sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from enum import IntEnum
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import pyray as rl
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
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UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
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DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
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AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
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SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement
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)
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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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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def get_bottom_dev_ui_offset():
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if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
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return 60
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return 0
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class DeveloperUiState(IntEnum):
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OFF = 0
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BOTTOM = 1
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RIGHT = 2
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BOTH = 3
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class DeveloperUiRenderer(Widget):
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def __init__(self):
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super().__init__()
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self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
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self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
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self.dev_ui_mode = DeveloperUiState.OFF
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self.rel_dist_elem = RelDistElement()
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self.rel_speed_elem = RelSpeedElement()
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self.steering_angle_elem = SteeringAngleElement()
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self.desired_lat_accel_elem = DesiredLateralAccelElement()
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self.actual_lat_accel_elem = ActualLateralAccelElement()
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self.desired_steer_elem = DesiredSteeringAngleElement()
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self.desired_pid_steer_elem = DesiredSteeringPIDElement()
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self.a_ego_elem = AEgoElement()
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self.lead_speed_elem = LeadSpeedElement()
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self.friction_elem = FrictionCoefficientElement()
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self.lat_accel_factor_elem = LatAccelFactorElement()
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self.steering_torque_elem = SteeringTorqueEpsElement()
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self.bearing_elem = BearingDegElement()
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self.altitude_elem = AltitudeElement()
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def _update_state(self) -> None:
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self.dev_ui_mode = ui_state.developer_ui
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def _render(self, rect: rl.Rectangle) -> None:
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if self.dev_ui_mode == DeveloperUiState.OFF:
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return
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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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return
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if self.dev_ui_mode == DeveloperUiState.BOTTOM:
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self._draw_bottom_dev_ui(rect)
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elif self.dev_ui_mode == DeveloperUiState.RIGHT:
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self._draw_right_dev_ui(rect)
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elif self.dev_ui_mode == DeveloperUiState.BOTH:
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self._draw_right_dev_ui(rect)
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self._draw_bottom_dev_ui(rect)
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def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
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sm = ui_state.sm
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controls_state = sm['controlsState']
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UI_BORDER_SIZE = 20
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container_width = 184
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x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2)
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y = int(rect.y + UI_BORDER_SIZE * 1.5)
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elements = [
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self.rel_dist_elem.update(sm, ui_state.is_metric),
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self.rel_speed_elem.update(sm, ui_state.is_metric),
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self.steering_angle_elem.update(sm, ui_state.is_metric),
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]
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if controls_state.lateralControlState.which() == 'torqueState':
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elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
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elif controls_state.lateralControlState.which() == 'angleState':
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elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
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elif controls_state.lateralControlState.which() == 'pidState':
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elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric))
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elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
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current_y = y
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for element in elements:
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current_y += self._draw_right_dev_ui_element(x, current_y, element)
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def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
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x += 0
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y += 230
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container_width = 184
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label_size = 28
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value_size = 60
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unit_size = 28
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label_width = measure_text_cached(self._font_bold, element.label, label_size, 0).x
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centered_label_x = x + (container_width - label_width) / 2
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rl.draw_text_ex(self._font_bold, element.label, rl.Vector2(centered_label_x, y), label_size, 0, rl.WHITE)
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y += 45
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value_width = measure_text_cached(self._font_bold, element.value, value_size, 0).x
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centered_value_x = x + (container_width - value_width) / 2
