You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
129 lines
3.8 KiB
129 lines
3.8 KiB
import pyray as rl
|
|
from enum import Enum
|
|
from cereal import messaging, log
|
|
from openpilot.common.params import Params, UnknownKeyName
|
|
|
|
|
|
UI_BORDER_SIZE = 30
|
|
|
|
|
|
class UIStatus(Enum):
|
|
DISENGAGED = "disengaged"
|
|
ENGAGED = "engaged"
|
|
OVERRIDE = "override"
|
|
|
|
|
|
class UIState:
|
|
_instance: 'UIState | None' = None
|
|
|
|
def __new__(cls):
|
|
if cls._instance is None:
|
|
cls._instance = super().__new__(cls)
|
|
cls._instance._initialize()
|
|
return cls._instance
|
|
|
|
def _initialize(self):
|
|
self.params = Params()
|
|
self.sm = messaging.SubMaster(
|
|
[
|
|
"modelV2",
|
|
"controlsState",
|
|
"liveCalibration",
|
|
"radarState",
|
|
"deviceState",
|
|
"pandaStates",
|
|
"carParams",
|
|
"driverMonitoringState",
|
|
"carState",
|
|
"driverStateV2",
|
|
"roadCameraState",
|
|
"wideRoadCameraState",
|
|
"managerState",
|
|
"selfdriveState",
|
|
"longitudinalPlan",
|
|
]
|
|
)
|
|
|
|
# UI Status tracking
|
|
self.status: UIStatus = UIStatus.DISENGAGED
|
|
self.started_frame: int = 0
|
|
self._engaged_prev: bool = False
|
|
self._started_prev: bool = False
|
|
|
|
# Core state variables
|
|
self.is_metric: bool = self.params.get_bool("IsMetric")
|
|
self.started: bool = False
|
|
self.ignition: bool = False
|
|
self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
|
|
self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
|
|
self.light_sensor: float = -1.0
|
|
|
|
self._update_params()
|
|
|
|
@property
|
|
def engaged(self) -> bool:
|
|
return self.started and self.sm["selfdriveState"].enabled
|
|
|
|
def update(self) -> None:
|
|
self.sm.update(0)
|
|
self._update_state()
|
|
self._update_status()
|
|
|
|
def _update_state(self) -> None:
|
|
# Handle panda states updates
|
|
if self.sm.updated["pandaStates"]:
|
|
panda_states = self.sm["pandaStates"]
|
|
|
|
if len(panda_states) > 0:
|
|
# Get panda type from first panda
|
|
self.panda_type = panda_states[0].pandaType
|
|
# Check ignition status across all pandas
|
|
if self.panda_type != log.PandaState.PandaType.unknown:
|
|
self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
|
|
elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
|
|
self.panda_type = log.PandaState.PandaType.unknown
|
|
|
|
# Handle wide road camera state updates
|
|
if self.sm.updated["wideRoadCameraState"]:
|
|
cam_state = self.sm["wideRoadCameraState"]
|
|
|
|
# Scale factor based on sensor type
|
|
scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
|
|
self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
|
|
elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
|
|
self.light_sensor = -1
|
|
|
|
# Update started state
|
|
self.started = self.sm["deviceState"].started and self.ignition
|
|
|
|
def _update_status(self) -> None:
|
|
if self.started and self.sm.updated["selfdriveState"]:
|
|
ss = self.sm["selfdriveState"]
|
|
state = ss.state
|
|
|
|
if state in (log.SelfdriveState.OpenpilotState.preEnabled, log.SelfdriveState.OpenpilotState.overriding):
|
|
self.status = UIStatus.OVERRIDE
|
|
else:
|
|
self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
|
|
|
|
# Check for engagement state changes
|
|
if self.engaged != self._engaged_prev:
|
|
self._engaged_prev = self.engaged
|
|
|
|
# Handle onroad/offroad transition
|
|
if self.started != self._started_prev or self.sm.frame == 1:
|
|
if self.started:
|
|
self.status = UIStatus.DISENGAGED
|
|
self.started_frame = self.sm.frame
|
|
|
|
self._started_prev = self.started
|
|
|
|
def _update_params(self) -> None:
|
|
try:
|
|
self.is_metric = self.params.get_bool("IsMetric")
|
|
except UnknownKeyName:
|
|
self.is_metric = False
|
|
|
|
|
|
# Global instance
|
|
ui_state = UIState()
|
|
|