IQ.Pilot Release Commit @ d58810f
This commit is contained in:
IQ.Lvbs CI [bot]
369
selfdrive/ui/mici/onroad/alert_renderer.py
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369
selfdrive/ui/mici/onroad/alert_renderer.py
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import time
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from enum import StrEnum
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from typing import NamedTuple
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import pyray as rl
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import random
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import string
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from dataclasses import dataclass
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from cereal import messaging, log, car
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
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from openpilot.system.hardware import TICI
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.label import UnifiedLabel
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AlertSize = log.SelfdriveState.AlertSize
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AlertStatus = log.SelfdriveState.AlertStatus
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ALERT_MARGIN = 18
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ALERT_FONT_SMALL = 66 - 50
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ALERT_FONT_BIG = 88 - 40
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SELFDRIVE_STATE_TIMEOUT = 5 # Seconds
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SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds
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# Constants
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ALERT_COLORS = {
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AlertStatus.normal: rl.Color(0, 0, 0, 255),
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AlertStatus.userPrompt: rl.Color(255, 115, 0, 255),
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AlertStatus.critical: rl.Color(255, 0, 21, 255),
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}
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TURN_SIGNAL_BLINK_PERIOD = 1 / (80 / 60) # Mazda heartbeat turn signal BPM
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DEBUG = False
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class IconSide(StrEnum):
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left = 'left'
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right = 'right'
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class IconLayout(NamedTuple):
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texture: rl.Texture
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side: IconSide
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margin_x: int
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margin_y: int
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class AlertLayout(NamedTuple):
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text_rect: rl.Rectangle
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icon: IconLayout | None
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@dataclass
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class Alert:
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text1: str = ""
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text2: str = ""
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size: int = 0
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status: int = 0
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visual_alert: int = car.CarControl.HUDControl.VisualAlert.none
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alert_type: str = ""
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# Pre-defined alert instances
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ALERT_STARTUP_PENDING = Alert(
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text1="IQ.Pilot Unavailable",
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text2="Waiting to start",
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size=AlertSize.mid,
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status=AlertStatus.normal,
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)
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ALERT_CRITICAL_TIMEOUT = Alert(
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text1="TAKE CONTROL IMMEDIATELY",
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text2="System Unresponsive",
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size=AlertSize.full,
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status=AlertStatus.critical,
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)
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ALERT_CRITICAL_REBOOT = Alert(
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text1="System Unresponsive",
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text2="Reboot Device",
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size=AlertSize.full,
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status=AlertStatus.critical,
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)
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class AlertRenderer(Widget):
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def __init__(self):
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super().__init__()
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self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
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letter_spacing=-0.02)
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self._alert_text2_label = UnifiedLabel(text="", font_size=ALERT_FONT_SMALL, font_weight=FontWeight.ROMAN, line_height=0.86,
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letter_spacing=0.025)
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self._prev_alert: Alert | None = None
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self._text_gen_time = 0
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self._alert_text2_gen = ''
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# animation filters
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# TODO: use 0.1 but with proper alert height calculation
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self._alert_y_filter = BounceFilter(0, 0.1, 1 / gui_app.target_fps)
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self._alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
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self._turn_signal_timer = 0.0
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self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
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self._last_icon_side: IconSide | None = None
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self._load_icons()
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def _load_icons(self):
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self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96)
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self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 104, 96)
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self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150)
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self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 134, 150)
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def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
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"""Generate the current alert based on selfdrive state."""