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rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(centered_value_x, y), value_size, 0, element.color)
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if element.unit:
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units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
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units_x = x + container_width
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units_y = y + (value_size / 2) + (units_height / 2)
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rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
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return 130
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def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
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sm = ui_state.sm
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bar_height = 61
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y = int(rect.y + rect.height - bar_height)
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rl.draw_rectangle(int(rect.x), y, int(rect.width), bar_height,
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rl.Color(0, 0, 0, 100))
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elements = [
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self.a_ego_elem.update(sm, ui_state.is_metric),
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self.lead_speed_elem.update(sm, ui_state.is_metric),
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]
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# Add torque-specific elements if using torque control
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if sm['controlsState'].lateralControlState.which() == 'torqueState':
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override_active = ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled
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if sm.valid['liveTorqueParameters'] or override_active:
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elements.extend([
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self.friction_elem.update(sm, ui_state.is_metric),
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self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
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])
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else:
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# Non-torque: show steering torque and GPS data
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elements.append(self.steering_torque_elem.update(sm, ui_state.is_metric))
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if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
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elements.append(self.bearing_elem.update(sm, ui_state.is_metric))
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# Add altitude if GPS available
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if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
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elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
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if not elements:
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return
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font_size = 38
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element_widths = []
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for element in elements:
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element.measure(self._font_bold, font_size)
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element_widths.append(element.total_width)
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total_element_width = sum(element_widths)
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num_gaps = len(elements) + 1
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available_width = rect.width
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gap_width = (available_width - total_element_width) / num_gaps
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center_y = y + bar_height // 2
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current_x = rect.x + gap_width
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for i, element in enumerate(elements):
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element_center_x = int(current_x + element_widths[i] / 2)
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self._draw_bottom_dev_ui_element(element_center_x, center_y, element)
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current_x += element_widths[i] + gap_width
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def _draw_bottom_dev_ui_element(self, center_x: int, y: int, element: UiElement) -> None:
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font_size = 38
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start_x = center_x - element.total_width / 2
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rl.draw_text_ex(self._font_bold, element.label_text, rl.Vector2(start_x, y - font_size // 2), font_size, 0, rl.WHITE)
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rl.draw_text_ex(self._font_bold, element.val_text, rl.Vector2(start_x + element.label_width, y - font_size // 2), font_size, 0, element.color)
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if element.unit:
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rl.draw_text_ex(self._font_bold, element.unit_text, rl.Vector2(start_x + element.label_width + element.val_width, y - font_size // 2),
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font_size, 0, rl.WHITE)
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@@ -0,0 +1,348 @@
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"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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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.ui_state import ui_state
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from openpilot.system.ui.lib.text_measure import measure_text_cached
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@dataclass
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class UiElement:
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value: str
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label: str
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unit: str
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color: rl.Color
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val_text: str = ""
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label_text: str = ""
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unit_text: str = ""
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val_width: float = 0.0
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label_width: float = 0.0
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unit_width: float = 0.0
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total_width: float = 0.0
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def measure(self, font, font_size: int):
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self.label_text = f"{self.label} "
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self.val_text = self.value
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self.unit_text = f" {self.unit}" if self.unit else ""
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self.label_width = measure_text_cached(font, self.label_text, font_size, 0).x
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self.val_width = measure_text_cached(font, self.val_text, font_size, 0).x
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self.unit_width = measure_text_cached(font, self.unit_text, font_size, 0).x if self.unit else 0
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self.total_width = self.label_width + self.val_width + self.unit_width
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class LeadInfoElement:
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@staticmethod
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def get_lead_status(sm):
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lead_one = sm['radarState'].leadOne
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return lead_one.present, lead_one.dRel, lead_one.vRel
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@staticmethod
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def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
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if use_v_rel:
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if lead_v_rel < -4.4704:
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return rl.RED
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elif lead_v_rel < 0:
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return rl.Color(255, 188, 0, 255) # Orange
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else:
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if lead_d_rel < 5:
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return rl.RED
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elif lead_d_rel < 15:
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return rl.Color(255, 188, 0, 255) # Orange
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return rl.WHITE
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class LateralControlElement:
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@staticmethod
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def get_lat_color(lat_active: bool, steer_override: bool, angle_steers: float = 0.0,
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check_angle: bool = False) -> rl.Color:
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color = rl.WHITE
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if lat_active:
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color = rl.Color(145, 155, 149, 255) if steer_override else rl.Color(0, 255, 0, 255)
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if check_angle and lat_active:
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if abs(angle_steers) > 180:
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color = rl.RED
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elif abs(angle_steers) > 90:
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color = rl.Color(255, 188, 0, 255)
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else:
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# Keep green/grey from above
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pass
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elif check_angle and not lat_active:
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if abs(angle_steers) > 180:
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color = rl.RED
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elif abs(angle_steers) > 90:
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color = rl.Color(255, 188, 0, 255)
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return color
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class RelDistElement(LeadInfoElement):
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def __init__(self):
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self.unit = "m"
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def update(self, sm, is_metric: bool) -> UiElement:
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lead_status, lead_d_rel, _ = self.get_lead_status(sm)
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value = f"{lead_d_rel:.0f}" if lead_status else "-"
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color = self.get_lead_color(lead_d_rel) if lead_status else rl.WHITE
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return UiElement(value, "REL DIST", self.unit, color)
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class RelSpeedElement(LeadInfoElement):
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def __init__(self):
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self.unit = "km/h"
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def update(self, sm, is_metric: bool) -> UiElement:
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lead_status, _, lead_v_rel = self.get_lead_status(sm)
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self.unit = "km/h" if is_metric else "mph"
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conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
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value = f"{lead_v_rel * conversion:.0f}" if lead_status else "-"
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color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
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return UiElement(value, "REL SPEED", self.unit, color)
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class SteeringAngleElement(LateralControlElement):
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def __init__(self):
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self.unit = ""
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def update(self, sm, is_metric: bool) -> UiElement:
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car_state = sm['carState']
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angle_steers = car_state.steeringAngleDeg
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lat_active = sm['carControl'].latActive
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steer_override = car_state.steeringPressed
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value = f"{angle_steers:.1f}°"
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color = self.get_lat_color(lat_active, steer_override, angle_steers, check_angle=True)
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return UiElement(value, "REAL STEER", self.unit, color)
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class DesiredSteeringAngleElement(LateralControlElement):
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def __init__(self):
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self.unit = ""
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def update(self, sm, is_metric: bool) -> UiElement:
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car_state = sm['carState']
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controls_state = sm['controlsState']
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lat_active = sm['carControl'].latActive
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angle_steers = car_state.steeringAngleDeg
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steer_angle_desired = controls_state.lateralControlState.angleState.steeringAngleDeg
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value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
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color = rl.WHITE
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if lat_active:
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if abs(angle_steers) > 180:
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color = rl.RED
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elif abs(angle_steers) > 90:
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color = rl.Color(255, 188, 0, 255)
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else:
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color = rl.Color(0, 255, 0, 255)
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return UiElement(value, "DESIRED STEER", self.unit, color)
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class ActualLateralAccelElement(LateralControlElement):
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def __init__(self):
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self.unit = "m/s^2"
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def update(self, sm, is_metric: bool) -> UiElement:
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controls_state = sm['controlsState']
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curvature = controls_state.curvature
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v_ego = sm['carState'].vEgo
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roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
