IQ.Pilot Release Commit @ 0798119
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IQ.Lvbs history cleanup
251
selfdrive/ui/onroad/hud_renderer.py
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251
selfdrive/ui/onroad/hud_renderer.py
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import pyray as rl
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from dataclasses import dataclass
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from openpilot.common.constants import CV
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from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
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from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.lib.multilang import tr
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from openpilot.system.ui.lib.text_measure import measure_text_cached
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from openpilot.system.ui.widgets import Widget
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# Constants
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SET_SPEED_NA = 255
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KM_TO_MILE = 0.621371
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CRUISE_DISABLED_CHAR = '–'
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@dataclass(frozen=True)
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class UIConfig:
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header_height: int = 300
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border_size: int = 30
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button_size: int = 192
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set_speed_width_metric: int = 186
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set_speed_width_imperial: int = 174
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set_speed_height: int = 228
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wheel_icon_size: int = 144
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@dataclass(frozen=True)
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class FontSizes:
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current_speed: int = 176
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speed_unit: int = 66
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max_speed: int = 28
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set_speed: int = 74
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limit_speed: int = 64
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limit_offset: int = 30
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limit_unit: int = 22
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limit_label: int = 24
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@dataclass(frozen=True)
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class Colors:
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WHITE = rl.WHITE
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DISENGAGED = rl.Color(145, 155, 149, 255)
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OVERRIDE = rl.Color(145, 155, 149, 255) # Added
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ENGAGED = rl.Color(0x0C, 0x94, 0x96, 0xFF)
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LIMIT_ENGAGED = rl.Color(0x27, 0xF5, 0xD3, 0xFF)
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DISENGAGED_BG = rl.Color(0, 0, 0, 153)
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OVERRIDE_BG = rl.Color(145, 155, 149, 204)
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ENGAGED_BG = rl.Color(128, 216, 166, 204)
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GREY = rl.Color(166, 166, 166, 255)
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DARK_GREY = rl.Color(114, 114, 114, 255)
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BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
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WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
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BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
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HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
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HEADER_GRADIENT_END = rl.BLANK
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UI_CONFIG = UIConfig()
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FONT_SIZES = FontSizes()
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COLORS = Colors()
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class HudRenderer(Widget):
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def __init__(self):
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super().__init__()
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"""Initialize the HUD renderer."""
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self.is_cruise_set: bool = False
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self.is_cruise_available: bool = True
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self.set_speed: float = SET_SPEED_NA
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self.speed: float = 0.0
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self.v_ego_cluster_seen: bool = False
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self.limit_speed_text: str = "---"
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self.limit_offset_text: str = ""
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self.limit_available: bool = False
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self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
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self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
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self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
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self._exp_button: ExpButton = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
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def _update_state(self) -> None:
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"""Update HUD state based on car state and controls state."""
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sm = ui_state.sm
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if sm.recv_frame["carState"] < ui_state.started_frame:
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self.is_cruise_set = False
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self.set_speed = SET_SPEED_NA
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self.speed = 0.0
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return
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controls_state = sm['controlsState']
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car_state = sm['carState']
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v_cruise_cluster = car_state.vCruiseCluster
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self.set_speed = (
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controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
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)
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self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
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self.is_cruise_available = self.set_speed != -1
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if self.is_cruise_set and not ui_state.is_metric:
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self.set_speed *= KM_TO_MILE
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v_ego_cluster = car_state.vEgoCluster
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self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
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v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo
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speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
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self.speed = max(0.0, v_ego * speed_conversion)
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def _render(self, rect: rl.Rectangle) -> None:
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"""Render HUD elements to the screen."""
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# Draw the header background
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rl.draw_rectangle_gradient_v(
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int(rect.x),
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int(rect.y),
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int(rect.width),
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UI_CONFIG.header_height,
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COLORS.HEADER_GRADIENT_START,
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COLORS.HEADER_GRADIENT_END,
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)
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if self.is_cruise_available:
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self._draw_set_speed(rect)
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self._draw_current_speed(rect)
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button_x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size
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button_y = rect.y + UI_CONFIG.border_size
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self._exp_button.render(rl.Rectangle(button_x, button_y, UI_CONFIG.button_size, UI_CONFIG.button_size))
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def user_interacting(self) -> bool:
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return self._exp_button.is_pressed
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def _draw_set_speed(self, rect: rl.Rectangle) -> None:
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"""Draw the compact stacked LIMIT / MAX speed indicator box."""
