 14:51:15 -0700 Subject: [PATCH 33/44] Revert "ui: fill the bg with disengaged color if not started" (#35441) Revert "ui: fill the bg with disengaged color if not started (#35434)" This reverts commit 10dc40db04d29260ffcc6684d5271aab2c659687. --- selfdrive/ui/onroad/augmented_road_view.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 58ba822e35..f987d70c9c 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -45,8 +45,7 @@ class AugmentedRoadView(CameraView): def render(self, rect): # Only render when system is started to avoid invalid data access - if not ui_state.started or not self.frame: - rl.draw_rectangle_rec(rect, BORDER_COLORS[UIStatus.DISENGAGED]) + if not ui_state.started: return # Update calibration before rendering From ae8076e729b5e293b11b07055c80acdcc4282f64 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 05:51:56 +0800 Subject: [PATCH 34/44] selfdrive/ui: add experimental mode toggle button with visual indicator (#35439) add experimental mode toggle button with visual indicator --- selfdrive/ui/onroad/hud_renderer.py | 55 ++++++++++++++++++++++++----- 1 file changed, 47 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index ed0b7cc974..c2482771de 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -4,6 +4,7 @@ from cereal.messaging import SubMaster from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params # Constants SET_SPEED_NA = 255 @@ -61,8 +62,17 @@ class HudRenderer: self.set_speed: float = SET_SPEED_NA self.speed: float = 0.0 self.v_ego_cluster_seen: bool = False + self._experimental_mode: bool = False + self._engageable: bool = False + self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} + + self._white_color: rl.Color = rl.Color(255, 255, 255, 255) self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._experimental_texture: rl.Texture = gui_app.texture('icons/experimental.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._wheel_rect: rl.Rectangle = rl.Rectangle(0, 0, UI_CONFIG.button_size, UI_CONFIG.button_size) + self._params = Params() + 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) @@ -94,9 +104,15 @@ class HudRenderer: 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) + selfdrive_state = sm["selfdriveState"] + self._experimental_mode = selfdrive_state.experimentalMode + self._engageable = selfdrive_state.engageable or selfdrive_state.enabled + def draw(self, rect: rl.Rectangle, sm: SubMaster) -> 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), @@ -110,7 +126,17 @@ class HudRenderer: self._draw_set_speed(rect) self._draw_current_speed(rect) - self._draw_wheel_icon(rect) + + self._wheel_rect.x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size + self._wheel_rect.y = rect.y + UI_CONFIG.border_size + self._handle_click() + self._draw_wheel_icon() + + def _handle_click(self) -> None: + if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)): + if self._experimental_toggle_allowed(): + self._params.putBool("ExperimentalMode", not self._experimental_mode) def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" @@ -167,15 +193,18 @@ class HudRenderer: 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: + def _draw_wheel_icon(self) -> 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) + center_x = int(self._wheel_rect.x + self._wheel_rect.width // 2) + center_y = int(self._wheel_rect.y + self._wheel_rect.height // 2) - opacity = 0.7 if ui_state.status == UIStatus.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))) + mouse_down = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)) + self._white_color.a = 180 if (mouse_down or not self._engageable) else 255 + texture = self._experimental_texture if self._experimental_mode else self._wheel_texture + + rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) + rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2: """Measure text dimensions with caching.""" @@ -183,3 +212,13 @@ class HudRenderer: 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] + + def _experimental_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 From 68b043606c20e43acd66960db19784562726aa65 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 05:52:43 +0800 Subject: [PATCH 35/44] ui: fix alert timeout detection using wrong FPS constant (#35438) fix alert timeiout detection using wrong FPS constant --- selfdrive/ui/onroad/alert_renderer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index 8efee54373..37276b11a4 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -3,7 +3,7 @@ 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, DEBUG_FPS +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS from openpilot.system.ui.lib.label import gui_text_box from openpilot.selfdrive.ui.ui_state import ui_state @@ -73,7 +73,7 @@ class AlertRenderer: # Check if selfdriveState messages have stopped arriving if not sm.updated['selfdriveState']: recv_frame = sm.recv_frame['selfdriveState'] - if (sm.frame - recv_frame) > 5 * DEBUG_FPS: + if (sm.frame - recv_frame) > 5 * DEFAULT_FPS: # Check if waiting to start if recv_frame < ui_state.started_frame: return ALERT_STARTUP_PENDING From fb6243688dd508f9e467ad7a83b52e73d4219758 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 14:53:26 -0700 Subject: [PATCH 36/44] raylib: rename DEBUG_FPS --- system/ui/README.md | 2 +- system/ui/lib/application.