[TIZI/TICI] ui: MICI style turn signals (#1504)

* mici turn signal for c3x

* sp dir

* decouple

* more

* ty

* refactor and slim down

* bigger

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
+from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 
 
 class HudRendererSP(HudRenderer):
@@ -17,9 +18,17 @@ class HudRendererSP(HudRenderer):
     super().__init__()
     self.developer_ui = DeveloperUiRenderer()
     self.rocket_fuel = RocketFuel()
+    self.turn_signal_controller = TurnSignalController()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     self.developer_ui.render(rect)
+
+    self.turn_signal_controller.render()
+
     if ui_state.rocket_fuel:
       self.rocket_fuel.render(rect, ui_state.sm)

selfdrive/ui/sunnypilot/onroad/turn_signal.py

@@ -0,0 +1,125 @@
+"""
+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
+import time
+from dataclasses import dataclass
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+@dataclass(frozen=True)
+class TurnSignalConfig:
+  left_x: int = 870
+  left_y: int = 220
+  right_x: int = 1140
+  right_y: int = 220
+  size: int = 150
+
+
+class TurnSignalWidget(Widget):
+  def __init__(self, direction: IconSide):
+    super().__init__()
+    self._direction = direction
+    self._active = False
+
+    self._turn_signal_timer = 0.0
+    self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
+
+    texture_path = f'icons_mici/onroad/turn_signal_{direction}.png'
+    self._texture = gui_app.texture(texture_path, 120, 109)
+
+  def _render(self, _):
+    if not self._active:
+      return
+
+    if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
+      self._turn_signal_timer = time.monotonic()
+      self._turn_signal_alpha_filter.x = 255 * 2
+    else:
+      self._turn_signal_alpha_filter.update(255 * 0.2)
+
+    icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
+
+    if self._texture:
+      pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
+      pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2)
+      color = rl.Color(255, 255, 255, icon_alpha)
+      rl.draw_texture(self._texture, pos_x, pos_y, color)
+
+  def activate(self):
+    if not self._active:
+      self._turn_signal_timer = 0.0
+    self._active = True
+
+  def deactivate(self):
+    self._active = False
+    self._turn_signal_timer = 0.0
+
+
+class TurnSignalController:
+  def __init__(self, config: TurnSignalConfig | None = None):
+    self._config = config or TurnSignalConfig()
+    self._left_signal = TurnSignalWidget(direction=IconSide.left)
+    self._right_signal = TurnSignalWidget(direction=IconSide.right)
+    self._last_icon_side = None
+
+  def update(self):
+    sm = ui_state.sm
+    ss = sm['selfdriveState']
+
+    event_name = ss.alertType.split('/')[0] if ss.alertType else ''
+
+    if event_name == 'preLaneChangeLeft':
+      self._last_icon_side = IconSide.left
+      self._left_signal.activate()
+      self._right_signal.deactivate()
+
+    elif event_name == 'preLaneChangeRight':
+      self._last_icon_side = IconSide.right
+      self._right_signal.activate()
+      self._left_signal.deactivate()
+
+    elif event_name == 'laneChange':
+      if self._last_icon_side == IconSide.left:
+        self._left_signal.activate()
+        self._right_signal.deactivate()
+      elif self._last_icon_side == IconSide.right:
+        self._right_signal.activate()
+        self._left_signal.deactivate()
+
+    else:
+      self._last_icon_side = None
+      self._left_signal.deactivate()
+      self._right_signal.deactivate()
+
+  def render(self):
+    if self._last_icon_side == IconSide.left:
+      self._left_signal.render(rl.Rectangle(
+        self._config.left_x,
+        self._config.left_y,
+        self._config.size,
+        self._config.size
+      ))
+    elif self._last_icon_side == IconSide.right:
+      self._right_signal.render(rl.Rectangle(
+        self._config.right_x,
+        self._config.right_y,
+        self._config.size,
+        self._config.size
+      ))
+
+  @property
+  def config(self) -> TurnSignalConfig:
+    return self._config
+
+  @config.setter
+  def config(self, new_config: TurnSignalConfig):
+    self._config = new_config