system/ui: migrate c++ HudRenderer to python (#35359)
* port c++ HudRenderer to python * cache font metrics * cache fonts * improve * fix bg * refactor * rebase * fixpull/35390/head
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a3fab434a4
3 changed files with 198 additions and 1 deletions
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import pyray as rl |
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from dataclasses import dataclass |
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from cereal.messaging import SubMaster |
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from openpilot.system.ui.lib.application import gui_app, FontWeight |
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from openpilot.common.conversions import Conversions as CV |
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from enum import IntEnum |
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# Constants |
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SET_SPEED_NA = 255 |
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KM_TO_MILE = 0.621371 |
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@dataclass(frozen=True) |
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class UIConfig: |
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header_height: int = 300 |
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border_size: int = 30 |
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button_size: int = 192 |
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set_speed_width_metric: int = 200 |
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set_speed_width_imperial: int = 172 |
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set_speed_height: int = 204 |
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wheel_icon_size: int = 144 |
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@dataclass(frozen=True) |
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class FontSizes: |
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current_speed: int = 176 |
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speed_unit: int = 66 |
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max_speed: int = 40 |
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set_speed: int = 90 |
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@dataclass(frozen=True) |
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class Colors: |
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white: rl.Color = rl.Color(255, 255, 255, 255) |
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disengaged: rl.Color = rl.Color(145, 155, 149, 255) |
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override: rl.Color = rl.Color(145, 155, 149, 255) # Added |
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engaged: rl.Color = rl.Color(128, 216, 166, 255) |
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disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153) |
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override_bg: rl.Color = rl.Color(145, 155, 149, 204) |
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engaged_bg: rl.Color = rl.Color(128, 216, 166, 204) |
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grey: rl.Color = rl.Color(166, 166, 166, 255) |
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dark_grey: rl.Color = rl.Color(114, 114, 114, 255) |
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black_translucent: rl.Color = rl.Color(0, 0, 0, 166) |
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white_translucent: rl.Color = rl.Color(255, 255, 255, 200) |
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border_translucent: rl.Color = rl.Color(255, 255, 255, 75) |
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header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114) |
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header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0) |
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UI_CONFIG = UIConfig() |
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FONT_SIZES = FontSizes() |
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COLORS = Colors() |
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class HudStatus(IntEnum): |
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DISENGAGED = 0 |
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OVERRIDE = 1 |
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ENGAGED = 2 |
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class HudRenderer: |
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def __init__(self): |
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"""Initialize the HUD renderer.""" |
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self.is_metric: bool = False |
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self.status: HudStatus = HudStatus.DISENGAGED |
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self.is_cruise_set: bool = False |
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self.is_cruise_available: bool = False |
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self.set_speed: float = SET_SPEED_NA |
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self.speed: float = 0.0 |
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self.v_ego_cluster_seen: bool = False |
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self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} |
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self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) |
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self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD) |
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self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD) |
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self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM) |
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def _update_state(self, sm: SubMaster) -> None: |
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"""Update HUD state based on car state and controls state.""" |
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self.is_metric = True |
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self.status = HudStatus.DISENGAGED |
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if not sm.valid['carState']: |
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self.is_cruise_set = False |
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self.set_speed = SET_SPEED_NA |
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self.speed = 0.0 |
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return |
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controls_state = sm['controlsState'] |
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car_state = sm['carState'] |
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v_cruise_cluster = car_state.vCruiseCluster |
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self.set_speed = ( |
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controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster |
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) |
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self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA |
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self.is_cruise_available = self.set_speed != -1 |
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if self.is_cruise_set and not self.is_metric: |
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self.set_speed *= KM_TO_MILE |
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v_ego_cluster = car_state.vEgoCluster |
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self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0 |
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v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo |
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speed_conversion = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH |
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self.speed = max(0.0, v_ego * speed_conversion) |
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def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None: |
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"""Render HUD elements to the screen.""" |
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self._update_state(sm) |
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rl.draw_rectangle_gradient_v( |
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int(rect.x), |
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int(rect.y), |
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int(rect.width), |
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UI_CONFIG.header_height, |
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COLORS.header_gradient_start, |
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COLORS.header_gradient_end, |
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) |
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if self.is_cruise_available: |
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self._draw_set_speed(rect) |
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self._draw_current_speed(rect) |
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self._draw_wheel_icon(rect) |
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def _draw_set_speed(self, rect: rl.Rectangle) -> None: |
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"""Draw the MAX speed indicator box.""" |
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set_speed_width = UI_CONFIG.set_speed_width_metric if self.is_metric else UI_CONFIG.set_speed_width_imperial |
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x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2 |
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y = rect.y + 45 |
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set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height) |
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rl.draw_rectangle_rounded(set_speed_rect, 0.2, 30, COLORS.black_translucent) |
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rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.2, 30, 6, COLORS.border_translucent) |
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max_color = COLORS.grey |
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set_speed_color = COLORS.dark_grey |
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if self.is_cruise_set: |
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set_speed_color = COLORS.white |
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max_color = { |
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HudStatus.DISENGAGED: COLORS.disengaged, |
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HudStatus.OVERRIDE: COLORS.override, |
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HudStatus.ENGAGED: COLORS.engaged, |
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}.get(self.status, COLORS.grey) |
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max_text = "MAX" |
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max_text_width = self._measure_text(max_text, self._font_semi_bold, FONT_SIZES.max_speed, 'semi_bold').x |
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rl.draw_text_ex( |
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self._font_semi_bold, |
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max_text, |
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rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + 27), |
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FONT_SIZES.max_speed, |
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0, |
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max_color, |
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) |
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set_speed_text = "–" if not self.is_cruise_set else str(round(self.set_speed)) |
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speed_text_width = self._measure_text(set_speed_text, self._font_bold, FONT_SIZES.set_speed, 'bold').x |
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rl.draw_text_ex( |
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self._font_bold, |
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set_speed_text, |
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rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77), |
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FONT_SIZES.set_speed, |
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0, |
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set_speed_color, |
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) |
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def _draw_current_speed(self, rect: rl.Rectangle) -> None: |
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"""Draw the current vehicle speed and unit.""" |
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speed_text = str(round(self.speed)) |
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speed_text_size = self._measure_text(speed_text, self._font_bold, FONT_SIZES.current_speed, 'bold') |
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speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) |
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rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) |
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unit_text = "km/h" if self.is_metric else "mph" |
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unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium') |
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unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) |
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rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent) |
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def _draw_wheel_icon(self, rect: rl.Rectangle) -> None: |
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"""Draw the steering wheel icon with status-based opacity.""" |
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center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2) |
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center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2) |
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rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) |
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opacity = 0.7 if self.status == HudStatus.DISENGAGED else 1.0 |
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img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2) |
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rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity))) |
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def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2: |
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"""Measure text dimensions with caching.""" |
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key = (text, font_size, font_type) |
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if key not in self.font_metrics_cache: |
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self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0) |
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return self.font_metrics_cache[key] |
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