From c274dba36ed91f82eb1ad8cddafe9de2ea09c0c7 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 8 Feb 2026 18:28:36 -0500 Subject: [PATCH] [TIZI/TICI] ui: Smart Cruise Control elements (#1675) * init * punch * lower * colors --- .../ui/sunnypilot/onroad/hud_renderer.py | 4 + .../sunnypilot/onroad/smart_cruise_control.py | 131 ++++++++++++++++++ 2 files changed, 135 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 74e15fe0bd..d6f9278d22 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/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: diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py new file mode 100644 index 0000000000..ca71fcac4a --- /dev/null +++ b/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")