[TIZI/TICI] ui: steering arc (#1628)

* init

* lint

* add toggle

* Update params_keys.h

* Update params_metadata.json

* Update params_keys.h

* bool

* decouple

* no

* make it perfect

* fade it

* only with torque bar

* dynamic

* in another PR

---------

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

common/params_keys.h

@@ -115,6 +115,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"TermsVersion", {PERSISTENT, STRING}},
+    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrainingVersion", {PERSISTENT, STRING}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
     {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},

selfdrive/ui/mici/onroad/torque_bar.py

@@ -146,9 +146,11 @@ def arc_bar_pts(cx: float, cy: float,
 
 
 class TorqueBar(Widget):
-  def __init__(self, demo: bool = False):
+  def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
     super().__init__()
     self._demo = demo
+    self._scale = scale
+    self._always = always
     self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
     self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
@@ -180,8 +182,8 @@ class TorqueBar(Widget):
 
   def _render(self, rect: rl.Rectangle) -> None:
     # adjust y pos with torque
-    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22, 26])
-    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14, 56])
+    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * self._scale, 26 * self._scale])
+    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * self._scale, 56 * self._scale])
 
     # animate alpha and angle span
     if not self._demo:
@@ -195,7 +197,7 @@ class TorqueBar(Widget):
       torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
 
     # draw curved line polygon torque bar
-    torque_line_radius = 1200
+    torque_line_radius = 1200 * self._scale
     top_angle = -90
     torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
     torque_start_angle = top_angle - torque_bg_angle_span / 2
@@ -207,13 +209,13 @@ class TorqueBar(Widget):
     cy = rect.y + rect.height + torque_line_radius - torque_line_offset
 
     # draw bg torque indicator line
-    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle)
+    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale)
     draw_polygon(rect, bg_pts, color=torque_line_bg_color)
 
     # draw torque indicator line
     a0s = top_angle
     a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
-    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s)
+    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale)
 
     # draw beautiful gradient from center to 65% of the bg torque bar width
     start_grad_pt = cx / rect.width
@@ -252,5 +254,5 @@ class TorqueBar(Widget):
     # draw center torque bar dot
     if abs(self._torque_filter.x) < 0.5:
       dot_y = self._rect.y + self._rect.height - torque_line_offset - torque_line_height / 2
-      rl.draw_circle(int(cx), int(dot_y), 10 // 2,
+      rl.draw_circle(int(cx), int(dot_y), (10 // 2 * self._scale),
                      rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))

selfdrive/ui/onroad/augmented_road_view.py

@@ -15,7 +15,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
   from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
@@ -38,9 +38,10 @@ ROAD_CAM_MIN_SPEED = 15.0  # m/s (34 mph)
 INF_POINT = np.array([1000.0, 0.0, 0.0])
 
 
-class AugmentedRoadView(CameraView):
+class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
   def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
-    super().__init__("camerad", stream_type)
+    CameraView.__init__(self, "camerad", stream_type)
+    AugmentedRoadViewSP.__init__(self)
     self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
 
     self.device_camera: DeviceCameraConfig | None = None
@@ -92,6 +93,7 @@ class AugmentedRoadView(CameraView):
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
+    AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
     self._hud_renderer.render(self._content_rect)
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -5,9 +5,27 @@ 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.ui_state import UIStatus
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state
+from openpilot.system.ui.lib.application import gui_app
 
 BORDER_COLORS_SP = {
   UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
   UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF),  # Purple for longitudinal-only state
 }
+
+
+class AugmentedRoadViewSP:
+  def __init__(self):
+    self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
+    self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+
+  def update_fade_out_bottom_overlay(self, _content_rect):
+    # Fade out bottom of overlays for looks (only when engaged)
+    fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+    if ui_state.torque_bar and fade_alpha > 1e-2:
+      # Scale the fade texture to the content rect
+      rl.draw_texture_pro(self._fade_texture,
+                          rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
+                          _content_rect, rl.Vector2(0, 0), 0.0,
+                          rl.Color(255, 255, 255, int(255 * fade_alpha)))

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 
+from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
 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
@@ -23,6 +24,7 @@ class HudRendererSP(HudRenderer):
     self.rocket_fuel = RocketFuel()
     self.speed_limit_renderer = SpeedLimitRenderer()
     self.turn_signal_controller = TurnSignalController()
+    self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
     super()._update_state()
@@ -32,6 +34,13 @@ class HudRendererSP(HudRenderer):
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
+
+    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
+      torque_rect = rect
+      if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - DeveloperUiRenderer.BOTTOM_BAR_HEIGHT)
+      self._torque_bar.render(torque_rect)
+
     self.developer_ui.render(rect)
     self.road_name_renderer.render(rect)
     self.speed_limit_renderer.render(rect)

selfdrive/ui/sunnypilot/ui_state.py

@@ -125,6 +125,7 @@ class UIStateSP:
     self.rocket_fuel = self.params.get_bool("RocketFuel")
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
+    self.torque_bar = self.params.get_bool("TorqueBar")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)

sunnypilot/sunnylink/params_metadata.json

@@ -1239,6 +1239,10 @@
     "title": "Tesla Coop Steering",
     "description": ""
   },
+  "TorqueBar": {
+    "title": "Steering Arc",
+    "description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled."
+  },
   "TorqueParamsOverrideEnabled": {
     "title": "Manual Real-Time Tuning",
     "description": ""