github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
106 lines
3.3 KiB
Python
106 lines
3.3 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 pyray as rl
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from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
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from openpilot.selfdrive.ui.ui_state import ui_state
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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.sunnypilot.lib.utils import AlertFadeAnimator
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from openpilot.system.ui.widgets import Widget
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class SmartCruiseControlRenderer(Widget):
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def __init__(self):
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super().__init__()
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self.vision_enabled = False
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self.vision_active = False
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self.map_enabled = False
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self.map_active = False
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self.long_override = False
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self._vision_fade = AlertFadeAnimator(gui_app.target_fps)
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self._map_fade = AlertFadeAnimator(gui_app.target_fps)
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self.font = gui_app.font(FontWeight.BOLD)
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def update(self):
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sm = ui_state.sm
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if sm.updated["longitudinalPlanSP"]:
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lp_sp = sm["longitudinalPlanSP"]
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vision = lp_sp.smartCruiseControl.vision
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map_ = lp_sp.smartCruiseControl.map
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self.vision_enabled = vision.enabled
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self.vision_active = vision.active
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self.map_enabled = map_.enabled
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self.map_active = map_.active
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if sm.updated["carControl"]:
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self.long_override = sm["carControl"].cruiseControl.override
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self._vision_fade.update(self.vision_active)
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self._map_fade.update(self.map_active)
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def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name, alpha=1.0):
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text = name
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font_size = 36
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padding_v = 5
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box_width = 160
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sz = measure_text_cached(self.font, text, font_size)
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box_height = int(sz.y + padding_v * 2)
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if self.long_override:
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color = COLORS.OVERRIDE
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box_color = rl.Color(color.r, color.g, color.b, int(alpha * 255))
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else:
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box_color = rl.Color(0, 255, 0, int(alpha * 255))
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text_color = rl.Color(0, 0, 0, int(alpha * 255))
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screen_y = rect_height / 4 + y_offset
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box_x = rect_center_x + x_offset - box_width / 2
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box_y = screen_y - box_height / 2
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# Draw rounded background box
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if alpha > 0.01:
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rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
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# Draw text centered in the box (black color for contrast against bright green/grey)
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text_pos_x = box_x + (box_width - sz.x) / 2
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text_pos_y = box_y + (box_height - sz.y) / 2
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rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, text_color)
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def _render(self, rect: rl.Rectangle):
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x_offset = -260
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y1_offset = -40
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y2_offset = -100
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orders = [y1_offset, y2_offset]
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y_scc_v = 0
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y_scc_m = 0
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idx = 0
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if self.vision_enabled:
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y_scc_v = orders[idx]
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idx += 1
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if self.map_enabled:
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y_scc_m = orders[idx]
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idx += 1
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if self.vision_enabled:
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alpha = self._vision_fade.alpha if self.vision_active else 1.0
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self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V", alpha)
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if self.map_enabled:
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alpha = self._map_fade.alpha if self.map_active else 1.0
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self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M", alpha)
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