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fade out eGPU icon (#38506)

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Fade GPU logo on engagement
This commit is contained in:
Daniel Koepping
2026-07-31 11:26:03 -07:00
committed by GitHub
parent e3ba6492f9
commit d4e29ec945
1 changed files with 16 additions and 3 deletions
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openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
+16 -3
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@@ -108,6 +108,7 @@ class HudRenderer(Widget):
self.v_ego_cluster_seen: bool = False
self._engaged: bool = False
self._small_model_engaged: bool = False
self._egpu_fade_time: float = 0
self._can_draw_top_icons = True
self._show_wheel_critical = False
@@ -127,11 +128,13 @@ class HudRenderer(Widget):
self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44)
self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44)
self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52)
self._egpu_icon: rl.Texture | None = None
self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
def set_wheel_critical_icon(self, critical: bool):
"""Set the wheel icon to critical or normal state."""
@@ -165,6 +168,8 @@ class HudRenderer(Widget):
if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
self._small_model_engaged = True
if engaged and not self._engaged:
self._egpu_fade_time = rl.get_time()
if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
self._set_speed_changed_time = rl.get_time()
self._engaged = engaged
@@ -200,7 +205,8 @@ class HudRenderer(Widget):
not ui_state.sm.alive['modelV2']) or
(ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
self._small_model_engaged &= big_failed
if ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed):
loading = ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed)
if loading:
pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
icon = self._txt_egpu
opacity = 0.35 + 0.65 * pulse
@@ -214,9 +220,16 @@ class HudRenderer(Widget):
icon = self._txt_egpu_green
opacity = 1.0
if icon is not self._egpu_icon:
self._egpu_fade_time = rl.get_time()
self._egpu_icon = icon
alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
if alpha < 1e-2:
return
pos = rl.Vector2(rect.x + rect.width - 10 - icon.width,
rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2)
rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity)))
rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2 + (1 - alpha) * icon.height / 2)
rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity * alpha)))
def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel