[TIZI/TICI] ui: Smart Cruise Control elements (#1675)

* init

* punch

* lower

* colors

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -13,6 +13,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRen
 from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 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
 
 
@@ -23,6 +24,7 @@ class HudRendererSP(HudRenderer):
     self.road_name_renderer = RoadNameRenderer()
     self.rocket_fuel = RocketFuel()
     self.speed_limit_renderer = SpeedLimitRenderer()
+    self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
@@ -30,6 +32,7 @@ class HudRendererSP(HudRenderer):
     super()._update_state()
     self.road_name_renderer.update()
     self.speed_limit_renderer.update()
+    self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
@@ -44,6 +47,7 @@ class HudRendererSP(HudRenderer):
     self.developer_ui.render(rect)
     self.road_name_renderer.render(rect)
     self.speed_limit_renderer.render(rect)
+    self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
 
     if ui_state.rocket_fuel:

selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py

@@ -0,0 +1,131 @@
+"""
+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 openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class SmartCruiseControlRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.vision_enabled = False
+    self.vision_active = False
+    self.vision_frame = 0
+    self.map_enabled = False
+    self.map_active = False
+    self.map_frame = 0
+    self.long_override = False
+
+    self.font = gui_app.font(FontWeight.BOLD)
+    self.scc_tex = rl.load_render_texture(256, 128)
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.updated["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      vision = lp_sp.smartCruiseControl.vision
+      map_ = lp_sp.smartCruiseControl.map
+
+      self.vision_enabled = vision.enabled
+      self.vision_active = vision.active
+      self.map_enabled = map_.enabled
+      self.map_active = map_.active
+
+    if sm.updated["carControl"]:
+      self.long_override = sm["carControl"].cruiseControl.override
+
+    if self.vision_active:
+      self.vision_frame += 1
+    else:
+      self.vision_frame = 0
+
+    if self.map_active:
+      self.map_frame += 1
+    else:
+      self.map_frame = 0
+
+  @staticmethod
+  def _pulse_element(frame):
+    return not (frame % gui_app.target_fps < (gui_app.target_fps / 2.5))
+
+  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
+    text = name
+    font_size = 36
+    padding_v = 5
+    box_width = 160
+
+    sz = measure_text_cached(self.font, text, font_size)
+    box_height = int(sz.y + padding_v * 2)
+
+    texture_width = 256
+    texture_height = 128
+
+    rl.begin_texture_mode(self.scc_tex)
+    rl.clear_background(rl.Color(0, 0, 0, 0))
+
+    if self.long_override:
+      box_color = COLORS.OVERRIDE
+    else:
+      box_color = rl.Color(0, 255, 0, 255)
+
+    # Center box in texture
+    box_x = (texture_width - box_width) // 2
+    box_y = (texture_height - box_height) // 2
+
+    rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
+
+    # Draw text with custom blend mode to punch hole
+    rl.rl_set_blend_factors(rl.RL_ZERO, rl.RL_ONE_MINUS_SRC_ALPHA, 0x8006)
+    rl.rl_set_blend_mode(rl.BLEND_CUSTOM)
+
+    text_pos_x = box_x + (box_width - sz.x) / 2
+    text_pos_y = box_y + (box_height - sz.y) / 2
+
+    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.WHITE)
+
+    rl.rl_set_blend_mode(rl.BLEND_ALPHA)  # Reset
+    rl.end_texture_mode()
+
+    screen_y = rect_height / 4 + y_offset
+
+    dest_x = rect_center_x + x_offset - texture_width / 2
+    dest_y = screen_y - texture_height / 2
+
+    src_rect = rl.Rectangle(0, 0, texture_width, -texture_height)
+    dst_rect = rl.Rectangle(dest_x, dest_y, texture_width, texture_height)
+
+    rl.draw_texture_pro(self.scc_tex.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+
+  def _render(self, rect: rl.Rectangle):
+    x_offset = -260
+    y1_offset = -40
+    y2_offset = -100
+
+    orders = [y1_offset, y2_offset]
+    y_scc_v = 0
+    y_scc_m = 0
+    idx = 0
+
+    if self.vision_enabled:
+      y_scc_v = orders[idx]
+      idx += 1
+
+    if self.map_enabled:
+      y_scc_m = orders[idx]
+      idx += 1
+
+    scc_vision_pulse = self._pulse_element(self.vision_frame)
+    if (self.vision_enabled and not self.vision_active) or (self.vision_active and scc_vision_pulse):
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V")
+
+    scc_map_pulse = self._pulse_element(self.map_frame)
+    if (self.map_enabled and not self.map_active) or (self.map_active and scc_map_pulse):
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M")