#!/usr/bin/env python3
import argparse
import os
import sys
import cv2
import numpy as np
import pygame
import cereal.messaging as messaging
from openpilot.common.numpy_fast import clip
from openpilot.common.basedir import BASEDIR
from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
_INTRINSICS, BLACK, GREEN,
YELLOW, Calibration,
get_blank_lid_overlay, init_plots,
maybe_update_radar_points, plot_lead,
plot_model,
pygame_modules_have_loaded)
from cereal.visionipc import VisionIpcClient, VisionStreamType
os.environ['BASEDIR'] = BASEDIR
ANGLE_SCALE = 5.0
def ui_thread(addr):
cv2.setNumThreads(1)
pygame.init()
pygame.font.init()
assert pygame_modules_have_loaded()
disp_info = pygame.display.Info()
max_height = disp_info.current_h
hor_mode = os.getenv("HORIZONTAL") is not None
hor_mode = True if max_height < 960+300 else hor_mode
if hor_mode:
size = (640+384+640, 960)
write_x = 5
write_y = 680
else:
size = (640+384, 960+300)
write_x = 645
write_y = 970
pygame.display.set_caption("openpilot debug UI")
screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
alert1_font = pygame.font.SysFont("arial", 30)
alert2_font = pygame.font.SysFont("arial", 20)
info_font = pygame.font.SysFont("arial", 15)
camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
'liveTracks', 'modelV2', 'liveParameters', 'lateralPlan'], addr=addr)
img = np.zeros((480, 640, 3), dtype='uint8')
imgff = None
num_px = 0
calibration = None
lid_overlay_blank = get_blank_lid_overlay(UP)
# plots
name_to_arr_idx = { "gas": 0,
"computer_gas": 1,
"user_brake": 2,
"computer_brake": 3,
"v_ego": 4,
"v_pid": 5,
"angle_steers_des": 6,
"angle_steers": 7,
"angle_steers_k": 8,
"steer_torque": 9,
"v_override": 10,
"v_cruise": 11,
"a_ego": 12,
"a_target": 13}
plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
["v_ego", "v_override", "v_pid", "v_cruise"],
["a_ego", "a_target"]]
plot_colors = [["b", "b", "g", "r", "y"],
["b", "g", "y", "r"],
["b", "g", "r", "y"],
["b", "r"]]
plot_styles = [["-", "-", "-", "-", "-"],
["-", "-", "-", "-"],
["-", "-", "-", "-"],
["-", "-"]]
draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
while 1:
list(pygame.event.get())
screen.fill((64, 64, 64))
lid_overlay = lid_overlay_blank.copy()
top_down = top_down_surface, lid_overlay
# ***** frame *****
if not vipc_client.is_connected():
vipc_client.connect(True)
yuv_img_raw = vipc_client.recv()
if yuv_img_raw is None or not yuv_img_raw.data.any():
continue
imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
num_px = vipc_client.width * vipc_client.height
bgr = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
zoom_matrix = _BB_TO_FULL_FRAME[num_px]
cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px]
sm.update(0)
w = sm['controlsState'].lateralControlState.which()
if w == 'lqrStateDEPRECATED':
angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
elif w == 'indiState':
angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
else:
angle_steers_k = np.inf
plot_arr[:-1] = plot_arr[1:]
plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
# TODO gas is deprecated
plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
# TODO brake is deprecated
plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
if len(sm['longitudinalPlan'].accels):
plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
if sm.rcv_frame['modelV2']:
plot_model(sm['modelV2'], img, calibration, top_down)
if sm.rcv_frame['radarState']:
plot_lead(sm['radarState'], top_down)
# draw all radar points
maybe_update_radar_points(sm['liveTracks'], top_down[1])
if sm.updated['liveCalibration'] and num_px:
rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
calibration = Calibration(num_px, rpyCalib, intrinsic_matrix)
# *** blits ***
pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
screen.blit(camera_surface, (0, 0))
# display alerts
alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
screen.blit(alert_line1, (180, 150))
screen.blit(alert_line2, (180, 190))
if hor_mode:
screen.blit(draw_plots(plot_arr), (640+384, 0))
else:
screen.blit(draw_plots(plot_arr), (0, 600))
pygame.surfarray.blit_array(*top_down)
screen.blit(top_down[0], (640, 0))
SPACING = 25
lines = [
info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
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.context = messaging.Context()
ui_thread(args.ip_address)