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set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
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x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2
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y = rect.y + 45
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set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
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rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
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rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
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split_y = y + 112
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rl.draw_line_ex(
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rl.Vector2(x + 18, split_y),
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rl.Vector2(x + set_speed_width - 18, split_y),
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3,
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COLORS.BORDER_TRANSLUCENT,
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)
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max_color = COLORS.DARK_GREY
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set_speed_color = COLORS.WHITE
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limit_value_color = COLORS.WHITE if self.limit_available else COLORS.DARK_GREY
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if self.is_cruise_set:
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if ui_state.status == UIStatus.ENGAGED:
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max_color = COLORS.ENGAGED
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if self.limit_available:
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limit_value_color = COLORS.LIMIT_ENGAGED
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elif ui_state.status == UIStatus.DISENGAGED:
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max_color = COLORS.DISENGAGED
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elif ui_state.status == UIStatus.OVERRIDE:
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max_color = COLORS.OVERRIDE
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limit_value_text = self.limit_speed_text
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if len(limit_value_text) <= 2:
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limit_value_size = FONT_SIZES.limit_speed
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elif len(limit_value_text) == 3:
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limit_value_size = 56
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else:
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limit_value_size = 48
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limit_value_width = measure_text_cached(self._font_bold, limit_value_text, limit_value_size).x
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limit_offset_text = self.limit_offset_text if self.limit_available else ""
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limit_offset_width = 0.0
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if limit_offset_text:
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limit_offset_width = measure_text_cached(self._font_semi_bold, limit_offset_text, FONT_SIZES.limit_offset).x + 8
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limit_value_x = x + (set_speed_width - limit_value_width - limit_offset_width) / 2
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rl.draw_text_ex(
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self._font_bold,
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limit_value_text,
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rl.Vector2(limit_value_x, y + 14),
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limit_value_size,
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0,
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limit_value_color,
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)
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if limit_offset_text:
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rl.draw_text_ex(
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self._font_semi_bold,
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limit_offset_text,
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rl.Vector2(limit_value_x + limit_value_width + 8, y + 22),
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FONT_SIZES.limit_offset,
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0,
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COLORS.WHITE_TRANSLUCENT,
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)
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if self.limit_available:
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limit_unit_text = tr("LIMIT")
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limit_unit_width = measure_text_cached(self._font_medium, limit_unit_text, FONT_SIZES.limit_unit).x
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rl.draw_text_ex(
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self._font_medium,
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limit_unit_text,
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rl.Vector2(x + (set_speed_width - limit_unit_width) / 2, y + 78),
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FONT_SIZES.limit_unit,
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0,
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COLORS.WHITE_TRANSLUCENT,
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)
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else:
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limit_label_text = tr("LIMIT")
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limit_label_width = measure_text_cached(self._font_semi_bold, limit_label_text, FONT_SIZES.limit_label).x
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rl.draw_text_ex(
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self._font_semi_bold,
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limit_label_text,
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rl.Vector2(x + (set_speed_width - limit_label_width) / 2, y + 74),
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FONT_SIZES.limit_label,
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0,
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COLORS.GREY,
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)
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max_text = tr("MAX")
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max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
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rl.draw_text_ex(
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self._font_semi_bold,
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max_text,
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rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + 118),
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FONT_SIZES.max_speed,
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0,
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max_color,
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)
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set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(self.set_speed))
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speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x
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rl.draw_text_ex(
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self._font_bold,
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set_speed_text,
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rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 136),
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FONT_SIZES.set_speed,
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0,
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set_speed_color,
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)
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def _draw_current_speed(self, rect: rl.Rectangle) -> None:
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"""Draw the current vehicle speed and unit."""
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speed_text = str(round(self.speed))
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speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
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speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
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rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
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unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
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unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
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unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
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rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
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