Merge branch 'master' into visuals-confidence-ball

common/params_keys.h

@@ -25,6 +25,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsPersistent", {PERSISTENT, BYTES}},
     {"CarParamsPrevRoute", {PERSISTENT, BYTES}},
     {"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
+    {"ConfidenceVisual", {PERSISTENT | BACKUP, INT, "0"}},
     {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},

selfdrive/pandad/pandad.py

@@ -32,7 +32,8 @@ def flash_panda(panda_serial: str) -> Panda:
     raise
 
   # skip flashing if the detected panda is not supported
-  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
+  supported_panda = check_panda_support(panda)
+  if not supported_panda:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
     return panda
 
@@ -68,19 +69,10 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda_serials: list[str]) -> bool:
-  unsupported = []
-  for serial in panda_serials:
-    panda = Panda(serial)
-    hw_type = panda.get_type()
-    panda.close()
-    if hw_type in Panda.SUPPORTED_DEVICES:
-      return True
-
-    unsupported.append((serial, hw_type))
-
-  for serial, hw_type in unsupported:
-    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
+def check_panda_support(panda) -> bool:
+  hw_type = panda.get_type()
+  if hw_type in Panda.SUPPORTED_DEVICES:
+    return True
 
   return False
 
@@ -134,17 +126,13 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
-      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
-      flash_rivian_long(panda_serials)
-
-      # skip flashing and health check if no supported panda is detected
-      if not check_panda_support(panda_serials):
-        continue
-
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
+      # flash Rivian longitudinal upgrade panda
+      flash_rivian_long(panda)
+
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
@@ -155,6 +143,12 @@ def main() -> None:
       # log panda fw version
       params.put("PandaSignatures", panda.get_signature())
 
+      # skip health check if the detected panda is not supported
+      supported_panda = check_panda_support(panda)
+      if not supported_panda:
+        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
+        continue
+
       # check health for lost heartbeat
       health = panda.health()
       if health["heartbeat_lost"]:

selfdrive/ui/mici/onroad/confidence_ball.py

@@ -24,10 +24,12 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
 
 
 class ConfidenceBall(Widget, ConfidenceBallSP):
-  def __init__(self, demo: bool = False):
+  def __init__(self, demo: bool = False, scale: float = 1.0, visual: int = 0):
     Widget.__init__(self)
     ConfidenceBallSP.__init__(self)
     self._demo = demo
+    self._scale = scale
+    self._visual = visual
     self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
 
   def update_filter(self, value: float):
@@ -54,7 +56,7 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
       self.rect.height,
     )
 
-    status_dot_radius = 24
+    status_dot_radius = int(24 * self._scale)
     dot_height = (1 - self._confidence_filter.x) * (content_rect.height - 2 * status_dot_radius) + status_dot_radius
     dot_height = self._rect.y + dot_height
 
@@ -81,6 +83,7 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
       top_dot_color = rl.Color(50, 50, 50, 255)
       bottom_dot_color = rl.Color(13, 13, 13, 255)
 
-    draw_circle_gradient(content_rect.x + content_rect.width - status_dot_radius,
-                         dot_height, status_dot_radius,
-                         top_dot_color, bottom_dot_color)
+    if not self.update_confidence_visual(content_rect, status_dot_radius, dot_height, top_dot_color, bottom_dot_color):
+      draw_circle_gradient(content_rect.x + content_rect.width - status_dot_radius,
+                           dot_height, status_dot_radius,
+                           top_dot_color, bottom_dot_color)

selfdrive/ui/onroad/augmented_road_view.py

@@ -95,6 +95,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
     AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
+    self.update_confidence_visual(self._content_rect)
     self._hud_renderer.render(self._content_rect)
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)

selfdrive/ui/sunnypilot/layouts/settings/visuals.py

@@ -120,10 +120,18 @@ class VisualsLayout(Widget):
       button_width=350,
       inline=False
     )
+    self._confidence_visual = multiple_button_item_sp(
+      title=lambda: tr("Confidence Visual"),
+      description=lambda: tr("Display confidence ball or bar on the driving screen."),
+      buttons=[lambda: tr("Off"), lambda: tr("Ball"), lambda: tr("Bar")],
+      param="ConfidenceVisual",
+      inline=False
+    )
 
     items = list(self._toggles.values()) + [
       self._chevron_info,
       self._dev_ui_info,
+      self._confidence_visual,
     ]
     return items
 
