def ui_thread(addr, frame_address):
# TODO: Detect car from replay and use that to select carparams
CP = ToyotaInterface.get_params("TOYOTA PRIUS 2017")
VM = VehicleModel(CP)
CalP = np.asarray([[0, 0], [MODEL_INPUT_SIZE[0], 0],
[MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1]],
[0, MODEL_INPUT_SIZE[1]]])
vanishing_point = np.asarray([[MODEL_CX, MODEL_CY]])
pygame.init()
pygame.font.init()
assert pygame_modules_have_loaded()
disp_info = pygame.display.Info()
max_height = disp_info.current_h
hor_mode = os.getenv("HORIZONTAL") is not None
hor_mode = True if max_height < 960 + 300 else hor_mode
if hor_mode:
size = (640 + 384 + 640, 960)
write_x = 5
write_y = 680
else:
size = (640 + 384, 960 + 300)
write_x = 645
write_y = 970
pygame.display.set_caption("openpilot debug UI")
screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
alert1_font = pygame.font.SysFont("arial", 30)
alert2_font = pygame.font.SysFont("arial", 20)
info_font = pygame.font.SysFont("arial", 15)
camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
cameraw_surface = pygame.surface.Surface(MODEL_INPUT_SIZE, 0, 24).convert()
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
frame = messaging.sub_sock('frame', addr=addr, conflate=True)
sm = messaging.SubMaster([
'carState', 'plan', 'carControl', 'radarState', 'liveCalibration',
'controlsState', 'liveTracks', 'model', 'liveMpc', 'liveParameters',
'pathPlan', 'frame'
],
addr=addr)
calibration = None
img = np.zeros((480, 640, 3), dtype='uint8')
imgff = None
num_px = 0
img_transform = np.eye(3)
imgw = np.zeros((160, 320, 3), dtype=np.uint8) # warped image
lid_overlay_blank = get_blank_lid_overlay(UP)
# plots
name_to_arr_idx = {
"gas": 0,
"computer_gas": 1,
"user_brake": 2,
"computer_brake": 3,
"v_ego": 4,
"v_pid": 5,
"angle_steers_des": 6,
"angle_steers": 7,
"angle_steers_k": 8,
"steer_torque": 9,
"v_override": 10,
"v_cruise": 11,
"a_ego": 12,
"a_target": 13,
"accel_override": 14
}
plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]),
(0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.),
(-3.0, 2.0)]
plot_names = [[
"gas", "computer_gas", "user_brake", "computer_brake", "accel_override"
], ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
["v_ego", "v_override", "v_pid", "v_cruise"],
["a_ego", "a_target"]]
plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"],
["b", "g", "r", "y"], ["b", "r"]]
plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"],
["-", "-", "-", "-"], ["-", "-"]]
draw_plots = init_plots(plot_arr,
name_to_arr_idx,
plot_xlims,
plot_ylims,
plot_names,
plot_colors,
plot_styles,
bigplots=True)
while 1:
list(pygame.event.get())
screen.fill((64, 64, 64))
lid_overlay = lid_overlay_blank.copy()
top_down = top_down_surface, lid_overlay
# ***** frame *****
fpkt = messaging.recv_one(frame)
rgb_img_raw = fpkt.frame.image
num_px = len(rgb_img_raw) // 3
if rgb_img_raw and num_px in _FULL_FRAME_SIZE.keys():
FULL_FRAME_SIZE = _FULL_FRAME_SIZE[num_px]
imgff_shape = (FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3)
if imgff is None or imgff.shape != imgff_shape:
imgff = np.zeros(imgff_shape, dtype=np.uint8)
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape(
(FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
cv2.warpAffine(imgff,
np.dot(img_transform,
_BB_TO_FULL_FRAME[num_px])[:2],
(img.shape[1], img.shape[0]),
dst=img,
flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px]
else:
img.fill(0)
intrinsic_matrix = np.eye(3)
if calibration is not None and imgff is not None:
transform = np.dot(img_transform, calibration.model_to_full_frame)
imgw = cv2.warpAffine(imgff,
transform[:2],
(MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1]),
flags=cv2.WARP_INVERSE_MAP)
else:
imgw.fill(0)
sm.update()
w = sm['controlsState'].lateralControlState.which()
if w == 'lqrState':
angle_steers_k = sm[