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lat_active = sm['carControl'].latActive
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steer_override = sm['carState'].steeringPressed
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actual_lat_accel = (curvature * v_ego ** 2) - (roll * 9.81)
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value = f"{actual_lat_accel:.2f}"
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color = self.get_lat_color(lat_active, steer_override)
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return UiElement(value, "ACTUAL L.A.", self.unit, color)
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class DesiredLateralAccelElement(LateralControlElement):
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def __init__(self):
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self.unit = "m/s^2"
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def update(self, sm, is_metric: bool) -> UiElement:
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controls_state = sm['controlsState']
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desired_curvature = controls_state.desiredCurvature
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v_ego = sm['carState'].vEgo
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roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
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lat_active = sm['carControl'].latActive
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steer_override = sm['carState'].steeringPressed
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desired_lat_accel = (desired_curvature * v_ego ** 2) - (roll * 9.81)
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value = f"{desired_lat_accel:.2f}" if lat_active else "-"
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color = self.get_lat_color(lat_active, steer_override)
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return UiElement(value, "DESIRED L.A.", self.unit, color)
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class DesiredSteeringPIDElement(LateralControlElement):
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def __init__(self):
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self.unit = ""
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def update(self, sm, is_metric: bool) -> UiElement:
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car_state = sm['carState']
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controls_state = sm['controlsState']
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lat_active = sm['carControl'].latActive
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angle_steers = car_state.steeringAngleDeg
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steer_angle_desired = controls_state.lateralControlState.pidState.steeringAngleDesiredDeg
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value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
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color = rl.WHITE
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if lat_active:
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if abs(angle_steers) > 180:
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color = rl.RED
|
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elif abs(angle_steers) > 90:
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color = rl.Color(255, 188, 0, 255)
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else:
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color = rl.Color(0, 255, 0, 255)
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return UiElement(value, "DESIRED STEER", self.unit, color)
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class AEgoElement:
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def __init__(self):
|
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self.unit = "m/s^2"
|
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|
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def update(self, sm, is_metric: bool) -> UiElement:
|
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a_ego = sm['carState'].aEgo
|
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value = f"{a_ego:.1f}"
|
||||
return UiElement(value, "ACC.", self.unit, rl.WHITE)
|
||||
|
||||
|
||||
class LeadSpeedElement(LeadInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = "km/h"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
lead_status, _, lead_v_rel = self.get_lead_status(sm)
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
self.unit = "km/h" if is_metric else "mph"
|
||||
|
||||
conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
|
||||
value = f"{(lead_v_rel + v_ego) * conversion:.0f}" if lead_status else "-"
|
||||
color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
|
||||
|
||||
return UiElement(value, "L.S.", self.unit, color)
|
||||
|
||||
|
||||
class FrictionCoefficientElement:
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
|
||||
return UiElement(f"{ui_state.torque_override_friction:.3f}", "FRIC.", self.unit, rl.WHITE)
|
||||
|
||||
ltp = sm['liveTorqueParameters']
|
||||
value = f"{ltp.frictionCoefficientFiltered:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
|
||||
return UiElement(value, "FRIC.", self.unit, color)
|
||||
|
||||
|
||||
class LatAccelFactorElement:
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
|
||||
return UiElement(f"{ui_state.torque_override_lat_accel_factor:.3f}", "L.A.F.", self.unit, rl.WHITE)
|
||||
|
||||
ltp = sm['liveTorqueParameters']
|
||||
value = f"{ltp.latAccelFactorFiltered:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
|
||||
return UiElement(value, "L.A.F.", self.unit, color)
|
||||
|
||||
|
||||
class SteeringTorqueEpsElement:
|
||||
def __init__(self):
|
||||
self.unit = "N·dm"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
steering_torque_eps = sm['carState'].steeringTorqueEps
|
||||
value = f"{abs(steering_torque_eps):.1f}"
|
||||
return UiElement(value, "E.T.", self.unit, rl.WHITE)
|
||||
|
||||
|
||||
class GpsInfoElement:
|
||||
@staticmethod
|
||||
def get_gps_data(sm):
|
||||
if sm.valid['gpsLocationExternal']:
|
||||
return sm['gpsLocationExternal'], True
|
||||
elif sm.valid['gpsLocation']:
|
||||
return sm['gpsLocation'], True
|
||||
return None, False
|
||||
|
||||
|
||||
class BearingDegElement(GpsInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
gps_data, valid = self.get_gps_data(sm)
|
||||
if not valid:
|
||||
return UiElement("OFF | -", "B.D.", self.unit, rl.WHITE)
|
||||
|
||||
bearing_accuracy_deg = gps_data.bearingAccuracyDeg
|
||||
bearing_deg = gps_data.bearingDeg
|
||||
|
||||
if bearing_accuracy_deg != 180.0:
|
||||
value = f"{bearing_deg:.0f}°"
|
||||
if (337.5 <= bearing_deg <= 360) or (0 <= bearing_deg <= 22.5):
|
||||
dir_value = "N"
|
||||
elif 22.5 < bearing_deg < 67.5:
|
||||
dir_value = "NE"
|
||||
elif 67.5 <= bearing_deg <= 112.5:
|
||||
dir_value = "E"
|
||||
elif 112.5 < bearing_deg < 157.5:
|
||||
dir_value = "SE"
|
||||
elif 157.5 <= bearing_deg <= 202.5:
|
||||
dir_value = "S"
|
||||
elif 202.5 < bearing_deg < 247.5:
|
||||
dir_value = "SW"
|
||||
elif 247.5 <= bearing_deg <= 292.5:
|
||||
dir_value = "W"
|
||||
else: # 292.5 < bearing_deg < 337.5
|
||||
dir_value = "NW"
|
||||
else:
|
||||
value = "-"
|
||||
dir_value = "OFF"
|
||||
|
||||
return UiElement(f"{dir_value} | {value}", "B.D.", self.unit, rl.WHITE)
|
||||
|
||||
|
||||
class AltitudeElement(GpsInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = "m"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
gps_data, valid = self.get_gps_data(sm)
|
||||
|
||||
gps_accuracy = 0.0
|
||||
altitude = 0.0
|
||||
|
||||
if valid:
|
||||
altitude = gps_data.altitude
|
||||
if sm.valid['gpsLocationExternal']:
|
||||
gps_accuracy = gps_data.horizontalAccuracy
|
||||
else:
|
||||
gps_accuracy = 1.0 # Simulate valid for legacy check
|
||||
|
||||
value = f"{altitude:.1f}" if gps_accuracy != 0.0 else "-"
|
||||
return UiElement(value, "ALT.", self.unit, rl.WHITE)
|
||||
Reference in new issue
Block a user