openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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const NODE_PADDING = 10;
const LINE_HEIGHT = 14;
const canvas = new OffscreenCanvas(0, 0);
const ctx = canvas.getContext("2d");
ctx.font = `${LINE_HEIGHT}px sans-serif`;
onmessage = (e) => {
const { graph, additions, ctxs } = e.data;
const g = new dagre.graphlib.Graph({ compound: true });
g.setGraph({ rankdir: "LR" }).setDefaultEdgeLabel(function() { return {}; });
if (additions.length !== 0) g.setNode("addition", {label:"", style:"fill: rgba(26, 27, 38, 0.5);", padding:0});
for (let [k, {label, src, ref, ...rest }] of Object.entries(graph)) {
const idx = ref ? ctxs.findIndex(k => k.ref === ref) : -1;
// replace colors in label
if (idx != -1) label += `\ncodegen@${ctxs[idx].name.replace(/\x1b\[\d+m(.*?)\x1b\[0m/g, "$1")}`;
// adjust node dims by label size + add padding
let [width, height] = [0, 0];
for (line of label.split("\n")) {
width = Math.max(width, ctx.measureText(line).width);
height += LINE_HEIGHT;
}
g.setNode(k, {width:width+NODE_PADDING*2, height:height+NODE_PADDING*2, padding:NODE_PADDING, label, ref:idx==-1 ? null : idx, ...rest});
// add edges
const edgeCounts = {}
for (const s of src) edgeCounts[s] = (edgeCounts[s] || 0)+1;
for (const s of src) g.setEdge(s, k, { label: edgeCounts[s] > 1 ? edgeCounts[s] : null });
if (additions.includes(parseInt(k))) g.setParent(k, "addition");
}
dagre.layout(g);
postMessage(dagre.graphlib.json.write(g));
self.close();
}