'controlsState'].lateralControlState.lqrState.steerAngle
elif w == 'indiState':
angle_steers_k = sm[
'controlsState'].lateralControlState.indiState.steerAngle
else:
angle_steers_k = np.inf
plot_arr[:-1] = plot_arr[1:]
plot_arr[
-1,
name_to_arr_idx['angle_steers']] = sm['controlsState'].angleSteers
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm[
'carControl'].actuators.steerAngle
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
plot_arr[
-1,
name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
plot_arr[-1, name_to_arr_idx['steer_torque']] = sm[
'carControl'].actuators.steer * ANGLE_SCALE
plot_arr[-1, name_to_arr_idx['computer_brake']] = sm[
'carControl'].actuators.brake
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['controlsState'].vEgo
plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
plot_arr[-1, name_to_arr_idx['v_override']] = sm[
'carControl'].cruiseControl.speedOverride
plot_arr[
-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
plot_arr[-1, name_to_arr_idx['a_target']] = sm['plan'].aTarget
plot_arr[-1, name_to_arr_idx['accel_override']] = sm[
'carControl'].cruiseControl.accelOverride
# ***** model ****
if len(sm['model'].path.poly) > 0:
model_data = extract_model_data(sm['model'])
plot_model(model_data, VM, sm['controlsState'].vEgo,
sm['controlsState'].curvature, imgw, calibration,
top_down, np.array(sm['pathPlan'].dPolyDEPRECATED))
# MPC
if sm.updated['liveMpc']:
draw_mpc(sm['liveMpc'], top_down)
# draw all radar points
maybe_update_radar_points(sm['liveTracks'], top_down[1])
if sm.updated['liveCalibration'] and num_px:
extrinsic_matrix = np.asarray(
sm['liveCalibration'].extrinsicMatrix).reshape(3, 4)
ke = intrinsic_matrix.dot(extrinsic_matrix)
warp_matrix = get_camera_frame_from_model_frame(
ke, camera_fl=intrinsic_matrix[0][0])
calibration = CalibrationTransformsForWarpMatrix(
num_px, warp_matrix, intrinsic_matrix, extrinsic_matrix)
# draw red pt for lead car in the main img
for lead in [sm['radarState'].leadOne, sm['radarState'].leadTwo]:
if lead.status:
if calibration is not None:
draw_lead_on(img,
lead.dRel,
lead.yRel,
calibration,
color=(192, 0, 0))
draw_lead_car(lead.dRel, top_down)
# *** blits ***
pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
screen.blit(camera_surface, (0, 0))
# display alerts
alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True,
(255, 0, 0))
alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True,
(255, 0, 0))
screen.blit(alert_line1, (180, 150))
screen.blit(alert_line2, (180, 190))
if calibration is not None and img is not None:
cpw = warp_points(CalP, calibration.model_to_bb)
vanishing_pointw = warp_points(vanishing_point,
calibration.model_to_bb)
pygame.draw.polygon(screen, BLUE, tuple(map(tuple, cpw)), 1)
pygame.draw.circle(screen, BLUE,
list(map(int, map(round, vanishing_pointw[0]))),
2)
if hor_mode:
screen.blit(draw_plots(plot_arr), (640 + 384, 0))
else:
screen.blit(draw_plots(plot_arr), (0, 600))
pygame.surfarray.blit_array(cameraw_surface, imgw.swapaxes(0, 1))
screen.blit(cameraw_surface, (320, 480))
pygame.surfarray.blit_array(*top_down)
screen.blit(top_down[0], (640, 0))
SPACING = 25
lines = [
info_font.render("ENABLED", True,
GREEN if sm['controlsState'].enabled else BLACK),
info_font.render("BRAKE LIGHTS", True,
RED if sm['carState'].brakeLights else BLACK),
info_font.render(
"SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True,
YELLOW),
info_font.render(
"LONG CONTROL STATE: " +
str(sm['controlsState'].longControlState), True, YELLOW),
info_font.render(
"LONG MPC SOURCE: " + str(sm['plan'].longitudinalPlanSource),
True, YELLOW), None,
info_font.render(
"ANGLE OFFSET (AVG): " +
str(round(sm['liveParameters'].angleOffsetAverage, 2)) +
" deg", True, YELLOW),
info_font.render(
"ANGLE OFFSET (INSTANT): " +
str(round(sm['liveParameters'].angleOffset, 2)) + " deg", True,
