sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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from dataclasses import dataclass
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from enum import Enum
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import time
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class AnimationMode(Enum):
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ONCE_FORWARD = 1
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ONCE_FORWARD_BACKWARD = 2
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REPEAT_FORWARD = 3
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REPEAT_FORWARD_BACKWARD = 4
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@dataclass
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class Animation:
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frames: list[list[tuple[int, int]]]
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starting_frames: list[list[tuple[int, int]]] | None = None # played once before the main loop
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frame_duration: float = 0.15 # seconds each frame is shown
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mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
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repeat_interval: float = 5.0 # seconds between animation restarts (only for REPEAT modes)
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hold_end: float = 0.0 # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
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left_turn_remove: list[tuple[int, int]] | None = None # dots to remove from frame when turning left
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right_turn_remove: list[tuple[int, int]] | None = None # dots to remove from frame when turning right
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# --- Animation Helper Functions ---
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def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
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"""Mirror a component from the left side of the face to the right"""
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return [(r, 15 - c) for r, c in dots]
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def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
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"""Move a component to the mirrored position on the right half without flipping its shape."""
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min_c = min(c for _, c in dots)
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max_c = max(c for _, c in dots)
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return [(r, 15 - max_c - min_c + c) for r, c in dots]
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def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
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dr, dc = rc
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return [(r + dr, c + dc) for r, c in dots]
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def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
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left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
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mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
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return left_eye + left_brow + right_eye + right_brow + mouth
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# --- Animation Helper Components ---
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# Eyes (left side)
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EYE_OPEN = [
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(2, 2), (2, 3),
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(3, 1), (3, 2), (3, 3), (3, 4),
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(4, 1), (4, 2), (4, 3), (4, 4),
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(5, 2), (5, 3)
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]
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EYE_HALF = [
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(4, 1), (4, 2), (4, 3), (4, 4),
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(5, 2), (5, 3)
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]
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EYE_CLOSED = [
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(4, 1), (4, 4),
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(5, 2), (5, 3),
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]
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EYE_LEFT_LOOK = [
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(2, 2), (2, 3),
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(3, 1), (3, 2),
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(4, 1), (4, 2),
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(5, 2), (5, 3),
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]
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EYE_RIGHT_LOOK = [
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(2, 2), (2, 3),
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(3, 3), (3, 4),
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(4, 3), (4, 4),
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(5, 2), (5, 3),
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]
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# Eyebrows (left side)
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BROW_HIGH = [
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(0, 1), (0, 2),
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(1, 0),
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]
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BROW_LOWERED = [
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(1, 1), (1, 2),
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(2, 0)
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]
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BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
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BROW_DOWN = [
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(0, 1), (0, 2),
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(1, 3)
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]
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# Mouths (centered, not mirrored)
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MOUTH_SMILE = [
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(6, 6), (6, 9),
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(7, 7), (7, 8),
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]
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MOUTH_NORMAL = [(7, 7), (7, 8)]
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MOUTH_SAD = [
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(6, 7), (6, 8),
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(7, 6), (7, 9)
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]
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# --- Animations ---
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NORMAL = Animation(
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frames=[
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_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
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],
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left_turn_remove=[
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(3, 3), (3, 4),
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(4, 3), (4, 4),
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] + _mirror_no_flip([
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(3, 1), (3, 2),
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(4, 1), (4, 2),
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]),
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right_turn_remove=[
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(3, 1), (3, 2),
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(4, 1), (4, 2),
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] + _mirror_no_flip([
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(3, 3), (3, 4),
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(4, 3), (4, 4),
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])
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)
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ASLEEP = Animation(
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frames=[
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_make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
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],
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)
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SLEEPY = Animation(
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frames=[
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_make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
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_make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
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_make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
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],
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frame_duration=0.25,
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mode=AnimationMode.ONCE_FORWARD_BACKWARD,
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repeat_interval=10,
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hold_end=1.5,
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)
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INQUISITIVE = Animation(
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frames=[
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_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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],
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mode=AnimationMode.REPEAT_FORWARD,
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frame_duration=0.15,
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repeat_interval=10
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)
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WINK = Animation(
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frames=[
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_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
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_make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
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],
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mode=AnimationMode.ONCE_FORWARD_BACKWARD,
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frame_duration=0.75,
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)
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# --- Face Animator Class ---
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class FaceAnimator:
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def __init__(self, animation: Animation):
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self._animation = animation
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self._next: Animation | None = None
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self._start_time = time.monotonic()
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self._rewinding = False
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self._rewind_start: float = 0.0
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self._rewind_from: int = 0
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self._seen_nonzero = False
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def set_animation(self, animation: Animation):
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if animation is not self._animation:
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self._next = animation
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def get_dots(self) -> list[tuple[int, int]]:
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now = time.monotonic()
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elapsed = now - self._start_time
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# Handle rewind for forward-only animations
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if self._rewinding:
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rewind_elapsed = now - self._rewind_start
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frames_back = round(rewind_elapsed / self._animation.frame_duration)
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frame_index = self._rewind_from - frames_back
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if frame_index <= 0:
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return self._switch_to_next(now)
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return self._animation.frames[frame_index]
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# Play starting frames first (once)
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starting = self._animation.starting_frames or []
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starting_duration = len(starting) * self._animation.frame_duration
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if starting and elapsed < starting_duration:
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frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
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return starting[frame_index]
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# Main loop
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loop_elapsed = elapsed - starting_duration if starting else elapsed
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frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
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if frame_index != 0:
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self._seen_nonzero = True
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if self._next is not None:
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if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
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return self._switch_to_next(now)
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# No natural return to frame 0 — start rewinding
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if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
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self._rewinding = True
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self._rewind_start = now
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self._rewind_from = frame_index
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return self._animation.frames[frame_index]
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def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
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self._animation = self._next
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self._next = None
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self._rewinding = False
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self._seen_nonzero = False
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self._start_time = now
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return self._animation.frames[0]
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def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
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"""Get the current frame index given elapsed time and animation mode."""
