IQ.Pilot Release Commit @ 7550fa9

iqpilot/ui/mici/onroad/hud_renderer.py

@@ -6,21 +6,26 @@ import pyray as rl
 from iqpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from iqpilot.ui.onroad.hud_overlays import IQBlindSpotOverlay
 from iqpilot.ui.mici.onroad.emac_source import EmacSourceIndicator
+from iqpilot.ui.mici.onroad.speed_limit_sign import MiciSpeedLimitSign
 
 class IQMiciHudRenderer(HudRenderer):
   def __init__(self):
     super().__init__()
     self._overlays = [IQBlindSpotOverlay(), EmacSourceIndicator()]
+    self._speed_limit_sign = MiciSpeedLimitSign()
 
   def _update_state(self) -> None:
     super()._update_state()
     for overlay in self._overlays:
       overlay.update()
+    self._speed_limit_sign.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     for overlay in self._overlays:
       overlay.render(rect)
+    self._speed_limit_sign.set_obscured(self.drawing_top_icons() or not self._can_draw_top_icons)
+    self._speed_limit_sign.render(rect)
 
   def _has_blind_spot_detected(self) -> bool:
     return any(getattr(overlay, "detected", False) for overlay in self._overlays)

iqpilot/ui/mici/onroad/speed_limit_sign.py

@@ -0,0 +1,75 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+import math
+
+from iqpilot.common.filter_simple import FirstOrderFilter
+from iqpilot.selfdrive.ui.ui_state import ui_state
+from iqpilot.system.ui.iqwidgets.lib import canvas
+from iqpilot.system.ui.lib.application import gui_app
+from iqpilot.ui.onroad.hud_overlays import IQSpeedLimitOverlay, _SL_ASSIST, _SL_DARK, _dim
+
+_SIGN_X = 16
+_SIGN_Y = 108
+_SIGN_W = 60
+_SIGN_H = 64
+_BADGE_SIDE = 24
+
+
+class MiciSpeedLimitSign(IQSpeedLimitOverlay):
+  def __init__(self):
+    super().__init__()
+    self._visible = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._obscured = False
+
+  def set_obscured(self, obscured: bool) -> None:
+    self._obscured = obscured
+
+  def _badge(self) -> str:
+    offset = round(self.speed_limit_offset)
+    return f"{offset:+d}" if offset != 0 else ""
+
+  def _render(self, rect):
+    shown = ui_state.speed_limit_mode != 0 and ui_state.is_onroad() and not self._obscured
+    alpha = self._visible.update(1.0 if shown else 0.0)
+    if alpha < 1e-2:
+      return
+    if self.assist_state == _SL_ASSIST.preActive:
+      self.assist_frame += 1
+      pulse = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps)
+      alpha *= self._pulse_ema.update(pulse)
+    else:
+      self.assist_frame = 0
+      self._pulse_ema.update(1.0)
+    box = canvas.Box(rect.x + _SIGN_X, rect.y + _SIGN_Y, _SIGN_W, _SIGN_H)
+    value, _, tint, has_limit = self._spec()
+    badge = self._badge() if has_limit else ""
+    (self._vienna if ui_state.is_metric else self._mutcd)(box, value, badge, tint, has_limit, alpha)
+
+  def _vienna(self, rect, value, badge, tint, has_limit, alpha=1.0):
+    hub = canvas.Pt(rect.x + rect.width / 2, rect.y + rect.height / 2)
+    radius = rect.width / 2
+    canvas.disc_at(hub, radius, _dim(canvas.WHITE, alpha))
+    canvas.annulus(hub, radius * 0.78, radius, 0, 360, 36, _dim(canvas.RED, alpha))
+    canvas.glyphs_centered(self._bold, value, 22 if len(value) >= 3 else 28, hub, _dim(tint, alpha))
+    if badge:
+      br = _BADGE_SIDE / 2
+      bc = canvas.Pt(rect.x + rect.width - br * 0.35, rect.y + br * 0.35)
+      canvas.disc_at(bc, br, _dim(canvas.BLACK, alpha))
+      canvas.annulus(bc, br - 2, br, 0, 360, 24, _dim(_SL_DARK, alpha))
+      canvas.glyphs_centered(self._bold, badge, 11 if len(badge) >= 3 else 13, bc, _dim(canvas.WHITE, alpha))
+
+  def _mutcd(self, rect, value, badge, tint, has_limit, alpha=1.0):
+    canvas.panel(rect, 0.25, 8, _dim(canvas.WHITE, alpha))
+    inner = canvas.Box(rect.x + 4, rect.y + 4, rect.width - 8, rect.height - 8)
+    canvas.panel_outline(inner, 0.25, 8, 2, _dim(canvas.BLACK, alpha))
+    mid = rect.x + rect.width / 2
+    canvas.glyphs_centered(self._demi, "SPEED", 12, canvas.Pt(mid, rect.y + 14), _dim(canvas.BLACK, alpha))
+    canvas.glyphs_centered(self._demi, "LIMIT", 12, canvas.Pt(mid, rect.y + 25), _dim(canvas.BLACK, alpha))
+    canvas.glyphs_centered(self._bold, value, 30 if len(value) <= 2 else 24, canvas.Pt(mid, rect.y + 45), _dim(tint, alpha))
+    if badge:
+      chip = canvas.Box(rect.x + rect.width - _BADGE_SIDE * 0.55, rect.y - _BADGE_SIDE * 0.55, _BADGE_SIDE, _BADGE_SIDE)
+      canvas.panel(chip, 0.35, 8, _dim(canvas.BLACK, alpha))
+      canvas.panel_outline(chip, 0.35, 8, 2, _dim(_SL_DARK, alpha))
+      canvas.glyphs_centered(self._bold, badge, 11 if len(badge) >= 3 else 13,
+                             canvas.Pt(chip.x + _BADGE_SIDE / 2, chip.y + _BADGE_SIDE / 2), _dim(canvas.WHITE, alpha))