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visuals-radar-tracks

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commit 1e8d692804
Merge: 5d5dc6c50c 097dd9b5f2
Author: royjr <royjr96@gmail.com>
Date:   Tue Jun 9 00:13:12 2026 -0400

    Merge branch 'master' into visuals-radar-tracks

commit 5d5dc6c50c
Author: royjr <royjr96@gmail.com>
Date:   Tue Jun 9 00:12:06 2026 -0400

    yaml

commit 5c64fe0695
Merge: 37eeb121cd 066ba92e77
Author: royjr <royjr96@gmail.com>
Date:   Mon Jun 8 23:19:24 2026 -0400

    Merge branch 'master' into visuals-radar-tracks

commit 37eeb121cd
Merge: 19a5202f4c 1658898498
Author: royjr <royjr96@gmail.com>
Date:   Fri Mar 27 16:27:10 2026 -0700

    Merge branch 'master' into visuals-radar-tracks

commit 19a5202f4c
Merge: 920ef49b32 a17a38d8c3
Author: royjr <royjr96@gmail.com>
Date:   Mon Mar 2 02:44:58 2026 -0500

    Merge branch 'master' into visuals-radar-tracks

commit 920ef49b32
Author: royjr <royjr96@gmail.com>
Date:   Thu Feb 5 01:01:07 2026 -0500

    no return

commit c7a37ca89e
Merge: 45ca076aef 5c12a7cfc3
Author: royjr <royjr96@gmail.com>
Date:   Thu Feb 5 00:52:12 2026 -0500

    Merge branch 'master' into visuals-radar-tracks

commit 45ca076aef
Merge: 70cf5e6d52 19a7d1d5d7
Author: royjr <royjr96@gmail.com>
Date:   Wed Dec 31 15:26:12 2025 -0500

    Merge branch 'master' into visuals-radar-tracks

commit 70cf5e6d52
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 12:03:57 2025 -0500

    Update params_metadata.json

commit f4c71e4918
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 10:05:17 2025 -0500

    lint

commit 8408241495
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 02:23:10 2025 -0500

    Update toggles.py

commit 640988673e
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 02:22:16 2025 -0500

    mici toggle

commit 1429975f1e
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 02:22:01 2025 -0500

    Revert "force enable for now"

    This reverts commit efd499448a.

commit efd499448a
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:42:38 2025 -0500

    force enable for now

commit f7e636f089
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:42:19 2025 -0500

    use params

commit 00187dc59e
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:37:19 2025 -0500

    use checks

commit cde6368cf7
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:30:15 2025 -0500

    cleaner

commit 08b56f9b33
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:28:12 2025 -0500

    better sp

commit 78efe3a476
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:21:08 2025 -0500

    init sp

commit 54578675c2
Author: royjr <royjr96@gmail.com>
Date:   Mon Dec 29 00:19:17 2025 -0500

    init
This commit is contained in:
royjr
2026-06-09 00:15:45 -04:00
parent 2b492098e9
commit be4223fe13
10 changed files with 48 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/params_keys.h
+1
View File
@@ -178,6 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
{"RadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
selfdrive/ui/mici/layouts/settings/toggles.py
+3
View File
@@ -22,8 +22,10 @@ class TogglesLayoutMici(NavScroller):
record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
hyundai_radar = BigMultiParamToggle("hyundai radar", "HyundaiRadar", ["off", "lead only", "full radar"])
radar_tracks = BigParamControl("radar tracks", "RadarTracks")
self._scroller.add_widgets([
radar_tracks,
self._personality_toggle,
self._experimental_btn,
is_metric_toggle,
@@ -37,6 +39,7 @@ class TogglesLayoutMici(NavScroller):
# Toggle lists
self._refresh_toggles = (
("HyundaiRadar", hyundai_radar),
("RadarTracks", radar_tracks),
("ExperimentalMode", self._experimental_btn),
("IsMetric", is_metric_toggle),
("IsLdwEnabled", ldw_toggle),
selfdrive/ui/mici/onroad/model_renderer.py
+3
View File
@@ -153,6 +153,9 @@ class ModelRenderer(Widget, ModelRendererSP):
self._draw_lane_lines()
self._draw_path(sm)
if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3)
# if render_lead_indicator and radar_state:
# self._draw_lead_indicator()
selfdrive/ui/onroad/model_renderer.py
+3
View File
@@ -135,6 +135,9 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
self._draw_lane_lines()
self._draw_path(sm)
if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z)
if render_lead_indicator and radar_state:
self._draw_lead_indicator()
self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
selfdrive/ui/sunnypilot/onroad/model_renderer.py
+3
View File
@@ -6,9 +6,12 @@ See the LICENSE.md file in the root directory for more details.
"""
from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks
class ModelRendererSP:
def __init__(self):
self.rainbow_path = RainbowPath()
self.chevron_metrics = ChevronMetrics()
self.radar_tracks = RadarTracks()
selfdrive/ui/sunnypilot/onroad/radar_tracks.py
+23
View File
@@ -0,0 +1,23 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import math
import pyray as rl
class RadarTracks:
def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6):
for track in live_tracks.points:
d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
continue
pt = map_to_screen(d_rel, -y_rel, path_offset_z)
if pt is None:
continue
x, y = pt
rl.draw_circle(int(x), int(y), track_size, rl.Color(0, 255, 64, 255))
selfdrive/ui/sunnypilot/ui_state.py
+1
View File
@@ -169,6 +169,7 @@ class UIStateSP:
self.turn_signals = self.params.get_bool("ShowTurnSignals")
self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
self.always_offroad = self.params.get_bool("OffroadMode")
self.radar_tracks = self.params.get_bool("RadarTracks")
if not self._sp_initialized:
self._sp_initialized = True
selfdrive/ui/ui_state.py
+1
View File
@@ -63,6 +63,7 @@ class UIState(UIStateSP):
"liveParameters",
"testJoystick",
"rawAudioData",
"liveTracks",
] + self.sm_services_ext
)
sunnypilot/sunnylink/settings_ui.json
+6
View File
@@ -1296,6 +1296,12 @@
"title": "Display Turn Signals",
"description": "When enabled, visual turn indicators are drawn on the HUD."
},
{
"key": "RadarTracks",
"widget": "toggle",
"title": "Radar Tracks",
"description": "Show radar tracks"
},
{
"key": "RoadNameToggle",
"widget": "toggle",
sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
+4
View File
@@ -24,6 +24,10 @@ sections:
widget: toggle
title: Display Turn Signals
description: When enabled, visual turn indicators are drawn on the HUD.
- key: RadarTracks
widget: toggle
title: Radar Tracks
description: Show radar tracks
- key: RoadNameToggle
widget: toggle
title: Display Road Name