Shane Smiskol
3 months ago
committed by
GitHub
parent
a2ced8c8eb
commit
0539df7685
2 changed files with 464 additions and 0 deletions
@ -0,0 +1,226 @@ |
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import itertools |
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from typing import Any |
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import matplotlib.pyplot as plt |
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import numpy as np |
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import pygame |
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from matplotlib.backends.backend_agg import FigureCanvasAgg |
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from openpilot.common.transformations.camera import get_view_frame_from_calib_frame |
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from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA |
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RED = (255, 0, 0) |
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GREEN = (0, 255, 0) |
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BLUE = (0, 0, 255) |
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YELLOW = (255, 255, 0) |
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BLACK = (0, 0, 0) |
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WHITE = (255, 255, 255) |
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class UIParams: |
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lidar_x, lidar_y, lidar_zoom = 384, 960, 6 |
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lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 |
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car_hwidth = 1.7272 / 2 * lidar_zoom |
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car_front = 2.6924 * lidar_zoom |
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car_back = 1.8796 * lidar_zoom |
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car_color = 110 |
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UP = UIParams |
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METER_WIDTH = 20 |
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class Calibration: |
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def __init__(self, num_px, rpy, intrinsic, calib_scale): |
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self.intrinsic = intrinsic |
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self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] |
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self.zoom = calib_scale |
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def car_space_to_ff(self, x, y, z): |
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car_space_projective = np.column_stack((x, y, z)).T |
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ep = self.extrinsics_matrix.dot(car_space_projective) |
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kep = self.intrinsic.dot(ep) |
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return (kep[:-1, :] / kep[-1, :]).T |
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def car_space_to_bb(self, x, y, z): |
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pts = self.car_space_to_ff(x, y, z) |
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return pts / self.zoom |
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_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} |
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def find_color(lidar_surface, color): |
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if color in _COLOR_CACHE: |
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return _COLOR_CACHE[color] |
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tcolor = 0 |
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ret = 255 |
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for x in lidar_surface.get_palette(): |
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if x[0:3] == color: |
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ret = tcolor |
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break |
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tcolor += 1 |
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_COLOR_CACHE[color] = ret |
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return ret |
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def to_topdown_pt(y, x): |
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px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y |
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if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: |
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return int(px), int(py) |
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return -1, -1 |
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def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): |
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x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off |
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pts = calibration.car_space_to_bb(x, y, z) |
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pts = np.round(pts).astype(int) |
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# draw lidar path point on lidar |
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# find color in 8 bit |
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if lid_color is not None and top_down is not None: |
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tcolor = find_color(top_down[0], lid_color) |
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for i in range(len(x)): |
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px, py = to_topdown_pt(x[i], y[i]) |
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if px != -1: |
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top_down[1][px, py] = tcolor |
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height, width = img.shape[:2] |
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for x, y in pts: |
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if 1 < x < width - 1 and 1 < y < height - 1: |
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for a, b in itertools.permutations([-1, 0, -1], 2): |
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img[y + a, x + b] = color |
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def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): |
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color_palette = { "r": (1, 0, 0), |
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"g": (0, 1, 0), |
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"b": (0, 0, 1), |
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"k": (0, 0, 0), |
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"y": (1, 1, 0), |
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"p": (0, 1, 1), |
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"m": (1, 0, 1)} |
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dpi = 90 |
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fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) |
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canvas = FigureCanvasAgg(fig) |
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fig.set_facecolor((0.2, 0.2, 0.2)) |
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axs = [] |
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for pn in range(len(plot_ylims)): |
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ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1) |
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ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1]) |
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ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1]) |
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ax.patch.set_facecolor((0.4, 0.4, 0.4)) |
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axs.append(ax) |
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plots, idxs, plot_select = [], [], [] |
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for i, pl_list in enumerate(plot_names): |
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for j, item in enumerate(pl_list): |
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plot, = axs[i].plot(arr[:, name_to_arr_idx[item]], |
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label=item, |
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color=color_palette[plot_colors[i][j]], |
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linestyle=plot_styles[i][j]) |
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plots.append(plot) |
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idxs.append(name_to_arr_idx[item]) |
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plot_select.append(i) |
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axs[i].set_title(", ".join(f"{nm} ({cl})" |
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for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) |
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axs[i].tick_params(axis="x", colors="white") |
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axs[i].tick_params(axis="y", colors="white") |
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axs[i].title.set_color("white") |
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if i < len(plot_ylims) - 1: |
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axs[i].set_xticks([]) |
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canvas.draw() |
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def draw_plots(arr): |
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for ax in axs: |
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ax.draw_artist(ax.patch) |
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for i in range(len(plots)): |
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plots[i].set_ydata(arr[:, idxs[i]]) |
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axs[plot_select[i]].draw_artist(plots[i]) |
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raw_data = canvas.buffer_rgba() |
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plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert() |
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return plot_surface |
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return draw_plots |
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def pygame_modules_have_loaded(): |
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return pygame.display.get_init() and pygame.font.get_init() |
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def plot_model(m, img, calibration, top_down): |
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if calibration is None or top_down is None: |
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return |
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for lead in m.leadsV3: |
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if lead.prob < 0.5: |
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continue |
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x, y = lead.x[0], lead.y[0] |
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x_std = lead.xStd[0] |
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x -= RADAR_TO_CAMERA |
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_, py_top = to_topdown_pt(x + x_std, y) |
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px, py_bottom = to_topdown_pt(x - x_std, y) |
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top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) |
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for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): |
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color = (0, int(255 * prob), 0) |
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draw_path(path, color, img, calibration, top_down, YELLOW) |
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for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True): |
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prob = max(1 - std, 0) |
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color = (int(255 * prob), 0, 0) |
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draw_path(edge, color, img, calibration, top_down, RED) |
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color = (255, 0, 0) |
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draw_path(m.position, color, img, calibration, top_down, RED, 1.22) |
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def plot_lead(rs, top_down): |
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for lead in [rs.leadOne, rs.leadTwo]: |
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if not lead.status: |
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continue |
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x = lead.dRel |
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px_left, py = to_topdown_pt(x, -10) |
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px_right, _ = to_topdown_pt(x, 10) |
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top_down[1][px_left:px_right, py] = find_color(top_down[0], RED) |
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def maybe_update_radar_points(lt, lid_overlay): |
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ar_pts = [] |
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if lt is not None: |
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ar_pts = {} |
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for track in lt: |
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ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel] |
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for ids, pt in ar_pts.items(): |
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# negative here since radar is left positive |
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px, py = to_topdown_pt(pt[0], -pt[1]) |
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if px != -1: |
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color = 255 |
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if int(ids) == 1: |
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lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100 |
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else: |
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lid_overlay[px - 2:px + 2, py - 2:py + 2] = color |
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def get_blank_lid_overlay(UP): |
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lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') |
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# Draw the car. |
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lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( |
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round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - |
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UP.car_front))] = UP.car_color |
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lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( |
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round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + |
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UP.car_back))] = UP.car_color |
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lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( |
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round(UP.lidar_car_y - UP.car_front)):int(round( |
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UP.lidar_car_y + UP.car_back))] = UP.car_color |
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lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( |
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round(UP.lidar_car_y - UP.car_front)):int(round( |
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UP.lidar_car_y + UP.car_back))] = UP.car_color |
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return lid_overlay |
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@ -0,0 +1,238 @@ |
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#!/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 msgq.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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'selfdriveState', '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_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'].points, 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['selfdriveState'].alertText1, True, (255, 0, 0)) |
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alert_line2 = alert2_font.render(sm['selfdriveState'].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['selfdriveState'].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, |
||||
info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW), |
||||
info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW), |
||||
info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW), |
||||
info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW) |
||||
] |
||||
|
||||
for i, line in enumerate(lines): |
||||
if line is not None: |
||||
screen.blit(line, (write_x, write_y + i * SPACING)) |
||||
|
||||
# this takes time...vsync or something |
||||
pygame.display.flip() |
||||
|
||||
def get_arg_parser(): |
||||
parser = argparse.ArgumentParser( |
||||
description="Show replay data in a UI.", |
||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter) |
||||
|
||||
parser.add_argument("ip_address", nargs="?", default="127.0.0.1", |
||||
help="The ip address on which to receive zmq messages.") |
||||
|
||||
parser.add_argument("--frame-address", default=None, |
||||
help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") |
||||
return parser |
||||
|
||||
if __name__ == "__main__": |
||||
args = get_arg_parser().parse_args(sys.argv[1:]) |
||||
|
||||
if args.ip_address != "127.0.0.1": |
||||
os.environ["ZMQ"] = "1" |
||||
messaging.reset_context() |
||||
|
||||
ui_thread(args.ip_address) |
||||
Loading…
Reference in new issue