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) 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 fcef55d531..c2d6ac8e2c 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -13,7 +13,7 @@ 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' +SHOW_FPS = os.getenv("SHOW_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' SCALE = float(os.getenv("SCALE", "1.0")) @@ -158,7 +158,7 @@ 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() From 2dcab07be7d087cd381c0256817025aac3004fc6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 14:59:07 -0700 Subject: [PATCH 37/44] Revert "selfdrive/ui: add experimental mode toggle button with visual indicator" (#35442) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "selfdrive/ui: add experimental mode toggle button with visual indicat…" This reverts commit ae8076e729b5e293b11b07055c80acdcc4282f64. --- selfdrive/ui/onroad/hud_renderer.py | 55 +++++------------------------ 1 file changed, 8 insertions(+), 47 deletions(-) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index c2482771de..ed0b7cc974 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -4,7 +4,6 @@ from cereal.messaging import SubMaster from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params # Constants SET_SPEED_NA = 255 @@ -62,17 +61,8 @@ class HudRenderer: self.set_speed: float = SET_SPEED_NA self.speed: float = 0.0 self.v_ego_cluster_seen: bool = False - self._experimental_mode: bool = False - self._engageable: bool = False - self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} - - self._white_color: rl.Color = rl.Color(255, 255, 255, 255) self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) - self._experimental_texture: rl.Texture = gui_app.texture('icons/experimental.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) - self._wheel_rect: rl.Rectangle = rl.Rectangle(0, 0, UI_CONFIG.button_size, UI_CONFIG.button_size) - self._params = Params() - 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) @@ -104,15 +94,9 @@ class HudRenderer: 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) - selfdrive_state = sm["selfdriveState"] - self._experimental_mode = selfdrive_state.experimentalMode - self._engageable = selfdrive_state.engageable or selfdrive_state.enabled - def draw(self, rect: rl.Rectangle, sm: SubMaster) -> 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), @@ -126,17 +110,7 @@ class HudRenderer: self._draw_set_speed(rect) self._draw_current_speed(rect) - - self._wheel_rect.x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size - self._wheel_rect.y = rect.y + UI_CONFIG.border_size - self._handle_click() - self._draw_wheel_icon() - - def _handle_click(self) -> None: - if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and - rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)): - if self._experimental_toggle_allowed(): - self._params.putBool("ExperimentalMode", not self._experimental_mode) + self._draw_wheel_icon(rect) def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" @@ -193,18 +167,15 @@ class HudRenderer: 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) -> None: + def _draw_wheel_icon(self, rect: rl.Rectangle) -> None: """Draw the steering wheel icon with status-based opacity.""" - center_x = int(self._wheel_rect.x + self._wheel_rect.width // 2) - center_y = int(self._wheel_rect.y + self._wheel_rect.height // 2) - - mouse_down = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and - rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)) - self._white_color.a = 180 if (mouse_down or not self._engageable) else 255 - texture = self._experimental_texture if self._experimental_mode else self._wheel_texture - + 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) - rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) + + opacity = 0.7 if ui_state.status == UIStatus.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.""" @@ -212,13 +183,3 @@ class HudRenderer: 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] - - def _experimental_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 From 4c8f15221e97a17f2d83454363a099b7f379b2d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 22:07:52 -0700 Subject: [PATCH 38/44] Tesla: move safety out of debug (#35447) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index f01c4b82b1..0d7fef4422 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f01c4b82b1cd41ef8053a038ad631bbd31105fc6 +Subproject commit 0d7fef4422456aeb456fa895da1617a1f61f6896 From fc0bb721472a8f3ad91e824bf8279f2e763c2884 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 14:06:46 +0800 Subject: [PATCH 39/44] selfdrive/ui: enable conflate mode in VisionIpcClient to prevent stale frame rendering (#35445) use conflate mode in VisionIpcClient to prevent stale frame rendering --- selfdrive/ui/onroad/cameraview.