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ss = sm['selfdriveState']
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# Check if selfdriveState messages have stopped arriving
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if not sm.updated['selfdriveState']:
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recv_frame = sm.recv_frame['selfdriveState']
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time_since_onroad = time.monotonic() - ui_state.started_time
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# 1. Never received selfdriveState since going onroad
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waiting_for_startup = recv_frame < ui_state.started_frame
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if waiting_for_startup and time_since_onroad > 5:
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return ALERT_STARTUP_PENDING
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# 2. Lost communication with selfdriveState after receiving it
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if TICI and not waiting_for_startup:
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ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
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if ss_missing > SELFDRIVE_STATE_TIMEOUT:
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if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
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return ALERT_CRITICAL_TIMEOUT
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return ALERT_CRITICAL_REBOOT
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# No alert if size is none
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if ss.alertSize == 0:
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return None
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event_name = ss.alertType.split('/')[0] if ss.alertType else ''
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if event_name in {'selfdrivedLagging', 'commIssue', 'commIssueAvgFreq'}:
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return None
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# Return current alert
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ret = Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize.raw, status=ss.alertStatus.raw,
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visual_alert=ss.alertHudVisual, alert_type=ss.alertType)
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self._prev_alert = ret
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return ret
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def will_render(self) -> tuple[Alert | None, bool]:
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alert = self.get_alert(ui_state.sm)
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return alert or self._prev_alert, alert is None
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def _icon_helper(self, alert: Alert) -> AlertLayout:
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icon_side = None
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txt_icon = None
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icon_margin_x = 20
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icon_margin_y = 18
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# alert_type format is "EventName/eventType" (e.g., "preLaneChangeLeft/warning")
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event_name = alert.alert_type.split('/')[0] if alert.alert_type else ''
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if event_name == 'preLaneChangeLeft':
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icon_side = IconSide.left
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txt_icon = self._txt_turn_signal_left
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icon_margin_x = 2
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icon_margin_y = 5
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elif event_name == 'preLaneChangeRight':
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icon_side = IconSide.right
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txt_icon = self._txt_turn_signal_right
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icon_margin_x = 2
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icon_margin_y = 5
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elif event_name == 'laneChange':
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icon_side = self._last_icon_side
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txt_icon = self._txt_turn_signal_left if self._last_icon_side == 'left' else self._txt_turn_signal_right
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icon_margin_x = 2
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icon_margin_y = 5
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elif event_name == 'laneChangeBlocked':
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CS = ui_state.sm['carState']
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if CS.leftBlinker:
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icon_side = IconSide.left
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elif CS.rightBlinker:
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icon_side = IconSide.right
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else:
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icon_side = self._last_icon_side
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txt_icon = self._txt_blind_spot_left if icon_side == 'left' else self._txt_blind_spot_right
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icon_margin_x = 8
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icon_margin_y = 0
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else:
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self._turn_signal_timer = 0.0
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self._last_icon_side = icon_side
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# create text rect based on icon presence
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text_x = self._rect.x + ALERT_MARGIN
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text_width = self._rect.width - ALERT_MARGIN
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if icon_side == 'left':
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text_x = self._rect.x + self._txt_turn_signal_right.width
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text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
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elif icon_side == 'right':
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text_x = self._rect.x + ALERT_MARGIN
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text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
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text_rect = rl.Rectangle(
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text_x,
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self._alert_y_filter.x,
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text_width,
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self._rect.height,
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)
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icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y) if txt_icon is not None and icon_side is not None else None
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return AlertLayout(text_rect, icon_layout)
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def _render(self, rect: rl.Rectangle) -> bool:
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alert = self.get_alert(ui_state.sm)
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# Animate fade and slide in/out
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self._alert_y_filter.update(self._rect.y - 50 if alert is None else self._rect.y)
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self._alpha_filter.update(0 if alert is None else 1)
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if gui_app.iqpilot_ui():
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ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
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if alert is None:
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# If still animating out, keep the previous alert
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if self._alpha_filter.x > 0.01 and self._prev_alert is not None:
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alert = self._prev_alert
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else:
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self._prev_alert = None
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return False
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self._draw_background(alert)
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alert_layout = self._icon_helper(alert)
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self._draw_text(alert, alert_layout)
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self._draw_icons(alert_layout)
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return True
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def _draw_icons(self, alert_layout: AlertLayout) -> None:
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if alert_layout.icon is None:
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return
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# re-derive dt every frame: this filter is constructed at offroad startup (60fps) but onroad
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# runs at a lower target_fps, and a dt frozen from construction decays far too slowly against
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# the real frame cadence, so the icon never dims and reads as static-on instead of blinking.
