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This commit is contained in:
royjr
2026-04-01 19:58:31 -04:00
parent b7299785ac
commit 1cbd666f32
2 changed files with 3 additions and 44 deletions
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4
selfdrive/selfdrived/events.py
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@@ -185,7 +185,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
gb = sm['carControl'].actuators.accel / 4.
steer = sm['carControl'].actuators.torque
vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
damp = sm['carControl'].actuators.dampFactor
damp_pct = round((damp - 3) / (200 - 3) * 100.) if damp > 0 else 50
vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%\nDamp: {damp_pct}%"
return NormalPermanentAlert("Joystick Mode", vals)

43
selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
View File

@@ -6,56 +6,14 @@ See the LICENSE.md file in the root directory for more details.
"""
import pyray as rl
from openpilot.common.params import Params
from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.ui.lib.application import gui_app, FontWeight
class JoystickDebugOverlay:
def __init__(self):
self._params = Params()
self._font = None
def _ensure_font(self):
if self._font is None:
self._font = gui_app.font(FontWeight.BOLD)
def render(self, rect: rl.Rectangle) -> None:
if not self._params.get_bool("JoystickDebugMode"):
return
if not ui_state.started:
return
self._ensure_font()
actuators = ui_state.sm['carControl'].actuators
accel = actuators.accel
lateral = actuators.torque
damp = actuators.dampFactor if actuators.dampFactor > 0 else 100.0
font_size = 48
line_height = 60
x = rect.x + rect.width - 300
y = rect.y + 120
labels = [
("ACCEL", f"{accel:+.2f}"),
("LATERAL", f"{lateral:+.2f}"),
("DAMP", f"{damp:.0f}"),
]
for label, value in labels:
rl.draw_text_ex(self._font, f"{label}: {value}", rl.Vector2(x, y), font_size, 0, rl.WHITE)
y += line_height
class HudRendererSP(HudRenderer):
def __init__(self):
super().__init__()
self.blind_spot_indicators = BlindSpotIndicators()
self._joystick_overlay = JoystickDebugOverlay()
def _update_state(self) -> None:
super()._update_state()
@@ -64,7 +22,6 @@ class HudRendererSP(HudRenderer):
def _render(self, rect: rl.Rectangle) -> None:
super()._render(rect)
self.blind_spot_indicators.render(rect)
self._joystick_overlay.render(rect)
def _has_blind_spot_detected(self) -> bool: