sunnypilot-byd/openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py

"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.

This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import pyray as rl

from openpilot.cereal import log
from openpilot.selfdrive.ui import UI_BORDER_SIZE
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
from openpilot.system.ui.lib.text_measure import measure_text_cached


class CircularAlertsRenderer:
  def __init__(self):
    self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250)
    self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250)

    self._e2e_alert_display_timer = 0
    self._e2e_alert_frame = 0
    self._green_light_alert = False
    self._lead_depart_alert = False
    self._standstill_elapsed_time = 0.0
    self._is_standstill = False
    self._alert_text = ""
    self._alert_img = None
    self._allow_e2e_alerts = False

  def update(self) -> None:
    sm = ui_state.sm
    lp_sp = sm['longitudinalPlanSP']
    car_state = sm['carState']
    self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
    self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
    self._is_standstill = car_state.standstill

    if not ui_state.started:
      self._standstill_elapsed_time = 0.0

    self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \
                             sm.recv_frame['driverStateV2'] > ui_state.started_frame

    if self._green_light_alert or self._lead_depart_alert:
      self._e2e_alert_display_timer = 3 * gui_app.target_fps
      # reset onroad sleep timer for e2e alerts
      ui_state.reset_onroad_sleep_timer()

    if self._e2e_alert_display_timer > 0:
      self._e2e_alert_frame += 1
      self._e2e_alert_display_timer -= 1

      if self._green_light_alert:
        self._alert_text = "GREEN\nLIGHT"
        self._alert_img = self._green_light_alert_img
      elif self._lead_depart_alert:
        self._alert_text = "LEAD VEHICLE\nDEPARTING"
        self._alert_img = self._lead_depart_alert_img

    elif ui_state.standstill_timer and self._is_standstill:
      self._alert_img = None
      self._standstill_elapsed_time += 1.0 / gui_app.target_fps
      minute = int(self._standstill_elapsed_time / 60)
      second = int(self._standstill_elapsed_time - (minute * 60))
      self._alert_text = f"{minute:01d}:{second:02d}"
      self._e2e_alert_frame += 1

    else:
      self._e2e_alert_frame = 0
      if not self._is_standstill:
        self._standstill_elapsed_time = 0.0

  def render(self, rect: rl.Rectangle) -> None:
    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (ui_state.standstill_timer and self._is_standstill)):
      return

    e2e_alert_size = 250
    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiState.RIGHT, DeveloperUiState.BOTH) else 100

    x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3)
    y = rect.y + rect.height / 2 + 20

    alert_rect = rl.Rectangle(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2)
    center = rl.Vector2(alert_rect.x + alert_rect.width / 2, alert_rect.y + alert_rect.height / 2)

    # Pulse logic
    is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)

    # Standstill Timer (STOPPED) should be static white
    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
      frame_color = rl.Color(255, 255, 255, 75)
    else:
      frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)

    # Draw Circle
    rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190))
    # Draw Ring (Border)
    rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color)

    # Draw Image
    if self._alert_img and self._e2e_alert_display_timer > 0:
      img_x = center.x - self._alert_img.width / 2
      img_y = center.y - self._alert_img.height / 2
      rl.draw_texture_ex(self._alert_img, rl.Vector2(img_x, img_y), 0.0, 1.0, rl.WHITE)

    # Draw Text
    txt_color = rl.Color(255, 255, 255, 255) if is_pulsing else rl.Color(0, 255, 0, 190)
    font = gui_app.font(FontWeight.BOLD)
    text_size = 48
    spacing = 0

    lines = self._alert_text.split('\n')

    # Position text at bottom of alert circle
    bottom_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 7)

    # Draw lines upwards from bottom
    current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)

    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
      # Standstill Timer Text
      alert_alt_text = "STOPPED"
      top_text_size = 80
      measure_top = measure_text_cached(font, alert_alt_text, top_text_size, spacing)
      top_y = alert_rect.y + alert_rect.height / 3.5
      rl.draw_text_ex(font, alert_alt_text, rl.Vector2(center.x - measure_top.x / 2, top_y), top_text_size, spacing, rl.Color(255, 175, 3, 240))

      # Timer
      timer_text_size = 100
      measure_timer = measure_text_cached(font, self._alert_text, timer_text_size, spacing)
      timer_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 5) - measure_timer.y
      rl.draw_text_ex(font, self._alert_text, rl.Vector2(center.x - measure_timer.x / 2, timer_y), timer_text_size, spacing, rl.WHITE)
    else:
      for line in lines:
        measure = measure_text_cached(font, line, text_size, spacing)
        line_x = center.x - measure.x / 2
        rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color)
        current_y += text_size * FONT_SCALE