IQ.Pilot Release Commit @ b6534c0

iqpilot/ui/mici/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqpilot/ui/mici/onroad/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqpilot/ui/mici/onroad/confidence_ball.py

@@ -0,0 +1,30 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import pyray as rl
+from iqpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+
+
+ACTIVE_CONFIDENCE_TOP = rl.Color(0x22, 0xB8, 0xB9, 0xFF)
+ACTIVE_CONFIDENCE_BOTTOM = rl.Color(0x0C, 0x94, 0x96, 0xFF)
+MEDIUM_CONFIDENCE_TOP = rl.Color(255, 200, 0, 255)
+MEDIUM_CONFIDENCE_BOTTOM = rl.Color(255, 115, 0, 255)
+LOW_CONFIDENCE_TOP = rl.Color(255, 0, 21, 255)
+LOW_CONFIDENCE_BOTTOM = rl.Color(255, 0, 89, 255)
+
+
+class IQConfidenceBall:
+  @staticmethod
+  def get_animate_status_probs():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs
+
+    return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs
+
+  @staticmethod
+  def get_lat_long_dot_colors(confidence: float) -> tuple[rl.Color, rl.Color]:
+    if confidence > 0.5:
+      return ACTIVE_CONFIDENCE_TOP, ACTIVE_CONFIDENCE_BOTTOM
+    if confidence > 0.2:
+      return MEDIUM_CONFIDENCE_TOP, MEDIUM_CONFIDENCE_BOTTOM
+    return LOW_CONFIDENCE_TOP, LOW_CONFIDENCE_BOTTOM

iqpilot/ui/mici/onroad/emac_source.py

@@ -0,0 +1,43 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+import time
+
+import pyray as rl
+
+from iqpilot.common.params import Params
+from iqpilot.ui.onroad.big_model_status import SourceState, draw_source_label, resolve_source
+from iqpilot.selfdrive.ui.ui_state import ui_state
+from iqpilot.system.ui.lib.application import FontWeight, gui_app
+from iqpilot.system.ui.lib.text_measure import measure_text_cached
+
+_POLL_S = 1.0
+_FONT_SIZE = 44
+_WHEEL_H = 50
+_MARGIN_R = 12
+_MARGIN_B = 14
+
+
+class EmacSourceIndicator:
+  def __init__(self):
+    self._params = Params()
+    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._last_poll = 0.0
+    self._label = ""
+    self._state = SourceState.HIDDEN
+
+  def update(self) -> None:
+    now = time.monotonic()
+    if now - self._last_poll < _POLL_S:
+      return
+    self._last_poll = now
+    self._label, self._state = resolve_source(self._params, ui_state.engaged)
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if self._state == SourceState.HIDDEN:
+      return
+    size = measure_text_cached(self._font, self._label, _FONT_SIZE)
+    x = rect.x + rect.width - _MARGIN_R - size.x
+    y = rect.y + rect.height - _MARGIN_B - (_WHEEL_H + size.y) / 2
+    draw_source_label(self._font, self._label, self._state, rl.Vector2(x, y), _FONT_SIZE)

iqpilot/ui/mici/onroad/hud_renderer.py

@@ -0,0 +1,26 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import pyray as rl
+
+from iqpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from iqpilot.ui.onroad.hud_overlays import IQBlindSpotOverlay
+from iqpilot.ui.mici.onroad.emac_source import EmacSourceIndicator
+
+class IQMiciHudRenderer(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self._overlays = [IQBlindSpotOverlay(), EmacSourceIndicator()]
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    for overlay in self._overlays:
+      overlay.update()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    for overlay in self._overlays:
+      overlay.render(rect)
+
+  def _has_blind_spot_detected(self) -> bool:
+    return any(getattr(overlay, "detected", False) for overlay in self._overlays)

iqpilot/ui/mici/onroad/road_label.py

@@ -0,0 +1,10 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+from iqpilot.ui.onroad.hud_overlays import RoadNameBanner
+
+class RoadNameRendererMici(RoadNameBanner):
+  TYPE_SIZE = 18
+  MARGIN = 120
+  GAP = 2
+  TORQUE_SCALE = 1.0