(addr)
| 30 | |
| 31 | |
| 32 | def ui_thread(addr): |
| 33 | # Get monitor info before creating window |
| 34 | rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) |
| 35 | rl.init_window(1, 1, "") |
| 36 | max_height = rl.get_monitor_height(0) |
| 37 | rl.close_window() |
| 38 | |
| 39 | hor_mode = os.getenv("HORIZONTAL") is not None |
| 40 | hor_mode = True if max_height < 960 + 300 else hor_mode |
| 41 | |
| 42 | if hor_mode: |
| 43 | size = (640 + 384 + 640, 960) |
| 44 | write_x = 5 |
| 45 | write_y = 680 |
| 46 | else: |
| 47 | size = (640 + 384, 960 + 300) |
| 48 | write_x = 645 |
| 49 | write_y = 970 |
| 50 | |
| 51 | rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR) |
| 52 | rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) |
| 53 | rl.init_window(size[0], size[1], "openpilot debug UI") |
| 54 | rl.set_target_fps(60) |
| 55 | |
| 56 | # Load font |
| 57 | font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf") |
| 58 | font = rl.load_font_ex(font_path, 32, None, 0) |
| 59 | |
| 60 | camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) |
| 61 | |
| 62 | # Overlay texture for model/lane line drawing |
| 63 | overlay_img = np.zeros((480, 640, 4), dtype='uint8') |
| 64 | overlay_image = rl.gen_image_color(640, 480, rl.BLANK) |
| 65 | overlay_texture = rl.load_texture_from_image(overlay_image) |
| 66 | rl.unload_image(overlay_image) |
| 67 | |
| 68 | # lid_overlay array is (lidar_x, lidar_y) = (384, 960) |
| 69 | top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK) |
| 70 | top_down_texture = rl.load_texture_from_image(top_down_image) |
| 71 | rl.unload_image(top_down_image) |
| 72 | |
| 73 | sm = messaging.SubMaster( |
| 74 | [ |
| 75 | 'carState', |
| 76 | 'longitudinalPlan', |
| 77 | 'carControl', |
| 78 | 'radarState', |
| 79 | 'liveCalibration', |
| 80 | 'controlsState', |
| 81 | 'selfdriveState', |
| 82 | 'liveTracks', |
| 83 | 'modelV2', |
| 84 | 'liveParameters', |
| 85 | 'roadCameraState', |
| 86 | ], |
| 87 | addr=addr, |
| 88 | ) |
| 89 |
no test coverage detected