mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 20:03:53 +08:00
33a26ba373
* wake mode support * use ui_state.params * better * cleanup * fix --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
312 lines
10 KiB
Python
312 lines
10 KiB
Python
import pyray as rl
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import numpy as np
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import time
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import threading
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from collections.abc import Callable
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from enum import Enum
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from cereal import messaging, car, log
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.ui.lib.prime_state import PrimeState
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.hardware import HARDWARE, PC
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from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
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BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
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class UIStatus(Enum):
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DISENGAGED = "disengaged"
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ENGAGED = "engaged"
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OVERRIDE = "override"
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LAT_ONLY = "lat_only"
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LONG_ONLY = "long_only"
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class UIState(UIStateSP):
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_instance: 'UIState | None' = None
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def __new__(cls):
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if cls._instance is None:
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cls._instance = super().__new__(cls)
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cls._instance._initialize()
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return cls._instance
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def _initialize(self):
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UIStateSP.__init__(self)
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self.params = Params()
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self.sm = messaging.SubMaster(
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[
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"modelV2",
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"controlsState",
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"onroadEvents",
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"liveCalibration",
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"radarState",
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"deviceState",
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"pandaStates",
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"carParams",
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"driverMonitoringState",
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"carState",
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"driverStateV2",
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"roadCameraState",
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"wideRoadCameraState",
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"managerState",
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"selfdriveState",
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"longitudinalPlan",
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"gpsLocationExternal",
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"carOutput",
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"carControl",
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"liveParameters",
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"rawAudioData",
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] + self.sm_services_ext
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)
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self.prime_state = PrimeState()
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# UI Status tracking
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self.status: UIStatus = UIStatus.DISENGAGED
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self.started_frame: int = 0
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self.started_time: float = 0.0
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self._engaged_prev: bool = False
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self._started_prev: bool = False
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# Core state variables
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self.is_metric: bool = self.params.get_bool("IsMetric")
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self.is_release = self.params.get_bool("IsReleaseBranch")
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self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
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self.started: bool = False
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self.ignition: bool = False
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self.recording_audio: bool = False
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self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
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self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
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self.has_longitudinal_control: bool = False
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self.CP: car.CarParams | None = None
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self.light_sensor: float = -1.0
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self._param_update_time: float = 0.0
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# Callbacks
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self._offroad_transition_callbacks: list[Callable[[], None]] = []
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self._engaged_transition_callbacks: list[Callable[[], None]] = []
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self.update_params()
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def add_offroad_transition_callback(self, callback: Callable[[], None]):
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self._offroad_transition_callbacks.append(callback)
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def add_engaged_transition_callback(self, callback: Callable[[], None]):
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self._engaged_transition_callbacks.append(callback)
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@property
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def engaged(self) -> bool:
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return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
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def is_onroad(self) -> bool:
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return self.started
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def is_offroad(self) -> bool:
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return not self.started
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def update(self) -> None:
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self.prime_state.start() # start thread after manager forks ui
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self.sm.update(0)
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self._update_state()
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self._update_status()
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if time.monotonic() - self._param_update_time > 5.0:
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self.update_params()
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device.update()
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UIStateSP.update(self)
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def _update_state(self) -> None:
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# Handle panda states updates
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if self.sm.updated["pandaStates"]:
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panda_states = self.sm["pandaStates"]
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if len(panda_states) > 0:
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# Get panda type from first panda
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self.panda_type = panda_states[0].pandaType
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# Check ignition status across all pandas
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if self.panda_type != log.PandaState.PandaType.unknown:
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self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
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elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
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self.panda_type = log.PandaState.PandaType.unknown
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# Handle wide road camera state updates
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if self.sm.updated["wideRoadCameraState"]:
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cam_state = self.sm["wideRoadCameraState"]
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self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
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elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
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self.light_sensor = -1
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# Update started state
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self.started = self.sm["deviceState"].started and self.ignition
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# Update recording audio state
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self.recording_audio = self.params.get_bool("RecordAudio") and self.started
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self.is_metric = self.params.get_bool("IsMetric")
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self.always_on_dm = self.params.get_bool("AlwaysOnDM")
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def _update_status(self) -> None:
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if self.started and self.sm.updated["selfdriveState"]:
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ss = self.sm["selfdriveState"]
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state = ss.state
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if state in (log.SelfdriveState.OpenpilotState.preEnabled, log.SelfdriveState.OpenpilotState.overriding):
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self.status = UIStatus.OVERRIDE
