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jominki354ajouatom
jominki354
authored and
ajouatom
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web work (#283)
1 parent 733871c commit d6cbdd6

10 files changed

Lines changed: 609 additions & 95 deletions

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‎selfdrive/carrot/realtime/transports/raw_ws.py‎

Lines changed: 7 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -35,6 +35,13 @@ def is_allowed_service(self, service: str) -> bool:
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# 0 = no throttle (send every message)
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_THROTTLE_MAP = {
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"modelV2": 0, # camera-synced, don't throttle
38+
"carState": 0, # plot 1,2,5,7,8 — needs full rate for dense graphs
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"controlsState": 0, # plot 6 — needs full rate for dense graphs
40+
"longitudinalPlan": 0, # plot 1,2,4 — needs full rate for dense graphs
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"carControl": 0, # plot 1,6,7,8 — needs full rate for dense graphs
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"radarState": 0, # plot 4,5 — needs full rate for dense graphs
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"lateralPlan": 0, # overlay path rendering
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"carrotMan": 0, # HUD status updates
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"roadCameraState": 0.25, # metadata/debug only on web HUD
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"deviceState": 0.5, # slow-changing HUD stats
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"peripheralState": 0.5,

‎selfdrive/carrot/server/core.py‎

Lines changed: 5 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,7 @@
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import numpy as np
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from typing import Dict, Any, Tuple, Optional, List
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30-
from aiohttp import web, ClientSession, WSMsgType
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from aiohttp import web, ClientSession, ClientTimeout, WSMsgType
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from cereal import messaging
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from opendbc.car import structs
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import shlex
@@ -204,14 +204,16 @@ async def proxy_stream(request: web.Request) -> web.StreamResponse:
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sess: ClientSession = request.app["http"]
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try:
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async with sess.post(WEBRTCD_URL, data=body, headers={"Content-Type": ct}) as resp:
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async with sess.post(WEBRTCD_URL, data=body, headers={"Content-Type": ct},
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timeout=ClientTimeout(total=15)) as resp:
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resp_body = await resp.read()
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# 그대로 전달
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out = web.Response(body=resp_body, status=resp.status)
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rct = resp.headers.get("Content-Type")
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if rct:
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out.headers["Content-Type"] = rct
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return out
215+
except asyncio.TimeoutError:
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return web.json_response({"ok": False, "error": "webrtcd timeout"}, status=504)
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except Exception as e:
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return web.json_response({"ok": False, "error": str(e)}, status=502)
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‎selfdrive/carrot/web/css/app.css‎

Lines changed: 14 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -2152,16 +2152,13 @@ body[data-page="carrot"] #driveHudCard.driveHudCard--loading {
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border-radius: calc(var(--r-2xl) + 2px);
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overflow: hidden;
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border: 1px solid color-mix(in srgb, var(--md-outline-var) 82%, rgba(255,255,255,0.12));
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background:
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radial-gradient(circle at 16% 20%, rgba(255, 146, 77, 0.15), transparent 28%),
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radial-gradient(circle at 80% 80%, rgba(104, 201, 255, 0.12), transparent 24%),
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linear-gradient(180deg, rgba(255,255,255,0.03), rgba(255,255,255,0)),
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#04070c;
2155+
background: #0b0e12;
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box-shadow: 0 20px 48px rgba(0, 0, 0, 0.24);
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contain: layout style;
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}
21632159

21642160
.carrot-stage__video,
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.carrot-stage__videoHold,
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.carrot-stage__canvas,
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.carrot-stage__hud {
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position: absolute;
@@ -2212,6 +2209,10 @@ body[data-page="carrot"] #driveHudCard.driveHudCard--loading {
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opacity: 1;
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}
22142211

2212+
.carrot-stage.is-video-held .carrot-stage__videoHold {
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opacity: 1;
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}
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.carrot-stage.is-loading .carrot-stage__controls {
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opacity: 0;
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transform: translateY(8px);
@@ -2225,6 +2226,14 @@ body[data-page="carrot"] #driveHudCard.driveHudCard--loading {
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pointer-events: none;
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}
22272228

2229+
.carrot-stage__videoHold {
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transform-origin: 0 0;
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will-change: transform;
2232+
background: #000;
2233+
pointer-events: none;
2234+
z-index: 1;
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}
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.carrot-stage__canvas {
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transform-origin: 0 0;
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will-change: transform;

‎selfdrive/carrot/web/index.html‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
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<link rel="icon" type="image/png" href="/assets/img_chffr_wheel.png?v=2604-01" />
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<link rel="stylesheet" href="/css/tokens.css?v=2603-73" />
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<link rel="stylesheet" href="/css/hud_card.css?v=2604-09" />
10-
<link rel="stylesheet" href="/css/app.css?v=2604-38" />
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<link rel="stylesheet" href="/css/app.css?v=2604-40" />
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</head>
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1313
<body>
@@ -243,6 +243,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
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244244
<div id="carrotStage" class="carrot-stage">
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<video id="carrotRoadVideo" class="carrot-stage__video" autoplay playsinline muted style="display:none;"></video>
246+
<canvas id="carrotLastFrameCanvas" class="carrot-stage__videoHold" aria-hidden="true"></canvas>
246247
<canvas id="carrotOverlayCanvas" class="carrot-stage__canvas"></canvas>
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<canvas id="carrotHudCanvas" class="carrot-stage__hud"></canvas>
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<div id="carrotOnroadAlert" class="carrot-stage__alert" hidden aria-live="polite" aria-atomic="true">
@@ -441,7 +442,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
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<script src="/js/app_core.js?v=2604-18"></script>
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<script src="/js/app_pages.js?v=2604-23"></script>
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<script src="/js/raw_capnp.js?v=2604-05"></script>
444-
<script src="/js/app_realtime.js?v=2604-11"></script>
445-
<script src="/js/home_drive.js?v=2604-26"></script>
445+
<script src="/js/app_realtime.js?v=2604-16"></script>
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<script src="/js/home_drive.js?v=2604-27"></script>
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</body>
447448
</html>

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