Merge branch 'master' into visuals-hide-camera

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

common/params_keys.h

@@ -54,6 +54,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
+    {"HideCamera", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
@@ -178,7 +179,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},

selfdrive/ui/mici/layouts/settings/toggles.py

@@ -21,10 +21,8 @@ class TogglesLayoutMici(NavScroller):
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
-    radar_tracks = BigParamControl("radar tracks", "RadarTracks")
 
     self._scroller.add_widgets([
-      radar_tracks,
       self._personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
@@ -37,7 +35,6 @@ class TogglesLayoutMici(NavScroller):
 
     # Toggle lists
     self._refresh_toggles = (
-      ("RadarTracks", radar_tracks),
       ("ExperimentalMode", self._experimental_btn),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -213,6 +213,8 @@ class AugmentedRoadView(CameraView):
 
     # Render the base camera view
     super()._render(self._content_rect)
+    if ui_state.hide_camera:
+      rl.draw_rectangle_rec(self._content_rect, rl.BLACK)
 
     # Draw all UI overlays
     self._model_renderer.render(self._content_rect)

selfdrive/ui/mici/onroad/model_renderer.py

@@ -153,9 +153,6 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_lane_lines()
       self._draw_path(sm)
 
-    if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3)
-
     # if render_lead_indicator and radar_state:
     #   self._draw_lead_indicator()
 

selfdrive/ui/onroad/augmented_road_view.py

@@ -86,6 +86,8 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
 
     # Render the base camera view
     super()._render(rect)
+    if ui_state.hide_camera:
+      rl.draw_rectangle_rec(self._content_rect, rl.BLACK)
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)

selfdrive/ui/onroad/model_renderer.py

@@ -135,9 +135,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._draw_lane_lines()
     self._draw_path(sm)
 
-    if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z)
-
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
       self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)

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

@@ -93,6 +93,11 @@ class VisualsLayout(Widget):
            "This displays what the car is currently doing, not what the planner is requesting."),
         None,
       ),
+      "HideCamera": (
+        lambda: tr("Hide Camera"),
+        tr("Hide the camera live view from the driving screen."),
+        None,
+      ),
     }
     self._toggles = {}
     for param, (title, desc, callback) in self._toggle_defs.items():

selfdrive/ui/sunnypilot/onroad/model_renderer.py

@@ -6,12 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks
 
 
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
     self.chevron_metrics = ChevronMetrics()
-    self.radar_tracks = RadarTracks()
-

selfdrive/ui/sunnypilot/onroad/radar_tracks.py

@@ -1,23 +0,0 @@
-"""
-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 math
-import pyray as rl
-
-
-class RadarTracks:
-  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6):
-    for track in live_tracks.points:
-      d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
-      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
-        continue
-
-      pt = map_to_screen(d_rel, -y_rel, path_offset_z)
-      if pt is None:
-        continue
-
-      x, y = pt
-      rl.draw_circle(int(x), int(y), track_size, rl.Color(0, 255, 64, 255))

selfdrive/ui/sunnypilot/ui_state.py

@@ -150,6 +150,7 @@ class UIStateSP:
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.developer_ui = self.params.get("DevUIInfo")
+    self.hide_camera = self.params.get_bool("HideCamera")
     self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
     self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
@@ -169,7 +170,6 @@ class UIStateSP:
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
     self.always_offroad = self.params.get_bool("OffroadMode")
-    self.radar_tracks = self.params.get_bool("RadarTracks")
 
     if not self._sp_initialized:
       self._sp_initialized = True

selfdrive/ui/ui_state.py

@@ -63,7 +63,6 @@ class UIState(UIStateSP):
         "liveParameters",
         "testJoystick",
         "rawAudioData",
-        "liveTracks",
       ] + self.sm_services_ext
     )
 

sunnypilot/sunnylink/settings_ui.json

@@ -1297,10 +1297,10 @@
               "description": "When enabled, visual turn indicators are drawn on the HUD."
             },
             {
-              "key": "RadarTracks",
+              "key": "HideCamera",
               "widget": "toggle",
-              "title": "Radar Tracks",
-              "description": "Show radar tracks"
+              "title": "Hide Camera",
+              "description": "Hide the camera live view from the driving screen."
             },
             {
               "key": "RoadNameToggle",

sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml

@@ -24,10 +24,10 @@ sections:
     widget: toggle
     title: Display Turn Signals
     description: When enabled, visual turn indicators are drawn on the HUD.
-  - key: RadarTracks
+  - key: HideCamera
     widget: toggle
-    title: Radar Tracks
-    description: Show radar tracks
+    title: Hide Camera
+    description: Hide the camera live view from the driving screen.
   - key: RoadNameToggle
     widget: toggle
     title: Display Road Name