ui: add onroad status icons

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -9,7 +9,7 @@
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
-from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
+from openpilot.selfdrive.ui.mici.onroad.status_icons import StatusIconColumn
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -151,7 +151,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self._hud_renderer = HudRenderer()
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
-    self._confidence_ball = ConfidenceBall()
+    self._status_icons = StatusIconColumn()
     self._offroad_label = UnifiedLabel("start the car to\nuse openpilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
@@ -240,7 +240,7 @@ def _render(self, _):
 
     # Custom UI extension point - add custom overlays here
     # Use self._content_rect for positioning within camera bounds
-    self._confidence_ball.render(self.rect)
+    self._status_icons.render(self.rect)
 
     self._bookmark_icon.render(self.rect)
 

openpilot/selfdrive/ui/mici/onroad/status_icons.py

@@ -0,0 +1,84 @@
+import pyray as rl
+
+from openpilot.cereal import log
+from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+
+INACTIVE_COLOR = rl.Color(86, 86, 86, 255)
+INACTIVE_TEXTURE_TINT = rl.Color(140, 140, 140, 255)
+PlanSource = log.LongitudinalPlan.LongitudinalPlanSource
+PERSONALITY_BARS = {
+  log.LongitudinalPersonality.relaxed: 1,
+  log.LongitudinalPersonality.standard: 2,
+  log.LongitudinalPersonality.aggressive: 3,
+}
+
+
+class StatusIconColumn(Widget):
+  """Four-slot status rail for experimental mode, speed limiter, eGPU use, and personality."""
+
+  def __init__(self):
+    super().__init__()
+
+    self._experimental_texture = gui_app.texture("icons_mici/experimental_mode.png", 48, 48)
+    self._cruise_texture = gui_app.texture("icons_mici/speed_limiter_cruise.png", 48, 48)
+    self._lead_texture = gui_app.texture("icons_mici/speed_limiter_lead.png", 48, 48)
+    self._egpu_texture = gui_app.texture("icons_mici/egpu.png", 50, 37)
+    self._egpu_gray_texture = gui_app.texture("icons_mici/egpu_gray.png", 50, 37)
+    self._personality_textures = tuple(
+      gui_app.texture(f"icons_mici/personality_{bar_count}.png", 56, 20)
+      for bar_count in range(1, 4)
+    )
+
+    self._experimental_mode = False
+    self._speed_limiter_texture = self._cruise_texture
+    self._speed_limiter_active = False
+    self._using_egpu = False
+    self._personality_bar_count = 0
+
+  def _update_state(self):
+    sm = ui_state.sm
+    selfdrive_state_valid = sm.alive["selfdriveState"] and sm.valid["selfdriveState"]
+    self._experimental_mode = selfdrive_state_valid and sm["selfdriveState"].experimentalMode
+    personality_available = selfdrive_state_valid and ui_state.has_longitudinal_control
+    self._personality_bar_count = PERSONALITY_BARS.get(sm["selfdriveState"].personality, 0) if personality_available else 0
+    source = sm["longitudinalPlan"].longitudinalPlanSource
+    if source in (PlanSource.lead0, PlanSource.lead1, PlanSource.lead2):
+      self._speed_limiter_texture = self._lead_texture
+    elif source == PlanSource.e2e:
+      self._speed_limiter_texture = self._experimental_texture
+    else:
+      self._speed_limiter_texture = self._cruise_texture
+    self._speed_limiter_active = (sm.alive["carControl"] and sm.valid["carControl"] and
+                                  sm["carControl"].longActive and
+                                  sm.alive["longitudinalPlan"] and sm.valid["longitudinalPlan"])
+    self._using_egpu = ui_state.usbgpu and ui_state.usbgpu_compiled
+
+  @staticmethod
+  def _draw_texture_centered(texture: rl.Texture, center: rl.Vector2, tint: rl.Color = rl.WHITE):
+    pos = rl.Vector2(center.x - texture.width / 2, center.y - texture.height / 2)
+    rl.draw_texture_ex(texture, pos, 0.0, 1.0, tint)
+
+  def _render(self, _):
+    panel = rl.Rectangle(
+      self.rect.x + self.rect.width - SIDE_PANEL_WIDTH,
+      self.rect.y,
+      SIDE_PANEL_WIDTH,
+      self.rect.height,
+    )
+    center_x = panel.x + panel.width / 2
+    centers = [rl.Vector2(center_x, panel.y + panel.height * (slot + 0.5) / 4) for slot in range(4)]
+
+    experimental_tint = rl.WHITE if self._experimental_mode else INACTIVE_COLOR
+    self._draw_texture_centered(self._experimental_texture, centers[0], experimental_tint)
+    limiter_tint = rl.WHITE if self._speed_limiter_active else INACTIVE_COLOR
+    self._draw_texture_centered(self._speed_limiter_texture, centers[1], limiter_tint)
+    egpu_texture = self._egpu_texture if self._using_egpu else self._egpu_gray_texture
+    egpu_tint = rl.WHITE if self._using_egpu else INACTIVE_TEXTURE_TINT
+    self._draw_texture_centered(egpu_texture, centers[2], egpu_tint)
+    personality_index = self._personality_bar_count - 1 if self._personality_bar_count else 2
+    personality_tint = rl.WHITE if self._personality_bar_count else INACTIVE_COLOR
+    self._draw_texture_centered(self._personality_textures[personality_index], centers[3], personality_tint)