forked from IQ.Lvbs/IQ.Pilot
IQ.Pilot Release Commit @ 0798119
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IQ.Lvbs history cleanup
279
selfdrive/ui/mici/onroad/hud_renderer.py
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279
selfdrive/ui/mici/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.mici.onroad.torque_bar import TorqueBar
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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.raylib_compat import draw_circle_gradient
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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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from openpilot.common.filter_simple import FirstOrderFilter
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from cereal import log
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EventName = log.OnroadEvent.EventName
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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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SET_SPEED_PERSISTENCE = 2.5 # seconds
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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 = 36
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set_speed: int = 112
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@dataclass(frozen=True)
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class Colors:
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WHITE = rl.WHITE
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WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
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FONT_SIZES = FontSizes()
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COLORS = Colors()
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class TurnIntent(Widget):
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FADE_IN_ANGLE = 30 # degrees
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def __init__(self):
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super().__init__()
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self._pre = False
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self._turn_intent_direction: int = 0
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self._turn_intent_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
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self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
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self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20)
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self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 20)
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def _render(self, _):
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if self._turn_intent_alpha_filter.x > 1e-2:
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turn_intent_texture = self._txt_turn_intent_right if self._turn_intent_direction == 1 else self._txt_turn_intent_left
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src_rect = rl.Rectangle(0, 0, turn_intent_texture.width, turn_intent_texture.height)
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dest_rect = rl.Rectangle(self._rect.x + self._rect.width / 2, self._rect.y + self._rect.height / 2,
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turn_intent_texture.width, turn_intent_texture.height)
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origin = (turn_intent_texture.width / 2, self._rect.height / 2)
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color = rl.Color(255, 255, 255, int(255 * self._turn_intent_alpha_filter.x))
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rl.draw_texture_pro(turn_intent_texture, src_rect, dest_rect, origin, self._turn_intent_rotation_filter.x, color)
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def _update_state(self) -> None:
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sm = ui_state.sm
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left = any(e.name == EventName.preLaneChangeLeft for e in sm['onroadEvents'])
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right = any(e.name == EventName.preLaneChangeRight for e in sm['onroadEvents'])
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if left or right:
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# pre lane change
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if not self._pre:
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self._turn_intent_rotation_filter.x = self.FADE_IN_ANGLE if left else -self.FADE_IN_ANGLE
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self._pre = True
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self._turn_intent_direction = -1 if left else 1
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self._turn_intent_alpha_filter.update(1)
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self._turn_intent_rotation_filter.update(0)
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elif any(e.name == EventName.laneChange for e in sm['onroadEvents']):
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# fade out and rotate away
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self._pre = False
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self._turn_intent_alpha_filter.update(0)
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if self._turn_intent_direction == 0:
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# unknown. missed pre frame?
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self._turn_intent_rotation_filter.update(0)
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else:
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self._turn_intent_rotation_filter.update(self._turn_intent_direction * self.FADE_IN_ANGLE)
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else:
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# didn't complete lane change, just hide
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self._pre = False
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self._turn_intent_direction = 0
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self._turn_intent_alpha_filter.update(0)
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self._turn_intent_rotation_filter.update(0)
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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._set_speed_changed_time: float = 0
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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._engaged: bool = False
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self._can_draw_top_icons = True
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self._show_wheel_critical = False
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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._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
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self._font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
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self._turn_intent = TurnIntent()
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self._torque_bar = TorqueBar()
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self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
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self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
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self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
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self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
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self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
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self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
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def set_wheel_critical_icon(self, critical: bool):
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"""Set the wheel icon to critical or normal state."""
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self._show_wheel_critical = critical
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def set_can_draw_top_icons(self, can_draw_top_icons: bool):
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"""Set whether to draw the top part of the HUD."""
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self._can_draw_top_icons = can_draw_top_icons
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def drawing_top_icons(self) -> bool:
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# whether we're drawing any top icons currently
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return bool(self._set_speed_alpha_filter.x > 1e-2)
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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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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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engaged = sm['selfdriveState'].enabled
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if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
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self._set_speed_changed_time = rl.get_time()
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self._engaged = engaged
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self.set_speed = set_speed
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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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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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self._torque_bar.render(rect)
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if self.is_cruise_set:
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self._draw_set_speed(rect)
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self._draw_steering_wheel(rect)
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def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
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wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
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bsm_detected = self._has_blind_spot_detected() if gui_app.iqpilot_ui() else False
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if self._show_wheel_critical:
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self._wheel_alpha_filter.update(255)
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self._wheel_y_filter.update(0)
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else:
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if ui_state.status == UIStatus.DISENGAGED or bsm_detected:
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self._wheel_alpha_filter.update(0)
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self._wheel_y_filter.update(wheel_txt.height / 2)
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else:
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self._wheel_alpha_filter.update(255 * 0.9)
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self._wheel_y_filter.update(0)
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# pos
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pos_x = int(rect.x + 21 + wheel_txt.width / 2)
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pos_y = int(rect.y + rect.height - 14 - wheel_txt.height / 2 + self._wheel_y_filter.x)
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rotation = -ui_state.sm['carState'].steeringAngleDeg
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turn_intent_margin = 25
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self._turn_intent.render(rl.Rectangle(
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pos_x - wheel_txt.width / 2 - turn_intent_margin,
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pos_y - wheel_txt.height / 2 - turn_intent_margin,
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wheel_txt.width + turn_intent_margin * 2,
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wheel_txt.height + turn_intent_margin * 2,
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))
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src_rect = rl.Rectangle(0, 0, wheel_txt.width, wheel_txt.height)
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dest_rect = rl.Rectangle(pos_x, pos_y, wheel_txt.width, wheel_txt.height)
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origin = (wheel_txt.width / 2, wheel_txt.height / 2)
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# color and draw
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color = rl.Color(255, 255, 255, int(self._wheel_alpha_filter.x))
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rl.draw_texture_pro(wheel_txt, src_rect, dest_rect, origin, rotation, color)
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if self._show_wheel_critical:
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# Draw exclamation point icon
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EXCLAMATION_POINT_SPACING = 10
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exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
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exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
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rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
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def _draw_set_speed(self, rect: rl.Rectangle) -> None:
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"""Draw the MAX speed indicator box."""
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alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
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self._can_draw_top_icons and self._engaged)
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if alpha < 1e-2:
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return
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x = rect.x
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y = rect.y
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# draw drop shadow
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circle_radius = 162 // 2
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draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
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rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
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set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
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max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
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set_speed = self.set_speed
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if self.is_cruise_set and not ui_state.is_metric:
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set_speed *= KM_TO_MILE
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set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(set_speed))
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rl.draw_text_ex(
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self._font_display,
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set_speed_text,
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rl.Vector2(x + 13 + 4, y + 3 - 8 - 3 + 4),
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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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max_text = tr("MAX")
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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 + 25, y + FONT_SIZES.set_speed - 7 + 4),
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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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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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