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else:
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self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
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self.status = UIStatus(UIStateSP.update_status(ss, self.sm["selfdriveStateSP"], self.sm["onroadEvents"]))
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# Check for engagement state changes
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if self.engaged != self._engaged_prev:
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for callback in self._engaged_transition_callbacks:
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callback()
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self._engaged_prev = self.engaged
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# Handle onroad/offroad transition
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if self.started != self._started_prev or self.sm.frame == 1:
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if self.started:
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self.status = UIStatus.DISENGAGED
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self.started_frame = self.sm.frame
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self.started_time = time.monotonic()
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for callback in self._offroad_transition_callbacks:
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callback()
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self._started_prev = self.started
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def update_params(self) -> None:
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# For slower operations
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# Update longitudinal control state
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CP_bytes = self.params.get("CarParamsPersistent")
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if CP_bytes is not None:
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self.CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
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if self.CP.alphaLongitudinalAvailable:
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self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
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else:
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self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
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UIStateSP.update_params(self)
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self._param_update_time = time.monotonic()
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class Device(DeviceSP):
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def __init__(self):
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DeviceSP.__init__(self)
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self._ignition = False
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self._interaction_time: float = -1
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self._override_interactive_timeout: int | None = None
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self._interactive_timeout_callbacks: list[Callable] = []
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self._prev_timed_out = False
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self._awake: bool = True
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self._offroad_brightness: int = BACKLIGHT_OFFROAD
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self._last_brightness: int = 0
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self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
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self._brightness_thread: threading.Thread | None = None
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@property
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def awake(self) -> bool:
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return self._awake
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def set_override_interactive_timeout(self, timeout: int | None) -> None:
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# Override the interactive timeout duration temporarily
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self._override_interactive_timeout = timeout
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self._reset_interactive_timeout()
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@property
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def interactive_timeout(self) -> int:
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if self._override_interactive_timeout is not None:
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return self._override_interactive_timeout
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if gui_app.sunnypilot_ui() and ui_state.custom_interactive_timeout != 0:
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return ui_state.custom_interactive_timeout
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ignition_timeout = 10 if gui_app.big_ui() else 5
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return ignition_timeout if ui_state.ignition else 30
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def _reset_interactive_timeout(self) -> None:
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self._interaction_time = time.monotonic() + self.interactive_timeout
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def add_interactive_timeout_callback(self, callback: Callable):
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self._interactive_timeout_callbacks.append(callback)
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def update(self):
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# do initial reset
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if self._interaction_time <= 0:
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self._reset_interactive_timeout()
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self._update_brightness()
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self._update_wakefulness()
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def set_offroad_brightness(self, brightness: int | None):
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if brightness is None:
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brightness = BACKLIGHT_OFFROAD
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self._offroad_brightness = min(max(brightness, 0), 100)
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def _update_brightness(self):
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clipped_brightness = self._offroad_brightness
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if ui_state.started and ui_state.light_sensor >= 0:
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clipped_brightness = ui_state.light_sensor
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# CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
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if clipped_brightness <= 8:
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clipped_brightness = clipped_brightness / 903.3
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else:
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clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
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min_brightness = 30
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if gui_app.sunnypilot_ui():
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min_brightness = DeviceSP.set_min_onroad_brightness(ui_state, min_brightness)
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clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_brightness, 100]))
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brightness = round(self._brightness_filter.update(clipped_brightness))
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if gui_app.sunnypilot_ui():
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brightness = DeviceSP.set_onroad_brightness(ui_state, self._awake, brightness)
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if not self._awake:
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brightness = 0
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if brightness != self._last_brightness:
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if self._brightness_thread is None or not self._brightness_thread.is_alive():
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self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
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self._brightness_thread.start()
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self._last_brightness = brightness
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def _update_wakefulness(self):
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# Handle interactive timeout
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ignition_just_turned_off = not ui_state.ignition and self._ignition
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self._ignition = ui_state.ignition
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if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
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if gui_app.sunnypilot_ui():
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DeviceSP.wake_from_dimmed_onroad_brightness(ui_state, gui_app.mouse_events)
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self._reset_interactive_timeout()
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interaction_timeout = time.monotonic() > self._interaction_time
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if interaction_timeout and not self._prev_timed_out:
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for callback in self._interactive_timeout_callbacks:
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callback()
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self._prev_timed_out = interaction_timeout
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self._set_awake(ui_state.ignition or not interaction_timeout or PC)
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def _set_awake(self, on: bool):
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if on != self._awake:
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DeviceSP._set_awake(on, ui_state)
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self._awake = on
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cloudlog.debug(f"setting display power {int(on)}")
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HARDWARE.set_display_power(on)
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gui_app.set_should_render(on)
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# Global instance
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ui_state = UIState()
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device = Device()
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