Merge branch 'upstream/openpilot/master' into sync-20250423

selfdrive/modeld/modeld.py

@@ -43,10 +43,11 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p
 
 LAT_SMOOTH_SECONDS = 0.1
 LONG_SMOOTH_SECONDS = 0.3
+MIN_LAT_CONTROL_SPEED = 0.3
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
                                                      plan[:,Plan.ACCELERATION][:,0],
@@ -55,7 +56,10 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
     desired_curvature = model_output['desired_curvature'][0, 0]
-    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
                                   desiredAcceleration=float(desired_accel),
@@ -331,7 +335,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

system/ui/lib/application.py

@@ -38,6 +38,10 @@ class GuiApplication:
     self._textures: list[rl.Texture] = []
     self._target_fps: int = DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
+    self._window_close_requested = False
+
+  def request_close(self):
+    self._window_close_requested = True
 
   def init_window(self, title: str, fps: int=DEFAULT_FPS):
     atexit.register(self.close)  # Automatically call close() on exit
@@ -80,7 +84,7 @@ class GuiApplication:
     rl.close_window()
 
   def render(self):
-    while not rl.window_should_close():
+    while not (self._window_close_requested or rl.window_should_close()):
       rl.begin_drawing()
       rl.clear_background(rl.BLACK)
 

system/ui/spinner.py

@@ -12,7 +12,6 @@ PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
 DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN_H = 100
-MARGIN_V = 200
 TEXTURE_SIZE = 360
 FONT_SIZE = 88
 LINE_HEIGHT = 96
@@ -43,7 +42,22 @@ class Spinner:
         self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
   def render(self):
-    center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+    with self._lock:
+      progress = self._progress
+      wrapped_lines = self._wrapped_lines
+
+    if wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = 50
+      total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
+      center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = 150
+      center_y = gui_app.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(gui_app.width / 2.0, center_y)
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
@@ -57,11 +71,6 @@ class Spinner:
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
     # Display progress bar or text based on user input
-    y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT
-    with self._lock:
-      progress = self._progress
-      wrapped_lines = self._wrapped_lines
-
     if progress is not None:
       bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
       rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)

system/ui/text.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import re
 import pyray as rl
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
@@ -21,7 +21,9 @@ def wrap_text(text, font_size, max_width):
 
   for paragraph in text.split("\n"):
     if not paragraph.strip():
-      lines.append("")
+      # Don't add empty lines first, ensuring wrap_text("") returns []
+      if lines:
+        lines.append("")
       continue
     indent = re.match(r"^\s*", paragraph).group()
     current_line = indent
@@ -56,9 +58,12 @@ class TextWindow:
     rl.end_scissor_mode()
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      HARDWARE.reboot()
+      if PC:
+        gui_app.request_close()
+      else:
+        HARDWARE.reboot()
     return ret
 
 
@@ -67,6 +72,7 @@ def show_text_in_window(text: str):
   text_window = TextWindow(text)
   for _ in gui_app.render():
     text_window.render()
+  gui_app.close()
 
 
 if __name__ == "__main__":

tools/plotjuggler/juggle.py

@@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
   env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
   if dbc:
+    if os.path.exists(dbc):
+      dbc = os.path.abspath(dbc)
     env["DBC_NAME"] = dbc
 
   extra_args = ""
   if fn is not None:
-    extra_args += f" -d {fn}"
+    extra_args += f" -d {os.path.abspath(fn)}"
   if layout is not None:
-    extra_args += f" -l {layout}"
+    extra_args += f" -l {os.path.abspath(layout)}"
   if route_or_segment_name is not None:
     extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""