@@ -135,6 +143,8 @@ class VisualsLayout(Widget):
 
     self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True))
 
+    self._confidence_visual.action_item.set_selected_button(ui_state.params.get("ConfidenceVisual", return_default=True))
+
     if ui_state.has_longitudinal_control:
       self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"]))
       self._chevron_info.action_item.set_selected_button(ui_state.params.get("ChevronInfo", return_default=True))

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

@@ -4,7 +4,7 @@ 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.
 """
-from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
+import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 
 
@@ -19,8 +19,26 @@ class ConfidenceBallSP:
 
   @staticmethod
   def get_lat_long_dot_color():
+    from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
+
     if ui_state.status == UIStatus.LAT_ONLY:
       return BORDER_COLORS[UIStatus.LAT_ONLY]
 
     # UIStatus.LONG_ONLY
     return BORDER_COLORS[UIStatus.LONG_ONLY]
+
+  def update_confidence_visual(self, content_rect, status_dot_radius, dot_height, top_dot_color, bottom_dot_color) -> bool:
+    if self._visual == 2:
+      bar_width = int(20 * self._scale)
+      bar_x = content_rect.x + content_rect.width - bar_width
+      fill_h = int(content_rect.height * self._confidence_filter.x)
+      fill_y = int(content_rect.y + (content_rect.height - fill_h))
+      rl.draw_rectangle(int(bar_x), int(content_rect.y), bar_width, int(content_rect.height), rl.Color(20, 20, 20, 180))
+      rl.draw_rectangle_gradient_v(int(bar_x), fill_y, bar_width, fill_h, top_dot_color, bottom_dot_color)
+      return True
+    elif self._visual == 1:
+      rl.draw_circle_gradient(int(content_rect.x + content_rect.width - status_dot_radius),
+                           int(dot_height), status_dot_radius,
+                           top_dot_color, bottom_dot_color)
+      return True
+    return False

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -8,6 +8,7 @@ import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 
 BORDER_COLORS_SP = {
   UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
@@ -19,6 +20,7 @@ class AugmentedRoadViewSP:
   def __init__(self):
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
     self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+    self._confidence_visual = ConfidenceBall(scale=1.5)
 
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
@@ -29,3 +31,9 @@ class AugmentedRoadViewSP:
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
                           _content_rect, rl.Vector2(0, 0), 0.0,
                           rl.Color(255, 255, 255, int(255 * fade_alpha)))
+
+  def update_confidence_visual(self, _content_rect):
+    mode = ui_state.confidence_visual
+    if mode in (1, 2):
+        self._confidence_visual._visual = mode
+        self._confidence_visual.render(_content_rect)

selfdrive/ui/sunnypilot/ui_state.py

@@ -143,6 +143,7 @@ class UIStateSP:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.confidence_visual = self.params.get("ConfidenceVisual", return_default=True)
 
 
 class DeviceSP:

sunnypilot/selfdrive/pandad/rivian_long_flasher.py

@@ -74,7 +74,7 @@ def _flash_panda(panda: Panda) -> None:
   panda.reconnect()
 
 
-def flash_rivian_long(panda_serials: list[str]) -> None:
+def flash_rivian_long(panda: Panda) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,19 +83,13 @@ def flash_rivian_long(panda_serials: list[str]) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  for serial in panda_serials:
-    panda = Panda(serial)
-    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-    if panda.get_type() == b'\x03' and not panda.is_internal():
-      try:
-        _flash_panda(panda)
-        cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {serial}")
-      except Exception:
-        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
-    panda.close()
-
-  return
+  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+  if panda.get_type() == b'\x03' and not panda.is_internal():
+    try:
+      _flash_panda(panda)
+    except Exception:
+      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda.list())
+  flash_rivian_long(Panda())

sunnypilot/sunnylink/params_metadata.json

@@ -186,6 +186,24 @@
     "title": "Completed Training Version",
     "description": ""
   },
+  "ConfidenceVisual": {
+    "title": "Confidence Visual",
+    "description": "Display confidence ball or bar on the driving screen.",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Ball"
+      },
+      {
+        "value": 2,
+        "label": "Bar"
+      }
+    ]
+  },
   "ControlsReady": {
     "title": "Controls Ready",
     "description": ""