YELLOW),
info_font.render(
"STIFFNESS: " +
str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) +
" %", True, YELLOW),
info_font.render(
"STEER RATIO: " +
str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
]
for i, line in enumerate(lines):
if line is not None:
screen.blit(line, (write_x, write_y + i * SPACING))
# this takes time...vsync or something
pygame.display.flip()
def ui_thread(addr, frame_address):
pygame.init()
pygame.font.init()
assert pygame_modules_have_loaded()
disp_info = pygame.display.Info()
max_height = disp_info.current_h
hor_mode = os.getenv("HORIZONTAL") is not None
hor_mode = True if max_height < 960 + 300 else hor_mode
if hor_mode:
size = (640 + 384 + 640, 960)
write_x = 5
write_y = 680
else:
size = (640 + 384, 960 + 300)
write_x = 645
write_y = 970
pygame.display.set_caption("openpilot debug UI")
screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
alert1_font = pygame.font.SysFont("arial", 30)
alert2_font = pygame.font.SysFont("arial", 20)
info_font = pygame.font.SysFont("arial", 15)
camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
frame = messaging.sub_sock('roadCameraState', addr=addr, conflate=True)
sm = messaging.SubMaster([
'carState', 'longitudinalPlan', 'carControl', 'radarState',
'liveCalibration', 'controlsState', 'liveTracks', 'modelV2', 'liveMpc',
'liveParameters', 'lateralPlan', 'roadCameraState'
],
addr=addr)
img = np.zeros((480, 640, 3), dtype='uint8')
imgff = None
num_px = 0
calibration = None
lid_overlay_blank = get_blank_lid_overlay(UP)
# plots
name_to_arr_idx = {
"gas": 0,
"computer_gas": 1,
"user_brake": 2,
"computer_brake": 3,
"v_ego": 4,
"v_pid": 5,
"angle_steers_des": 6,
"angle_steers": 7,
"angle_steers_k": 8,
"steer_torque": 9,
"v_override": 10,
"v_cruise": 11,
"a_ego": 12,
"a_target": 13,
"accel_override": 14
}
plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]),
(0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.),
(-3.0, 2.0)]
plot_names = [[
"gas", "computer_gas", "user_brake", "computer_brake", "accel_override"
], ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
["v_ego", "v_override", "v_pid", "v_cruise"],
["a_ego", "a_target"]]
plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"],
["b", "g", "r", "y"], ["b", "r"]]
plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"],
["-", "-", "-", "-"], ["-", "-"]]
draw_plots = init_plots(plot_arr,
name_to_arr_idx,
plot_xlims,
plot_ylims,
plot_names,
plot_colors,
plot_styles,
bigplots=True)
while 1:
list(pygame.event.get())
screen.fill((64, 64, 64))
lid_overlay = lid_overlay_blank.copy()
top_down = top_down_surface, lid_overlay
# ***** frame *****
fpkt = messaging.recv_one(frame)
rgb_img_raw = fpkt.roadCameraState.image
num_px = len(rgb_img_raw) // 3
if rgb_img_raw and num_px in _FULL_FRAME_SIZE.keys():
FULL_FRAME_SIZE = _FULL_FRAME_SIZE[num_px]
imgff_shape = (FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3)
if imgff is None or imgff.shape != imgff_shape:
imgff = np.zeros(imgff_shape, dtype=np.uint8)
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape(
(FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
zoom_matrix = _BB_TO_FULL_FRAME[num_px]
cv2.warpAffine(imgff,
zoom_matrix[:2], (img.shape[1], img.shape[0]),
dst=img,
flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px]
else:
img.fill(0)
intrinsic_matrix = np.eye(3)
sm.update()
w = sm['controlsState'].lateralControlState.which()
if w == 'lqrState':
angle_steers_k = sm[
'controlsState'].lateralControlState.lqrState.steeringAngleDeg
elif w == 'indiState':
angle_steers_k = sm[
'controlsState'].lateralControlState.indiState.steeringAngleDeg
else:
angle_steers_k = np.inf
plot_arr[:-1] = plot_arr[1:]
plot_arr[
-1,
name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm[
'carControl'].actuators.steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