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index 329b8349ba..d59e7b0a48 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -57,7 +57,7 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): - self.client = VisionIpcClient(name, stream_type, False) + self.client = VisionIpcClient(name, stream_type, conflate=True) self._name = name self._stream_type = stream_type @@ -90,7 +90,7 @@ class CameraView: self._clear_textures() self.frame = None self._stream_type = stream_type - self.client = VisionIpcClient(self._name, stream_type, False) + self.client = VisionIpcClient(self._name, stream_type, conflate=True) @property def stream_type(self) -> VisionStreamType: From 7ee50e7b870a753e65714b5127fabf4ecbdce3a7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 14:07:29 +0800 Subject: [PATCH 40/44] system/ui: add text measurement caching (#35436) --- selfdrive/ui/onroad/alert_renderer.py | 10 ++-------- selfdrive/ui/onroad/hud_renderer.py | 17 +++++------------ system/ui/lib/text_measure.py | 13 +++++++++++++ 3 files changed, 20 insertions(+), 20 deletions(-) create mode 100644 system/ui/lib/text_measure.py diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index 37276b11a4..7b0128271e 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -5,6 +5,7 @@ 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.selfdrive.ui.ui_state import ui_state @@ -64,7 +65,6 @@ class AlertRenderer: def __init__(self): 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 get_alert(self, sm: messaging.SubMaster) -> Alert | None: """Generate the current alert based on selfdrive state.""" @@ -152,14 +152,8 @@ class AlertRenderer: text_rect.y = rect.y + rect.height // 2 gui_text_box(text_rect, alert.text2, ALERT_FONT_BIG, alignment=align_ment) - def _measure_text(self, font: rl.Font, text: str, font_size: int, font_type: str) -> rl.Vector2: - 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] - def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None: - text_size = self._measure_text(font, text, font_size, 'bold' if font == self.font_bold else 'regular') + 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/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index ed0b7cc974..0e893acfe9 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -3,6 +3,7 @@ from dataclasses import dataclass from cereal.messaging import SubMaster from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus 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 # Constants @@ -61,7 +62,6 @@ class HudRenderer: 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) @@ -134,7 +134,7 @@ class HudRenderer: 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, @@ -145,7 +145,7 @@ class HudRenderer: ) set_speed_text = CRUISE_DISABLED_CHAR 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 + 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, @@ -158,12 +158,12 @@ 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 ui_state.is_metric else "mph" - unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium') + 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) @@ -176,10 +176,3 @@ class HudRenderer: opacity = 0.7 if ui_state.status == UIStatus.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/lib/text_measure.py b/system/ui/lib/text_measure.py new file mode 100644 index 0000000000..9cdd566409 --- /dev/null +++ b/system/ui/lib/text_measure.py @@ -0,0 +1,13 @@ +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: + 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) + _cache[key] = result + return result From 2e41d959ac8610f2a91d28627c0f1357b1089453 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 14:12:36 +0800 Subject: [PATCH 41/44] ui: add main UI entry point (#35422) * add new main UI entry point * cleanup * mv to selfdrive/ui * fix imports * handle_mouse_click * use ui_state * remove ui_state from gui_app * setup callbacks * handle clicks * put layouts in a dict * update state in render * rebase master * implement settings sidebar * rename files --- selfdrive/ui/layouts/__init__.py | 0 selfdrive/ui/layouts/home.py | 17 ++ selfdrive/ui/layouts/main.py | 92 +++++++++ selfdrive/ui/layouts/settings/settings.py | 174 +++++++++++++++++ selfdrive/ui/layouts/sidebar.py | 207 +++++++++++++++++++++ selfdrive/ui/onroad/augmented_road_view.py | 2 +- selfdrive/ui/ui.py | 20 ++ 7 files changed, 511 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/layouts/__init__.py create mode 100644 selfdrive/ui/layouts/home.py create mode 100644 selfdrive/ui/layouts/main.py create mode 100644 selfdrive/ui/layouts/settings/settings.py create mode 100644 selfdrive/ui/layouts/sidebar.py create mode 100755 selfdrive/ui/ui.py 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..56df253b52 --- /dev/null +++ b/selfdrive/ui/layouts/home.py @@ -0,0 +1,17 @@ +import pyray as rl +from openpilot.system.ui.lib.label import gui_text_box + + +class HomeLayout: + def __init__(self): + pass + + def render(self, rect: rl.Rectangle): + gui_text_box( + rect, + "Demo Home Layout", + font_size=170, + color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py new file mode 100644 index 0000000000..2096480f22 --- /dev/null +++ b/selfdrive/ui/layouts/main.py @@ -0,0 +1,92 @@ +import pyray as rl +from enum import IntEnum +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 +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView + + +class MainState(IntEnum): + HOME = 0 + SETTINGS = 1 + ONROAD = 2 + + +class MainLayout: + def __init__(self): + self._sidebar = Sidebar() + self._sidebar_visible = True + self._current_mode = MainState.HOME + self._prev_onroad = False + self._window_rect = None + self._current_callback: callable | None = None + + # 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, rect): + self._current_callback = None + + self._update_layout_rects(rect) + self._render_main_content() + self._handle_input() + + if self._current_callback: + self._current_callback() + + def _setup_callbacks(self): + self._sidebar.set_callbacks( + on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked), + on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked), + ) + self._layouts[MainState.SETTINGS].set_callbacks( + on_close=lambda: setattr(self, '_current_callback', self._on_settings_closed) + ) + + def _update_layout_rects(self, rect): + self._window_rect = rect + self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height) + + x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0 + self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height) + + def _on_settings_clicked(self): + self._current_mode = MainState.SETTINGS + self._sidebar_visible = False + + def _on_settings_closed(self): + self._current_mode = MainState.HOME if not ui_state.started else MainState.ONROAD + self._sidebar_visible = True + + def _on_flag_clicked(self): + pass + + def _render_main_content(self): + # Render sidebar + if self._sidebar_visible: + self._sidebar.render(self._sidebar_rect) + + if ui_state.started != self._prev_onroad: + self._prev_onroad = ui_state.started + if ui_state.started: + self._current_mode = MainState.ONROAD + else: + self._current_mode = MainState.HOME + + content_rect = self._content_rect if self._sidebar_visible else self._window_rect + self._layouts[self._current_mode].render(content_rect) + + def _handle_input(self): + if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + return + + mouse_pos = rl.get_mouse_position() + if rl.check_collision_point_rec(mouse_pos, self._content_rect): + self._sidebar_visible = not self._sidebar_visible diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py new file mode 100644 index 0000000000..6a9a50b855 --- /dev/null +++ b/selfdrive/ui/layouts/settings/settings.py @@ -0,0 +1,174 @@ +import pyray as rl +from dataclasses import dataclass +from enum import IntEnum +from collections.abc import Callable +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_text_box + +# Import individual panels + +SETTINGS_CLOSE_TEXT = "X" +# Constants +SIDEBAR_WIDTH = 500 +CLOSE_BTN_SIZE = 200 +NAV_BTN_HEIGHT = 80 +PANEL_MARGIN = 50 +SCROLL_SPEED = 30 + +# 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) +TEXT_PRESSED = rl.Color(173, 173, 173, 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 + + +class SettingsLayout: + def __init__(self): + self._params = Params() + self._current_panel = PanelType.DEVICE + self._close_btn_pressed = False + self._scroll_offset = 0.0 + self._max_scroll = 0.0 + + # Panel configuration + self._panels = { + PanelType.DEVICE: PanelInfo("Device", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.TOGGLES: PanelInfo("Toggles", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.SOFTWARE: PanelInfo("Software", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.DEVELOPER: PanelInfo("Developer", None, rl.Rectangle(0, 0, 0, 0)), + } + + 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) + + if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + self.handle_mouse_release(rl.get_mouse_position()) + + 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 + ) + + close_color = CLOSE_BTN_PRESSED if self._close_btn_pressed else CLOSE_BTN_COLOR + rl.draw_rectangle_rounded(close_btn_rect, 0.5, 20, close_color) + close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0) + 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 - 20, + ) + 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 + nav_start_y = rect.y + 300 + button_spacing = 20 + + i = 0 + for panel_type, panel_info in self._panels.items(): + button_rect = rl.Rectangle( + rect.x + 50, + nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing), + rect.width - 150, # Right-aligned with margin + 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 = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0) + 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 + i += 1 + + def _draw_current_panel(self, rect: