IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ 70bd095

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-21 13:53:33 -05:00
parent b6c0232c12
commit 78fc163202
51 changed files with 964 additions and 807 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/ui/mici/layouts/onboarding.py
View File

@@ -200,7 +200,7 @@ class TrainingGuideDMTutorial(Widget):
looking_center = False
# stay at 100% once reached
if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
if (dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99:
slow = self._progress.x < 0.25
duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
self._progress.x += 1.0 / (duration * gui_app.target_fps)

37
selfdrive/ui/mici/onroad/driver_camera_dialog.py
View File

@@ -1,20 +1,14 @@
import pyray as rl
from cereal import log, messaging
from cereal import car, log, messaging
from msgq.visionipc import VisionStreamType
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
from openpilot.selfdrive.ui.ui_state import ui_state, device
from openpilot.selfdrive.selfdrived.events import EVENTS, ET
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.multilang import tr
from openpilot.system.ui.widgets.nav_widget import NavWidget
from openpilot.system.ui.widgets.label import gui_label
EventName = log.OnroadEvent.EventName
EVENT_TO_INT = EventName.schema.enumerants
class DriverCameraView(CameraView):
def _calc_frame_matrix(self, rect: rl.Rectangle):
base = super()._calc_frame_matrix(rect)
@@ -116,10 +110,14 @@ class DriverCameraDialog(NavWidget):
return
msg = messaging.new_message('selfdriveState')
if dm_state is not None and len(dm_state.events):
event_name = EVENT_TO_INT[dm_state.events[0].name]
if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
if dm_state is not None:
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
alert_sounds = {
'one': AudibleAlert.preAlert,
'two': AudibleAlert.promptDistracted,
'three': AudibleAlert.warningImmediate,
}
msg.selfdriveState.alertSound = alert_sounds.get(str(dm_state.alertLevel), AudibleAlert.none)
self._pm.send('selfdriveState', msg)
def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -127,29 +125,30 @@ class DriverCameraDialog(NavWidget):
dm_state = ui_state.sm["driverMonitoringState"]
self._publish_alert_sound(dm_state)
is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
color=rl.Color(0, 0, 0, 180))
gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
color=rl.Color(255, 255, 255, int(255 * 0.9)))
if not dm_state.events:
if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
return
# Show first event (only one should be active at a time)
event_name_str = str(dm_state.events[0].name).split('.')[-1]
alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
alignment=alignment,
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
color=rl.Color(0, 0, 0, 180))
gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
alignment=alignment,
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
color=rl.Color(255, 255, 255, int(255 * 0.9)))
@@ -166,7 +165,7 @@ class DriverCameraDialog(NavWidget):
def _draw_face_detection(self, rect: rl.Rectangle):
dm_state = ui_state.sm["driverMonitoringState"]
driver_data = self.driver_state_renderer.get_driver_data()
if not dm_state.faceDetected:
if not dm_state.visionPolicyState.faceDetected:
return
# Get face position and orientation

46
selfdrive/ui/mici/onroad/driver_state.py
View File

@@ -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)