plot_arr[
-1,
name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
plot_arr[-1, name_to_arr_idx['steer_torque']] = sm[
'carControl'].actuators.steer * ANGLE_SCALE
plot_arr[-1, name_to_arr_idx['computer_brake']] = sm[
'carControl'].actuators.brake
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
plot_arr[-1, name_to_arr_idx['v_override']] = sm[
'carControl'].cruiseControl.speedOverride
plot_arr[
-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
plot_arr[-1,
name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
plot_arr[-1, name_to_arr_idx['accel_override']] = sm[
'carControl'].cruiseControl.accelOverride
if sm.rcv_frame['modelV2']:
plot_model(sm['modelV2'], img, calibration, top_down)
if sm.rcv_frame['radarState']:
plot_lead(sm['radarState'], top_down)
# draw all radar points
maybe_update_radar_points(sm['liveTracks'], top_down[1])
if sm.updated['liveCalibration'] and num_px:
rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
calibration = Calibration(num_px, rpyCalib, intrinsic_matrix)
# *** blits ***
pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
screen.blit(camera_surface, (0, 0))
# display alerts
alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True,
(255, 0, 0))
alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True,
(255, 0, 0))
screen.blit(alert_line1, (180, 150))
screen.blit(alert_line2, (180, 190))
if hor_mode:
screen.blit(draw_plots(plot_arr), (640 + 384, 0))
else:
screen.blit(draw_plots(plot_arr), (0, 600))
pygame.surfarray.blit_array(*top_down)
screen.blit(top_down[0], (640, 0))
SPACING = 25
lines = [
info_font.render("ENABLED", True,
GREEN if sm['controlsState'].enabled else BLACK),
info_font.render("BRAKE LIGHTS", True,
RED if sm['carState'].brakeLights else BLACK),
info_font.render(
"SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True,
YELLOW),
info_font.render(
"LONG CONTROL STATE: " +
str(sm['controlsState'].longControlState), True, YELLOW),
info_font.render(
"LONG MPC SOURCE: " +
str(sm['longitudinalPlan'].longitudinalPlanSource), True,
YELLOW), None,
info_font.render(
"ANGLE OFFSET (AVG): " +
str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) +
" deg", True, YELLOW),
info_font.render(
"ANGLE OFFSET (INSTANT): " +
str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg",
True, YELLOW),
info_font.render(
"STIFFNESS: " +
str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) +
" %", True, YELLOW),
info_font.render(
"STEER RATIO: " +
str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
]
for i, line in enumerate(lines):
if line is not None:
screen.blit(line, (write_x, write_y + i * SPACING))
# this takes time...vsync or something
pygame.display.flip()
sm = messaging.SubMaster(['liveCalibration'])
frame = messaging.sub_sock('frame', conflate=True)
win = Window(MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1], double=True)
num_px = 0
calibration = None
imgff = None
while 1:
fpkt = messaging.recv_one(frame)
if fpkt is None or len(fpkt.frame.image) == 0:
continue
sm.update(timeout=1)
rgb_img_raw = fpkt.frame.image
num_px = len(rgb_img_raw) // 3
if rgb_img_raw and num_px in _FULL_FRAME_SIZE.keys():
FULL_FRAME_SIZE = _FULL_FRAME_SIZE[num_px]
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape(
(FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
if sm.updated['liveCalibration'] and num_px:
intrinsic_matrix = _INTRINSICS[num_px]
img_transform = np.array(fpkt.frame.transform).reshape(3, 3)
extrinsic_matrix = np.asarray(
sm['liveCalibration'].extrinsicMatrix).reshape(3, 4)
ke = intrinsic_matrix.dot(extrinsic_matrix)
warp_matrix = get_camera_frame_from_medmodel_frame(ke)
calibration = CalibrationTransformsForWarpMatrix(
num_px, warp_matrix, intrinsic_matrix, extrinsic_matrix)
transform = np.dot(img_transform, calibration.model_to_full_frame)