rl.Rectangle): + 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) + gui_text_box( + content_rect, + f"Demo {self._panels[self._current_panel].name} Panel", + font_size=170, + color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) + + 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): + self._close_btn_pressed = True + 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._switch_to_panel(panel_type) + return True + + return False + + def _switch_to_panel(self, panel_type: PanelType): + if panel_type != self._current_panel: + self._current_panel = panel_type + self._scroll_offset = 0.0 # Reset scroll when switching panels + self._transition_progress = 0.0 + self._transitioning = True + + def set_current_panel(self, index: int, param: str = ""): + panel_types = list(self._panels.keys()) + if 0 <= index < len(panel_types): + self._switch_to_panel(panel_types[index]) + + def close_settings(self): + if self._close_callback: + self._close_callback() diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py new file mode 100644 index 0000000000..eeb073e67b --- /dev/null +++ b/selfdrive/ui/layouts/sidebar.py @@ -0,0 +1,207 @@ +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 + +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: + def __init__(self): + 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): + self.update_state() + + # Background + rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG) + + self._draw_buttons(rect) + self._draw_network_indicator(rect) + self._draw_metrics(rect) + + self._handle_mouse_release() + + 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): + if not rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + return + + mouse_pos = rl.get_mouse_position() + 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 = 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 = rl.measure_text_ex(self._font_bold, text, 35, 0) + 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/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index f987d70c9c..fa7469d2dd 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -26,7 +26,7 @@ BORDER_COLORS = { class AugmentedRoadView(CameraView): - def __init__(self, stream_type: VisionStreamType): + def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD): super().__init__("camerad", stream_type) self.device_camera: DeviceCameraConfig | None = None diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py new file mode 100755 index 0000000000..8a3e34466f --- /dev/null +++ b/selfdrive/ui/ui.py @@ -0,0 +1,20 @@ +#!/usr/bin/env python3 +import pyray as rl +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() + for _ in gui_app.render(): + ui_state.update() + + #TODO handle brigntness and awake state here + + main_layout.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + + +if __name__ == "__main__": + main() From 73b8892125fe650bc8d18a9948cb8c89c4601f81 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 4 Jun 2025 22:31:17 -0400 Subject: [PATCH 42/44] formatting --- .../ui/sunnypilot/qt/common/json_fetcher.h | 29 ++--------- .../offroad/settings/osm/locations_fetcher.h | 17 +++---- .../qt/offroad/settings/osm/models_fetcher.cc | 28 +++++------ .../qt/offroad/settings/osm/models_fetcher.h | 19 ++++---- .../qt/offroad/settings/osm_panel.cc | 29 +++++------ .../qt/offroad/settings/osm_panel.h | 48 ++++++++++--------- 6 files changed, 77 insertions(+), 93 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h index 2002e72aa0..5691f600a6 100644 --- a/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h +++ b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h @@ -1,28 +1,9 @@ /** -The MIT License - -Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. - -Last updated: July 29, 2024 -***/ + * 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 diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h index a8d94fa536..32d169ad15 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h @@ -18,13 +18,14 @@ #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> + inline std::vector > getLocationsFromURL(const QUrl &url, const std::tuple &customLocation = defaultLocation) const { // Initialize an empty vector to hold the locations - std::vector> locations; + std::vector > locations; JsonFetcher fetcher; QJsonObject json = fetcher.getJsonFromURL(url.toString()); @@ -38,25 +39,25 @@ public: } // 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 + 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> + inline std::vector > getLocationsFromURL(const QString &url, const std::tuple &customLocation = defaultLocation) const { return getLocationsFromURL(QUrl(url), customLocation); } - inline std::vector> + 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); + return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/nation_bounding_boxes.json", customLocation); } - inline std::vector> + 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); + 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 index 1bdd597b9c..b67e41e09d 