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239 lines
9.2 KiB
239 lines
9.2 KiB
#!/usr/bin/env python3
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import argparse
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import os
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import sys
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import cv2
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import numpy as np
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import pygame
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import cereal.messaging as messaging
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from openpilot.common.numpy_fast import clip
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.transformations.camera import DEVICE_CAMERAS
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from openpilot.tools.replay.lib.ui_helpers import (UP,
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BLACK, GREEN,
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YELLOW, Calibration,
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get_blank_lid_overlay, init_plots,
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maybe_update_radar_points, plot_lead,
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plot_model,
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pygame_modules_have_loaded)
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from cereal.visionipc import VisionIpcClient, VisionStreamType
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os.environ['BASEDIR'] = BASEDIR
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ANGLE_SCALE = 5.0
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def ui_thread(addr):
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cv2.setNumThreads(1)
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pygame.init()
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pygame.font.init()
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assert pygame_modules_have_loaded()
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disp_info = pygame.display.Info()
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max_height = disp_info.current_h
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hor_mode = os.getenv("HORIZONTAL") is not None
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hor_mode = True if max_height < 960+300 else hor_mode
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if hor_mode:
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size = (640+384+640, 960)
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write_x = 5
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write_y = 680
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else:
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size = (640+384, 960+300)
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write_x = 645
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write_y = 970
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pygame.display.set_caption("openpilot debug UI")
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screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
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alert1_font = pygame.font.SysFont("arial", 30)
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alert2_font = pygame.font.SysFont("arial", 20)
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info_font = pygame.font.SysFont("arial", 15)
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camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
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top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
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sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
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'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
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img = np.zeros((480, 640, 3), dtype='uint8')
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imgff = None
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num_px = 0
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calibration = None
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lid_overlay_blank = get_blank_lid_overlay(UP)
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# plots
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name_to_arr_idx = { "gas": 0,
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"computer_gas": 1,
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"user_brake": 2,
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"computer_brake": 3,
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"v_ego": 4,
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"v_pid": 5,
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"angle_steers_des": 6,
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"angle_steers": 7,
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"angle_steers_k": 8,
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"steer_torque": 9,
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"v_override": 10,
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"v_cruise": 11,
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"a_ego": 12,
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"a_target": 13}
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plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
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plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
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plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
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plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
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["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
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["v_ego", "v_override", "v_pid", "v_cruise"],
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["a_ego", "a_target"]]
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plot_colors = [["b", "b", "g", "r", "y"],
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["b", "g", "y", "r"],
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["b", "g", "r", "y"],
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["b", "r"]]
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plot_styles = [["-", "-", "-", "-", "-"],
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["-", "-", "-", "-"],
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["-", "-", "-", "-"],
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["-", "-"]]
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draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
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vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
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while True:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.quit()
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sys.exit()
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screen.fill((64, 64, 64))
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lid_overlay = lid_overlay_blank.copy()
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top_down = top_down_surface, lid_overlay
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# ***** frame *****
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if not vipc_client.is_connected():
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vipc_client.connect(True)
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yuv_img_raw = vipc_client.recv()
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if yuv_img_raw is None or not yuv_img_raw.data.any():
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continue
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sm.update(0)
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camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
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imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
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num_px = vipc_client.width * vipc_client.height
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rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
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qcam = "QCAM" in os.environ
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bb_scale = (528 if qcam else camera.fcam.width) / 640.
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calib_scale = camera.fcam.width / 640.
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zoom_matrix = np.asarray([
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[bb_scale, 0., 0.],
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[0., bb_scale, 0.],
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[0., 0., 1.]])
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cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
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intrinsic_matrix = camera.fcam.intrinsics
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w = sm['controlsState'].lateralControlState.which()
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if w == 'lqrStateDEPRECATED':
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angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
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elif w == 'indiState':
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angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
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else:
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angle_steers_k = np.inf
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plot_arr[:-1] = plot_arr[1:]
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plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
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plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
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plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
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plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
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# TODO gas is deprecated
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plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
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plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
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plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
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# TODO brake is deprecated
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plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
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plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
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plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
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plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
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plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
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if len(sm['longitudinalPlan'].accels):
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plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
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if sm.recv_frame['modelV2']:
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plot_model(sm['modelV2'], img, calibration, top_down)
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if sm.recv_frame['radarState']:
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plot_lead(sm['radarState'], top_down)
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# draw all radar points
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maybe_update_radar_points(sm['liveTracks'], top_down[1])
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if sm.updated['liveCalibration'] and num_px:
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rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
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calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
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# *** blits ***
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pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
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screen.blit(camera_surface, (0, 0))
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# display alerts
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alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
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alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
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screen.blit(alert_line1, (180, 150))
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screen.blit(alert_line2, (180, 190))
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if hor_mode:
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screen.blit(draw_plots(plot_arr), (640+384, 0))
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else:
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screen.blit(draw_plots(plot_arr), (0, 600))
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pygame.surfarray.blit_array(*top_down)
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screen.blit(top_down[0], (640, 0))
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SPACING = 25
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lines = [
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info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
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info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
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info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
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info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
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None,
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info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
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info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
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info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
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info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
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]
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for i, line in enumerate(lines):
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if line is not None:
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screen.blit(line, (write_x, write_y + i * SPACING))
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# this takes time...vsync or something
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pygame.display.flip()
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def get_arg_parser():
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parser = argparse.ArgumentParser(
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description="Show replay data in a UI.",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
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help="The ip address on which to receive zmq messages.")
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parser.add_argument("--frame-address", default=None,
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help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
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return parser
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if __name__ == "__main__":
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args = get_arg_parser().parse_args(sys.argv[1:])
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if args.ip_address != "127.0.0.1":
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os.environ["ZMQ"] = "1"
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messaging.context = messaging.Context()
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ui_thread(args.ip_address)
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