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IQ.Pilot Release Commit @ 70bd095

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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
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37
selfdrive/ui/mici/onroad/driver_camera_dialog.py
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@@ -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