From d82ae31a7dc358a79ff3c8e600dbcfac2b8fecdd Mon Sep 17 00:00:00 2001 From: royjr Date: Tue, 14 Jul 2026 14:38:31 -0400 Subject: [PATCH] Update augmented_road_view.py --- .../ui/mici/onroad/augmented_road_view.py | 27 +++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 8dafc4df57..f5993bda7f 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -10,6 +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.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 @@ -159,6 +160,11 @@ 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, + text_color=rl.Color(0, 255, 64, 255), + alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + wrap_text=False) self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png") @@ -169,6 +175,12 @@ class AugmentedRoadView(CameraView): def _update_state(self): 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}") + elif not ui_state.sm.alive["liveTracks"]: + self._radar_tracks_label.set_text("radar: none") + # update offroad label if ui_state.panda_type == log.PandaState.PandaType.unknown: self._offroad_label.set_text("system booting") @@ -220,6 +232,21 @@ class AugmentedRoadView(CameraView): # Fade out bottom of overlays for looks rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE) + if ui_state.radar_tracks: + radar_status_rect = rl.Rectangle( + self._content_rect.x + 78, + self._content_rect.y + 8, + self._content_rect.width - 90, + 34, + ) + 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.width - 16, + radar_status_rect.height, + )) + alert_to_render, not_animating_out = self._alert_renderer.will_render() # Hide DMoji when disengaged unless AlwaysOnDM is enabled