mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 11:13:53 +08:00
29afd667cc
* mv system/ui/onroad->selfdrive/ui/onroad * mv ui_state * fix import path * fix imports * mv cameraview * remove from application
130 lines
3.8 KiB
Python
130 lines
3.8 KiB
Python
import pyray as rl
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from enum import Enum
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from cereal import messaging, log
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from openpilot.common.params import Params, UnknownKeyName
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UI_BORDER_SIZE = 30
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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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class UIState:
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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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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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"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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]
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)
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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._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.started: bool = False
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self.ignition: 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.light_sensor: float = -1.0
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self._update_params()
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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
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def update(self) -> None:
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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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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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# Scale factor based on sensor type
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scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
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self.light_sensor = max(100.0 - scale * 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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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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# Check for engagement state changes
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if self.engaged != self._engaged_prev:
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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_prev = self.started
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def _update_params(self) -> None:
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try:
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self.is_metric = self.params.get_bool("IsMetric")
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except UnknownKeyName:
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self.is_metric = False
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# Global instance
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ui_state = UIState()
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