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc @@ -9,11 +9,11 @@ #include -ModelsFetcher::ModelsFetcher(QObject* parent) : QObject(parent) { +ModelsFetcher::ModelsFetcher(QObject *parent) : QObject(parent) { manager = new QNetworkAccessManager(this); } -QByteArray ModelsFetcher::verifyFileHash(const QString& filePath, const QString& expectedHash, bool& hashMatches) { +QByteArray ModelsFetcher::verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches) { hashMatches = false; // Default to false QByteArray fileData; @@ -38,7 +38,7 @@ QByteArray ModelsFetcher::verifyFileHash(const QString& filePath, const QString& } -void ModelsFetcher::download(const DownloadInfo& downloadInfo, const QString& filename, const QString& destinationPath) { +void ModelsFetcher::download(const DownloadInfo &downloadInfo, const QString &filename, const QString &destinationPath) { QString fullPath = destinationPath + "/" + filename; QFileInfo fileInfo(fullPath); bool hashMatches = false; @@ -54,14 +54,14 @@ void ModelsFetcher::download(const DownloadInfo& downloadInfo, const QString& fi // Proceed with download if file does not exist or hash verification failed QNetworkRequest request(downloadInfo.url); - QNetworkReply* reply = manager->get(request); + 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) { +QString extractFileName(const QString &contentDisposition) { const QString filenameTag = "filename="; const int idx = contentDisposition.indexOf(filenameTag); if (idx < 0) { @@ -76,7 +76,7 @@ QString extractFileName(const QString& contentDisposition) { return filename; } -void ModelsFetcher::onFinished(QNetworkReply* reply, const QString& destinationPath, const QString& filename, const QString& expectedHash) { +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 @@ -92,25 +92,22 @@ void ModelsFetcher::onFinished(QNetworkReply* reply, const QString& destinationP 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)) - { + 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()); @@ -133,7 +130,6 @@ void ModelsFetcher::onFinished(QNetworkReply* reply, const QString& destinationP emit downloadFailed(filename); return; // Stop further processing } - emit downloadComplete(data, false); // Emit your success signal } @@ -143,7 +139,7 @@ void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) emit downloadProgress(progress); } -std::vector ModelsFetcher::getModelsFromURL(const QUrl&url) { +std::vector ModelsFetcher::getModelsFromURL(const QUrl &url) { std::vector models; JsonFetcher fetcher; QJsonObject json = fetcher.getJsonFromURL(url.toString()); @@ -153,7 +149,7 @@ std::vector ModelsFetcher::getModelsFromURL(const QUrl&url) { return models; } -std::vector ModelsFetcher::getModelsFromURL(const QString&url) { +std::vector ModelsFetcher::getModelsFromURL(const QString &url) { return getModelsFromURL(QUrl(url)); } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h index d9a1060849..73890e9d5a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h @@ -121,22 +121,23 @@ 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); + 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 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); + // 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); + void onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, + const QString &expectedHash); - QNetworkAccessManager* manager; + QNetworkAccessManager *manager; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc index 651dc966f4..332fd71a18 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc @@ -32,7 +32,7 @@ OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) { timer = new QTimer(this); connect(timer, &QTimer::timeout, this, QOverload<>::of(&OsmPanel::updateLabels)); - timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds. + timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds. updateLabels(); osmScreen = new QWidget(this); @@ -43,7 +43,7 @@ OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) { } ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) { - osmDeleteMapsBtn = new ButtonControlSP(tr("Downloaded Maps"), tr("DELETE")); // Updated on updateLabels() + 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([=]() { @@ -62,7 +62,7 @@ ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) { } ButtonControlSP *OsmPanel::setupOsmUpdateButton(QWidget *parent) { - osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels() + osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels() connect(osmUpdateBtn, &ButtonControlSP::clicked, [=]() { if (osm_download_in_progress && !download_failed_state) { updateLabels(); @@ -80,14 +80,14 @@ ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) { connect(osmDownloadBtn, &ButtonControlSP::clicked, [=]() { osmDownloadBtn->setEnabled(false); osmDownloadBtn->setValue(tr("Fetching Country list...")); - const std::vector> locations = getOsmLocations(); + 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) { + for (auto &loc: locations) { locationTitles.push_back(std::get<0>(loc)); } @@ -95,7 +95,7 @@ ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) { if (!selection.isEmpty()) { params.put("OsmLocal", "1"); params.put("OsmLocationTitle", selection.toStdString()); - for (auto &loc : locations) { + for (auto &loc: locations) { if (std::get<0>(loc) == selection) { params.put("OsmLocationName", std::get<1>(loc).toStdString()); break; @@ -123,21 +123,22 @@ ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) { 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); + 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) { + 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) { + for (auto &loc: locations) { if (std::get<0>(loc) == selection) { params.put("OsmStateName", std::get<1>(loc).toStdString()); break; @@ -152,12 +153,12 @@ ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) { } updateLabels(); }); - usStatesBtn->setVisible(false); // initially hidden + usStatesBtn->setVisible(false); // initially hidden return usStatesBtn; } void OsmPanel::showEvent(QShowEvent *event) { - updateLabels(); // For snappier feeling + updateLabels(); // For snappier feeling if (!timer->isActive()) { timer->start(FAST_REFRESH_INTERVAL); } @@ -185,7 +186,7 @@ void OsmPanel::updateLabels() { LOGT("Timer Interval %d", timer->interval()); const std::string osmLastDownloadTimeStr = params.get("OsmDownloadedDate"); - if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) { + if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) { const double osmLastDownloadTime = std::stod(osmLastDownloadTimeStr); lastDownloadedTimePoint = std::chrono::system_clock::from_time_t(static_cast(osmLastDownloadTime)); } @@ -244,11 +245,11 @@ void OsmPanel::updateDownloadProgress() { osmDeleteMapsBtn->setValue(formatSize(mapsDirSize)); } -int OsmPanel::extractIntFromJson(const QJsonObject& json, const QString& key) { +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) { +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..."); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h index 9ffa2956cb..171129a11c 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h @@ -25,10 +25,11 @@ #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 +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 @@ -36,19 +37,20 @@ public: explicit OsmPanel(QWidget *parent = nullptr); private: - QStackedLayout* main_layout = nullptr; - QWidget* osmScreen = nullptr; + QStackedLayout *main_layout = nullptr; + QWidget *osmScreen = nullptr; Params params; - Params mem_params{ Hardware::PC() ? "": "/dev/shm/params"}; - std::map toggles; - std::optional> mapSizeFuture; + 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 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; @@ -58,30 +60,32 @@ private: ButtonControlSP *osmUpdateBtn; ButtonControlSP *usStatesBtn; ButtonControlSP *osmDeleteMapsBtn; + ButtonControlSP *setupOsmDeleteMapsButton(QWidget *parent);; - ButtonControlSP* setupOsmUpdateButton(QWidget *parent); - ButtonControlSP* setupOsmDownloadButton(QWidget *parent); - ButtonControlSP* setupUsStatesButton(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 updateButtonControlSP(ButtonControlSP *btnControl, QWidget *parent, const QString &initTitle, const QString &allStatesOption); void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent* 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); + 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; + ConfirmationDialog *confirmationDialog; LabelControlSP *mapdVersion; LabelControlSP *offlineMapsStatus; LabelControlSP *offlineMapsETA; LabelControlSP *offlineMapsElapsed; std::optional lastDownloadedTimePoint; LocationsFetcher locationsFetcher; - void updateMapSize(); + void updateMapSize(); bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), @@ -89,7 +93,7 @@ private: 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 + 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; @@ -97,10 +101,11 @@ private: } // Refactored methods - std::vector> getOsmLocations(const std::tuple& customLocation = defaultLocation) const { + std::vector > getOsmLocations(const std::tuple &customLocation = defaultLocation) const { return locationsFetcher.getOsmLocations(customLocation); } - std::vector> getUsStatesLocations(const std::tuple& customLocation = defaultLocation) const { + + std::vector > getUsStatesLocations(const std::tuple &customLocation = defaultLocation) const { return locationsFetcher.getUsStatesLocations(customLocation); } @@ -181,7 +186,6 @@ private: } static QString formatDownloadStatus(const QJsonObject &json) { - if (!json.contains("total_files") || !json.contains("downloaded_files")) return ""; From 858d437f57c0532baa16f06f031af5d969ee8f6d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 4 Jun 2025 22:34:26 -0400 Subject: [PATCH 43/44] more --- sunnypilot/mapd/mapd_installer.py | 2 +- sunnypilot/navd/helpers.py | 12 ++++++------ .../speed_limit_controller.py | 14 +++++++------- .../speed_limit_controller/speed_limit_resolver.py | 2 +- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py index 32e1d3cde6..f91da376b3 100755 --- a/sunnypilot/mapd/mapd_installer.py +++ b/sunnypilot/mapd/mapd_installer.py @@ -84,7 +84,7 @@ class MapdInstallManager: def wait_for_internet_connection(self, return_on_failure=False): max_retries = 10 - for retries in range(max_retries+1): + for retries in range(max_retries + 1): self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]") time.sleep(2) try: diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py index f3fb38723a..85894fb2ab 100644 --- a/sunnypilot/navd/helpers.py +++ b/sunnypilot/navd/helpers.py @@ -13,9 +13,9 @@ MODIFIABLE_DIRECTIONS = ('left', 'right') EARTH_MEAN_RADIUS = 6371007.2 SPEED_CONVERSIONS = { - 'km/h': Conversions.KPH_TO_MS, - 'mph': Conversions.MPH_TO_MS, - } + 'km/h': Conversions.KPH_TO_MS, + 'mph': Conversions.MPH_TO_MS, +} class Coordinate: @@ -65,9 +65,9 @@ class Coordinate: haversine_dlon *= haversine_dlon y = haversine_dlat \ - + math.cos(math.radians(self.latitude)) \ - * math.cos(math.radians(other.latitude)) \ - * haversine_dlon + + 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 diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py index e184f6d20d..f2c704f606 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py @@ -194,7 +194,7 @@ class SpeedLimitController: """ Make state transition from inactive state """ if self._engage_type == Engage.user_confirm: if (((self._last_op_enabled_time + 7.) >= self._current_time >= (self._last_op_enabled_time + 2.)) or - self._speed_limit_changed): + self._speed_limit_changed): if self._speed_limit_changed: self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation self.state = SpeedLimitControlState.preActive @@ -253,7 +253,7 @@ class SpeedLimitController: # In any case, if op is disabled, or speed limit control is disabled # or the reported speed limit is 0 or gas is pressed, deactivate. if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or \ - (self._gas_pressed and self._disengage_on_accelerator): + (self._gas_pressed and self._disengage_on_accelerator): self.state = SpeedLimitControlState.inactive return @@ -261,7 +261,7 @@ class SpeedLimitController: # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations # due to controlsd logic changing cruise setpoint when going active. if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \ - self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD): + self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD): self.state = SpeedLimitControlState.tempInactive return @@ -277,7 +277,7 @@ class SpeedLimitController: def get_adapting_state_target_acceleration(self) -> float: """ In adapting state, calculate target acceleration based on speed limit and current velocity """ if self.distance > 0: - return (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance) + return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance) return self._v_offset / ModelConstants.T_IDXS[CONTROL_N] @@ -287,13 +287,13 @@ class SpeedLimitController: def _update_events(self, events_sp: EventsSP) -> None: if self._speed_limit > 0 and self._warning_type == 2 and \ - self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): + self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): events_sp.add(EventNameSP.speedLimitPreActive) if not self.is_active: if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \ - self._v_cruise_rounded != self._speed_limit_offsetted_rounded: - events_sp.add(EventNameSP.speedLimitPreActive) + self._v_cruise_rounded != self._speed_limit_offsetted_rounded: + events_sp.add(EventNameSP.speedLimitPreActive) else: if self._engage_type == Engage.user_confirm: if self._state_prev == SpeedLimitControlState.preActive: diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py index 1dec697d9e..d04b8ae923 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py @@ -85,7 +85,7 @@ class SpeedLimitResolver: if 0. < next_speed_limit < self._v_ego: adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC - adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time**2 + adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2 if distance_to_speed_limit_ahead <= adapt_distance: self._limit_solutions[Source.map_data] = next_speed_limit From 2bed6bfe0618583e73332fe12624985c44d03426 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 4 Jun 2025 22:38:20 -0400 Subject: [PATCH 44/44] create directory if does not exist --- sunnypilot/mapd/mapd_manager.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py index 5b1171e110..afd632cff7 100644 --- a/sunnypilot/mapd/mapd_manager.py +++ b/sunnypilot/mapd/mapd_manager.py @@ -147,6 +147,14 @@ def main_thread(sm=None, pm=None): rk = Ratekeeper(1, print_delay_threshold=None) live_map_sp = OsmMapData() + # Create folder needed for OSM + try: + os.mkdir(COMMON_DIR) + except FileExistsError: + pass + except PermissionError: + cloudlog.exception(f"mapd: failed to make {COMMON_DIR}") + 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.")