[MICI] ui: display blindspot indicators when available (#1525)

* always bsm

* c4 bsm for c3x

* position

* sperate

* sp dir

* revert

* decouple

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -20,6 +20,7 @@ from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
 if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -183,11 +183,13 @@ class HudRenderer(Widget):
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
+    bsm_detected = self._has_blind_spot_detected() if gui_app.sunnypilot_ui() else False
+
     if self._show_wheel_critical:
       self._wheel_alpha_filter.update(255)
       self._wheel_y_filter.update(0)
     else:
-      if ui_state.status == UIStatus.DISENGAGED:
+      if ui_state.status == UIStatus.DISENGAGED or bsm_detected:
         self._wheel_alpha_filter.update(0)
         self._wheel_y_filter.update(wheel_txt.height / 2)
       else:

selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py

@@ -0,0 +1,27 @@
+"""
+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 pyray as rl
+
+from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.blind_spot_indicators = BlindSpotIndicators()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.blind_spot_indicators.update()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    self.blind_spot_indicators.render(rect)
+
+  def _has_blind_spot_detected(self) -> bool:
+    return self.blind_spot_indicators.detected

selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py

@@ -0,0 +1,49 @@
+"""
+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 pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class BlindSpotIndicators:
+  def __init__(self):
+    self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
+    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
+
+    self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+    self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    CS = sm['carState']
+
+    self._blind_spot_left_alpha_filter.update(1.0 if CS.leftBlindspot else 0.0)
+    self._blind_spot_right_alpha_filter.update(1.0 if CS.rightBlindspot else 0.0)
+
+  @property
+  def detected(self) -> bool:
+    return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01
+
+  def render(self, rect: rl.Rectangle) -> None:
+    BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
+    BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
+
+    if self._blind_spot_left_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + BLIND_SPOT_MARGIN_X)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_left_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
+
+    if self._blind_spot_right_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_right_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)