github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
49 lines
2.0 KiB
Python
49 lines
2.0 KiB
Python
"""
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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 numpy as np
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from openpilot.selfdrive.ui import UI_BORDER_SIZE
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from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH
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from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import get_bottom_dev_ui_offset
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class DriverStateRendererSP(DriverStateRenderer):
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def __init__(self):
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super().__init__()
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def _pre_calculate_drawing_elements(self):
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"""Pre-calculate all drawing elements based on the current rectangle"""
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# Calculate icon position (bottom-left or bottom-right)
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width, height = self._rect.width, self._rect.height
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offset = UI_BORDER_SIZE + BTN_SIZE // 2
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self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
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self.position_y = self._rect.y + height - offset - get_bottom_dev_ui_offset()
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# Pre-calculate the face lines positions
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positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
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for i in range(len(positioned_keypoints)):
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self.face_lines[i].x = positioned_keypoints[i][0]
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self.face_lines[i].y = positioned_keypoints[i][1]
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# Calculate arc dimensions based on head rotation
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delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0 # Horizontal movement
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delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0 # Vertical movement
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# Horizontal arc
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h_width = abs(delta_x)
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self.h_arc_data = self._calculate_arc_data(
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delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
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self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
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)
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# Vertical arc
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v_height = abs(delta_y)
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self.v_arc_data = self._calculate_arc_data(
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delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
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self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
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)
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