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This commit is contained in:
royjr
2026-07-15 14:32:31 -04:00
parent b23441aed7
commit f0f3889a62
2 changed files with 13 additions and 11 deletions
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selfdrive/ui/sunnypilot/onroad/radar_tracks.py
+5 -7
View File
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
import math
import pyray as rl
RELATIVE_SPEED_COLOR_RANGE = 10.0 # m/s; speeds beyond this use the full endpoint color
RELATIVE_SPEED_MOVING_THRESHOLD = 0.5 # m/s relative speed deadband
STATIONARY_SPEED_THRESHOLD = 1.0 # m/s estimated ground speed
APPROACHING_COLOR = (0, 64, 255)
NEUTRAL_COLOR = (255, 255, 255)
@@ -15,14 +15,12 @@ RECEDING_COLOR = (255, 0, 0)
def radar_track_color(v_rel: float, v_ego: float = 0.0) -> rl.Color:
"""Map relative speed from approaching blue through neutral white to receding red."""
if abs(v_ego + v_rel) <= STATIONARY_SPEED_THRESHOLD:
"""Classify tracks as stationary, approaching, or receding with discrete colors."""
if abs(v_ego + v_rel) <= STATIONARY_SPEED_THRESHOLD or abs(v_rel) <= RELATIVE_SPEED_MOVING_THRESHOLD:
return rl.Color(*NEUTRAL_COLOR, 255)
blend = min(abs(v_rel) / RELATIVE_SPEED_COLOR_RANGE, 1.0)
target = APPROACHING_COLOR if v_rel < 0.0 else RECEDING_COLOR
rgb = tuple(round(neutral + (endpoint - neutral) * blend) for neutral, endpoint in zip(NEUTRAL_COLOR, target, strict=True))
return rl.Color(*rgb, 255)
color = APPROACHING_COLOR if v_rel < 0.0 else RECEDING_COLOR
return rl.Color(*color, 255)
def format_radar_tracks_onroad_status(live_tracks) -> str:
selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py
+8 -4
View File
@@ -12,11 +12,15 @@ def test_radar_track_relative_speed_colors():
assert color_tuple(radar_track_color(-10.0)) == (0, 64, 255, 255)
assert color_tuple(radar_track_color(0.0)) == (255, 255, 255, 255)
assert color_tuple(radar_track_color(10.0)) == (255, 0, 0, 255)
assert color_tuple(radar_track_color(-5.0)) == (0, 64, 255, 255)
assert color_tuple(radar_track_color(5.0)) == (255, 0, 0, 255)
approaching = color_tuple(radar_track_color(-5.0))
receding = color_tuple(radar_track_color(5.0))
assert approaching == (128, 160, 255, 255)
assert receding == (255, 128, 128, 255)
def test_radar_track_relative_speed_deadband_is_white():
assert color_tuple(radar_track_color(-0.5, v_ego=10.0)) == (255, 255, 255, 255)
assert color_tuple(radar_track_color(0.5, v_ego=10.0)) == (255, 255, 255, 255)
assert color_tuple(radar_track_color(-0.51, v_ego=10.0)) == (0, 64, 255, 255)
assert color_tuple(radar_track_color(0.51, v_ego=10.0)) == (255, 0, 0, 255)
def test_radar_track_stationary_world_object_is_white():