[TIZI/TICI] ui: Green Light and Lead Departure elements (#1676)

* init

* big for now

* only adjust for right dev ui for now

* final

* final final

selfdrive/ui/sunnypilot/onroad/e2e_alerts.py

@@ -0,0 +1,101 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from cereal import log
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class E2eAlertsRenderer:
+  def __init__(self):
+    self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250)
+    self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250)
+
+    self._e2e_alert_display_timer = 0
+    self._e2e_alert_frame = 0
+    self._green_light_alert = False
+    self._lead_depart_alert = False
+    self._alert_text = ""
+    self._alert_img = None
+    self._allow_e2e_alerts = False
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    lp_sp = sm['longitudinalPlanSP']
+    self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
+    self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
+
+    self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \
+                             sm.recv_frame['driverStateV2'] > ui_state.started_frame
+
+    if self._green_light_alert or self._lead_depart_alert:
+      self._e2e_alert_display_timer = 3 * gui_app.target_fps
+
+    if self._e2e_alert_display_timer > 0:
+      self._e2e_alert_frame += 1
+      self._e2e_alert_display_timer -= 1
+
+      if self._green_light_alert:
+        self._alert_text = "GREEN\nLIGHT"
+        self._alert_img = self._green_light_alert_img
+      elif self._lead_depart_alert:
+        self._alert_text = "LEAD VEHICLE\nDEPARTING"
+        self._alert_img = self._lead_depart_alert_img
+    else:
+      self._e2e_alert_frame = 0
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if not self._allow_e2e_alerts or self._e2e_alert_display_timer <= 0:
+      return
+
+    e2e_alert_size = 250
+    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_RIGHT, DeveloperUiRenderer.DEV_UI_BOTH) else 100
+
+    x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3)
+    y = rect.y + rect.height / 2 + 20
+
+    alert_rect = rl.Rectangle(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2)
+    center = rl.Vector2(alert_rect.x + alert_rect.width / 2, alert_rect.y + alert_rect.height / 2)
+
+    # Pulse logic
+    is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)
+    frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
+
+    # Draw Circle
+    rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190))
+    # Draw Ring (Border)
+    rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color)
+
+    # Draw Image
+    if self._alert_img:
+      img_x = int(center.x - self._alert_img.width / 2)
+      img_y = int(center.y - self._alert_img.height / 2)
+      rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE)
+
+    # Draw Text
+    txt_color = rl.Color(255, 255, 255, 255) if is_pulsing else rl.Color(0, 255, 0, 190)
+    font = gui_app.font(FontWeight.BOLD)
+    text_size = 48
+    spacing = 0
+
+    lines = self._alert_text.split('\n')
+
+    # Position text at bottom of alert circle
+    bottom_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 7)
+
+    # Draw lines upwards from bottom
+    current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)
+
+    for line in lines:
+      measure = measure_text_cached(font, line, text_size, spacing)
+      line_x = center.x - measure.x / 2
+      rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color)
+      current_y += text_size * FONT_SCALE

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -15,6 +15,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
+from openpilot.selfdrive.ui.sunnypilot.onroad.e2e_alerts import E2eAlertsRenderer
 
 
 class HudRendererSP(HudRenderer):
@@ -26,6 +27,7 @@ class HudRendererSP(HudRenderer):
     self.speed_limit_renderer = SpeedLimitRenderer()
     self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
+    self.e2e_alerts_renderer = E2eAlertsRenderer()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
@@ -34,6 +36,7 @@ class HudRendererSP(HudRenderer):
     self.speed_limit_renderer.update()
     self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
+    self.e2e_alerts_renderer.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
@@ -49,6 +52,7 @@ class HudRendererSP(HudRenderer):
     self.speed_limit_renderer.render(rect)
     self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
+    self.e2e_alerts_renderer.render(rect)
 
     if ui_state.rocket_fuel:
       self.rocket_fuel.render(rect, ui_state.sm)