big

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_status
+from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_onroad_status
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
@@ -160,10 +160,10 @@ class AugmentedRoadView(CameraView):
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                                        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-    self._radar_tracks_label = UnifiedLabel("radar: none", 18, FontWeight.SEMI_BOLD,
+    self._radar_tracks_label = UnifiedLabel("range: none\ntracks: none", 26, FontWeight.SEMI_BOLD,
                                             text_color=rl.Color(0, 255, 64, 255),
-                                            alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
-                                            alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                                            alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                            alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
                                             wrap_text=False)
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
@@ -176,10 +176,10 @@ class AugmentedRoadView(CameraView):
     super()._update_state()
 
     if ui_state.sm.updated["liveTracks"]:
-      status = format_radar_tracks_status(ui_state.sm["liveTracks"]) if ui_state.sm.valid["liveTracks"] else "none"
-      self._radar_tracks_label.set_text(f"radar: {status}")
+      status = format_radar_tracks_onroad_status(ui_state.sm["liveTracks"]) if ui_state.sm.valid["liveTracks"] else "range: none\ntracks: none"
+      self._radar_tracks_label.set_text(status)
     elif not ui_state.sm.alive["liveTracks"]:
-      self._radar_tracks_label.set_text("radar: none")
+      self._radar_tracks_label.set_text("range: none\ntracks: none")
 
     # update offroad label
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
@@ -237,14 +237,14 @@ class AugmentedRoadView(CameraView):
         self._content_rect.x + 78,
         self._content_rect.y + 8,
         self._content_rect.width - 90,
-        34,
+        70,
       )
       rl.draw_rectangle_rounded(radar_status_rect, 0.5, 8, rl.Color(0, 0, 0, 170))
       self._radar_tracks_label.render(rl.Rectangle(
         radar_status_rect.x + 8,
-        radar_status_rect.y,
+        radar_status_rect.y + 5,
         radar_status_rect.width - 16,
-        radar_status_rect.height,
+        radar_status_rect.height - 10,
       ))
 
     alert_to_render, not_animating_out = self._alert_renderer.will_render()

selfdrive/ui/sunnypilot/onroad/radar_tracks.py

@@ -8,8 +8,12 @@ import math
 import pyray as rl
 
 
+def _radar_track_ranges(live_tracks) -> list[tuple[int, int]]:
+  return sorted({(source.startAddress, source.endAddress) for source in live_tracks.trackSources})
+
+
 def format_radar_tracks_status(live_tracks) -> str:
-  ranges = sorted({(source.startAddress, source.endAddress) for source in live_tracks.trackSources})
+  ranges = _radar_track_ranges(live_tracks)
   if not ranges:
     return "none"
 
@@ -19,6 +23,15 @@ def format_radar_tracks_status(live_tracks) -> str:
   return f"{range_text} · {track_count} {track_label}"
 
 
+def format_radar_tracks_onroad_status(live_tracks) -> str:
+  ranges = _radar_track_ranges(live_tracks)
+  if not ranges:
+    return "range: none\ntracks: none"
+
+  range_text = ", ".join(f"0x{start:X}-0x{end:X}" for start, end in ranges)
+  return f"range: {range_text}\ntracks: {len(live_tracks.points)}"
+
+
 class RadarTracks:
   def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6):
     for track in live_tracks.points:

selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py

@@ -1,12 +1,13 @@
 from cereal import car
 
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_status
+from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_onroad_status, format_radar_tracks_status
 
 
 def test_format_radar_tracks_status_none():
   live_tracks = car.RadarData.new_message()
 
   assert format_radar_tracks_status(live_tracks) == "none"
+  assert format_radar_tracks_onroad_status(live_tracks) == "range: none\ntracks: none"
 
 
 def test_format_radar_tracks_status_range_and_count():
@@ -15,6 +16,7 @@ def test_format_radar_tracks_status_range_and_count():
   live_tracks.init("points", 2)
 
   assert format_radar_tracks_status(live_tracks) == "0x500-0x51F · 2 tracks"
+  assert format_radar_tracks_onroad_status(live_tracks) == "range: 0x500-0x51F\ntracks: 2"
 
 
 def test_format_radar_tracks_status_deduplicates_and_sorts_ranges():