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self._turn_signal_alpha_filter.dt = 1 / gui_app.target_fps
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self._turn_signal_alpha_filter.update_alpha(0.3)
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if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
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self._turn_signal_timer = time.monotonic()
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self._turn_signal_alpha_filter.x = 255 * 2
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else:
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self._turn_signal_alpha_filter.update(255 * 0.2)
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if alert_layout.icon.side == 'left':
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pos_x = int(self._rect.x + alert_layout.icon.margin_x)
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else:
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pos_x = int(self._rect.x + self._rect.width - alert_layout.icon.margin_x - alert_layout.icon.texture.width)
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if alert_layout.icon.texture not in (self._txt_turn_signal_left, self._txt_turn_signal_right):
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icon_alpha = 255
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else:
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icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
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rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
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rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
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def _draw_background(self, alert: Alert) -> None:
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# draw top gradient for alert text at top
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color = ALERT_COLORS.get(alert.status, ALERT_COLORS[AlertStatus.normal])
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color = rl.Color(color.r, color.g, color.b, int(255 * 0.90 * self._alpha_filter.x))
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translucent_color = rl.Color(color.r, color.g, color.b, int(0 * self._alpha_filter.x))
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small_alert_height = round(self._rect.height * 0.583) # 140px at mici height
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medium_alert_height = round(self._rect.height * 0.833) # 200px at mici height
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# alert_type format is "EventName/eventType" (e.g., "preLaneChangeLeft/warning")
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event_name = alert.alert_type.split('/')[0] if alert.alert_type else ''
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if event_name == 'preLaneChangeLeft':
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bg_height = small_alert_height
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elif event_name == 'preLaneChangeRight':
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bg_height = small_alert_height
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elif event_name == 'laneChange':
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bg_height = small_alert_height
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elif event_name == 'laneChangeBlocked':
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bg_height = medium_alert_height
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else:
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bg_height = int(self._rect.height)
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solid_height = round(bg_height * 0.2)
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rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.width), solid_height, color)
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rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + solid_height), int(self._rect.width),
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int(bg_height - solid_height),
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color, translucent_color)
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def _draw_text(self, alert: Alert, alert_layout: AlertLayout) -> None:
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icon_side = alert_layout.icon.side if alert_layout.icon is not None else None
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# TODO: hack
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alert_text1 = alert.text1.lower().replace('calibrating: ', 'calibrating:\n')
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can_draw_second_line = False
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# TODO: there should be a common way to determine font size based on text length to maximize rect
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if len(alert_text1) <= 12:
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can_draw_second_line = True
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font_size = 92 - 10
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elif len(alert_text1) <= 16:
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can_draw_second_line = True
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font_size = 70
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else:
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font_size = 64 - 10
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if icon_side is not None:
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font_size -= 10
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color = rl.Color(255, 255, 255, int(255 * 0.9 * self._alpha_filter.x))
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text1_y_offset = 11 if font_size >= 70 else 4
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text_rect1 = rl.Rectangle(
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alert_layout.text_rect.x,
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alert_layout.text_rect.y - text1_y_offset,
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alert_layout.text_rect.width,
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alert_layout.text_rect.height,
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)
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self._alert_text1_label.set_text(alert_text1)
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self._alert_text1_label.set_text_color(color)
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self._alert_text1_label.set_font_size(font_size)
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self._alert_text1_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
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self._alert_text1_label.render(text_rect1)
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alert_text2 = alert.text2.lower()
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# randomize chars and length for testing
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if DEBUG:
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if time.monotonic() - self._text_gen_time > 0.5:
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self._alert_text2_gen = ''.join(random.choices(string.ascii_lowercase + ' ', k=random.randint(0, 40)))
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self._text_gen_time = time.monotonic()
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alert_text2 = self._alert_text2_gen or alert_text2
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if can_draw_second_line and alert_text2:
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last_line_h = self._alert_text1_label.rect.y + self._alert_text1_label.get_content_height(int(alert_layout.text_rect.width))
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last_line_h -= 4
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if len(alert_text2) > 18:
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small_font_size = 36
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elif len(alert_text2) > 24:
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small_font_size = 32
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else:
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small_font_size = 40
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text_rect2 = rl.Rectangle(
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alert_layout.text_rect.x,
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last_line_h,
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alert_layout.text_rect.width,
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alert_layout.text_rect.height - last_line_h
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)
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color = rl.Color(255, 255, 255, int(255 * 0.65 * self._alpha_filter.x))
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self._alert_text2_label.set_text(alert_text2)
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self._alert_text2_label.set_text_color(color)
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self._alert_text2_label.set_font_size(small_font_size)
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self._alert_text2_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
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self._alert_text2_label.render(text_rect2)
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Reference in New Issue
Block a user