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IQ.Pilot Release Commit @ d23c019

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IQ.Lvbs CI [bot]
2026-07-26 18:52:41 -05:00
parent e557c3d8ee
commit 152206f935
262 changed files with 12479 additions and 11377 deletions
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46
selfdrive/ui/mici/onroad/driver_state.py
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@@ -6,12 +6,12 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import Widget
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
AlertSize = log.SelfdriveState.AlertSize
DEBUG = False
ACTIVE_ACCENT = rl.Color(0x0C, 0x94, 0x96, 0xFF)
CONE_COLOR_ORANGE = (255, 115, 0)
LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
@@ -21,6 +21,7 @@ class DriverStateRenderer(Widget):
BASE_SIZE = 60
LINES_ANGLE_INCREMENT = 5
LINES_STALE_ANGLES = 3.0 # seconds
AWARENESS_UNFULL_PERCENT = 95
def __init__(self, lines: bool = False, inset: bool = False):
super().__init__()
@@ -35,11 +36,15 @@ class DriverStateRenderer(Widget):
self._is_active = False
self._is_rhd = False
self._face_detected = False
self._face_pitch = 0.
self._face_yaw = 0.
self._should_draw = False
self._force_active = False
self._looking_center = False
self._awareness_unfull = False
self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps)
self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -95,6 +100,7 @@ class DriverStateRenderer(Widget):
rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
if self.effective_active:
active_amount = self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
dest_rect = rl.Rectangle(
self._rect.x + self._rect.width / 2,
@@ -104,13 +110,16 @@ class DriverStateRenderer(Widget):
)
if not self._lines:
r = int(round(ACTIVE_ACCENT.r * active_amount + CONE_COLOR_ORANGE[0] * (1 - active_amount)))
g = int(round(ACTIVE_ACCENT.g * active_amount + CONE_COLOR_ORANGE[1] * (1 - active_amount)))
b = int(round(ACTIVE_ACCENT.b * active_amount + CONE_COLOR_ORANGE[2] * (1 - active_amount)))
rl.draw_texture_pro(
self._dm_cone,
source_rect,
dest_rect,
rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
self._rotation_filter.x - 90,
rl.Color(ACTIVE_ACCENT.r, ACTIVE_ACCENT.g, ACTIVE_ACCENT.b, int(255 * self._fade_filter.x)),
rl.Color(r, g, b, int(255 * self._fade_filter.x)),
)
else:
@@ -150,9 +159,12 @@ class DriverStateRenderer(Widget):
sm = ui_state.sm
dm_state = sm["driverMonitoringState"]
self._is_active = dm_state.isActiveMode
self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
self._is_rhd = dm_state.isRHD
self._face_detected = dm_state.faceDetected
self._face_detected = dm_state.visionPolicyState.faceDetected
self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6)
self._face_yaw = -dm_state.visionPolicyState.pose.yaw
driverstate = sm["driverStateV2"]
driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
@@ -160,24 +172,9 @@ class DriverStateRenderer(Widget):
def _update_state(self):
# Get monitoring state
driver_data = self.get_driver_data()
driver_orient = driver_data.faceOrientation
if len(driver_orient) != 3:
return
# Calibrate orientation so looking straight ahead at the road (instead of at the device) reads
# (0, 0), using live calibration. Makes the cone point in the correct direction. (stock PR #37149)
sm = ui_state.sm
if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
cal_rpy = sm['liveCalibration'].rpyCalib
else:
cal_rpy = [0.0, 0.0, 0.0]
_, pitch, yaw = face_orientation_from_net(driver_orient, driver_data.facePosition, cal_rpy)
yaw = -yaw # undo sign flip in face_orientation_from_net to match UI convention
pitch = self._pitch_filter.update(pitch)
yaw = self._yaw_filter.update(yaw)
_ = self.get_driver_data()
pitch = self._pitch_filter.update(self._face_pitch)
yaw = self._yaw_filter.update(self._face_yaw)
# hysteresis on looking center
if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:
@@ -198,9 +195,8 @@ class DriverStateRenderer(Widget):
rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
# filter head rotation, handling wrap-around (bias pitch up since calib/DM pose isn't exact,
# and halve yaw sensitivity)
rotation = math.degrees(math.atan2((pitch + math.radians(6)) * 2, yaw))
# filter head rotation, handling wrap-around
rotation = math.degrees(math.atan2(pitch * 2, yaw))
angle_diff = rotation - self._rotation_filter.x
angle_diff = ((angle_diff + 180) % 360) - 180
self._rotation_filter.update(self._rotation_filter.x + angle_diff)