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num_frames = len(animation.frames)
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if num_frames == 1:
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return 0
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fd = animation.frame_duration
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has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
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repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
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forward_duration = num_frames * fd
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backward_frames = max(num_frames - 2, 0) if has_backward else 0
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hold = animation.hold_end if has_backward else 0.0
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cycle_duration = forward_duration + hold + backward_frames * fd
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if not repeats:
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t = min(elapsed, cycle_duration)
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else:
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t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
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# Forward phase
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if t < forward_duration:
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return min(int(t / fd), num_frames - 1)
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t -= forward_duration
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# Hold at last frame
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if t < hold:
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return num_frames - 1
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t -= hold
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# Backward phase
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if backward_frames and t < backward_frames * fd:
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return num_frames - 2 - min(int(t / fd), backward_frames - 1)
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return 0 if has_backward else num_frames - 1
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Whitespace-only changes.
@@ -0,0 +1,93 @@
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import time
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import pyray as rl
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.label import UnifiedLabel
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
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GRID_COLS = 16
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GRID_ROWS = 8
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DOT_RADIUS = 50 if gui_app.big_ui() else 10
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IDLE_TIMEOUT = 30.0 # seconds of no joystick input before playing INQUISITIVE
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IDLE_STEER_THRESH = 0.5 # degrees — below this counts as no input
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IDLE_SPEED_THRESH = 0.01 # m/s — below this counts as no input
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# This class is used both in BIG (tizi) and small (mici) UIs
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class BodyLayout(Widget):
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def __init__(self):
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super().__init__()
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self._animator = FaceAnimator(ASLEEP)
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self._turning_left = False
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self._turning_right = False
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self._last_input_time = time.monotonic()
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self._was_active = False
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self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
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alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
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alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
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def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
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spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
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grid_w = (GRID_COLS - 1) * spacing
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grid_h = (GRID_ROWS - 1) * spacing
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offset_x = rect.x + (rect.width - grid_w) / 2
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offset_y = rect.y + (rect.height - grid_h) / 2
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for row, col in dots:
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x = int(offset_x + col * spacing)
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y = int(offset_y + row * spacing)
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rl.draw_circle(x, y, DOT_RADIUS, color)
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def _update_state(self):
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super()._update_state()
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sm = ui_state.sm
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if ui_state.is_onroad():
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if not self._was_active:
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self._last_input_time = time.monotonic()
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self._was_active = True
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cs = sm['carState']
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has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
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if has_input:
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self._last_input_time = time.monotonic()
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if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
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self._animator.set_animation(INQUISITIVE)
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else:
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self._animator.set_animation(NORMAL)
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else:
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self._was_active = False
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self._animator.set_animation(ASLEEP)
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steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
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self._turning_left = steer <= -0.05
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self._turning_right = steer >= 0.05
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# play animation on screen tap
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def _handle_mouse_release(self, mouse_pos):
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super()._handle_mouse_release(mouse_pos)
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if not self._was_active:
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self._animator.set_animation(SLEEPY)
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def _render(self, rect: rl.Rectangle):
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dots = self._animator.get_dots()
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animation = self._animator._animation
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if self._turning_left and animation.left_turn_remove:
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remove_set = set(animation.left_turn_remove)
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dots = [d for d in dots if d not in remove_set]
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elif self._turning_right and animation.right_turn_remove:
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remove_set = set(animation.right_turn_remove)
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dots = [d for d in dots if d not in remove_set]
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self.draw_dot_grid(rect, dots, rl.WHITE)
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if ui_state.is_offroad():
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rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
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upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
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self._offroad_label.render(upper_half)
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