remote body joystick in connect support

.gitmodules

@@ -13,6 +13,7 @@
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = ../../commaai/teleoprtc
+  branch = fix/datachannel-double-counting
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/tinygrad/tinygrad.git

selfdrive/debug/bodyview.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+"""Launch the big UI (comma 3X) simulating a comma body."""
+import os
+import time
+import threading
+
+os.environ["BIG"] = "1"
+
+import pyray as rl
+from cereal import car, log, messaging
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+
+# Pin window to monitor 0 after init
+_orig_init_window = gui_app.init_window
+def _init_window_on_monitor0(*args, **kwargs):
+  _orig_init_window(*args, **kwargs)
+  pos = rl.get_monitor_position(1)
+  rl.set_window_position(int(pos.x), int(pos.y))
+gui_app.init_window = _init_window_on_monitor0
+
+
+def send_messages():
+  pm = messaging.PubMaster(['deviceState', 'pandaStates', 'carParams', 'carState'])
+
+  car_params_msg = messaging.new_message('carParams')
+  car_params_msg.carParams.brand = "body"
+  car_params_msg.carParams.notCar = True
+
+  device_state_msg = messaging.new_message('deviceState')
+  device_state_msg.deviceState.started = True
+
+  panda_msg = messaging.new_message('pandaStates', 1)
+  panda_msg.pandaStates[0].ignitionLine = True
+  panda_msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+
+  car_state_msg = messaging.new_message('carState')
+  car_state_msg.carState.charging = True
+  car_state_msg.carState.fuelGauge = 0.80
+
+  while True:
+    pm.send('carParams', car_params_msg)
+    pm.send('deviceState', device_state_msg)
+    pm.send('pandaStates', panda_msg)
+    pm.send('carState', car_state_msg)
+    time.sleep(0.01)
+
+
+def main():
+  # Set CarParamsPersistent so ui_state.CP.notCar is True on startup
+  params = Params()
+  CP = car.CarParams.new_message(notCar=True, brand="body", wheelbase=1, steerRatio=10)
+  params.put("CarParamsPersistent", CP.to_bytes())
+
+  # Start message sender in background
+  t = threading.Thread(target=send_messages, daemon=True)
+  t.start()
+
+  # Import after env is set so BIG_UI picks it up
+  from openpilot.selfdrive.ui.ui import main as ui_main
+  ui_main()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/debug/uiview.py

@@ -19,7 +19,7 @@
   msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
   msgs['deviceState'].deviceState.started = True
   msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type()
-  msgs['carParams'].carParams.openpilotLongitudinalControl = True
+  # msgs['carParams'].carParams.openpilotLongitudinalControl = True
 
   msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
   msgs['pandaStates'].pandaStates[0].ignitionLine = True

selfdrive/ui/layouts/body/animations.py

@@ -0,0 +1,149 @@
+from dataclasses import dataclass
+from enum import Enum
+
+
+class AnimationMode(Enum):
+  ONCE_FORWARD = 1
+  ONCE_FORWARD_BACKWARD = 2
+  REPEAT_FORWARD = 3
+  REPEAT_FORWARD_BACKWARD = 4
+
+
+@dataclass
+class Animation:
+  frames: list[list[tuple[int, int]]]
+  starting_frames: list[list[tuple[int, int]]] | None = None  # played once before the main loop
+  frame_duration: float = 0.15       # seconds each frame is shown
+  mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
+  repeat_interval: float = 5.0      # seconds between animation restarts (only for REPEAT modes)
+  hold_end: float = 0.0             # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
+
+
+def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Mirror a component from the left side of the face to the right"""
+  return [(r, 15 - c) for r, c in dots]
+
+
+def _mirror_no_flip(dots: list[tuple[int, int]], ref: list[tuple[int, int]] | None = None) -> list[tuple[int, int]]:
+  """Move a component to the symmetric position without flipping the shape.
+  ref: reference component defining the full bounding box (e.g. EYE_OPEN for any eye variant)"""
+  ref = ref if ref is not None else dots
+  shift = min(c for _, c in _mirror(ref)) - min(c for _, c in ref)
+  return [(r, c + shift) for r, c in dots]
+
+
+def _shift_up(dots: list[tuple[int, int]], n: int = 1) -> list[tuple[int, int]]:
+  return [(r - n, c) for r, c in dots]
+
+
+def _shift_down(dots: list[tuple[int, int]], n: int = 1) -> list[tuple[int, int]]:
+  return [(r + n, c) for r, c in dots]
+
+
+def _shift_left(dots: list[tuple[int, int]], n: int = 1) -> list[tuple[int, int]]:
+  return [(r, c - n) for r, c in dots]
+
+
+def _shift_right(dots: list[tuple[int, int]], n: int = 1) -> list[tuple[int, int]]:
+  return [(r, c + n) for r, c in dots]
+
+
+def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
+                 left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
+                 mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  return left_eye + left_brow + right_eye + right_brow + mouth
+
+
+# Eyes (left side)
+EYE_OPEN = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2), (3, 3), (3, 4),
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_HALF = [
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_CLOSED = [
+(4, 1),                 (4, 4),
+        (5, 2), (5, 3),
+]
+EYE_LEFT_LOOK = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2),
+(4, 1), (4, 2),
+        (5, 2), (5, 3),
+]
+EYE_RIGHT_LOOK = [
+        (2, 2), (2, 3),
+                (3, 3), (3, 4),
+                (4, 3), (4, 4),
+        (5, 2), (5, 3),
+]
+
+# Eyebrows (left side)
+BROW_HIGH = [(1, 0), (0, 1), (0, 2)]
+BROW_LOWERED = [(2, 0), (1, 1), (1, 2)]
+BROW_STRAIGHT = [(2, 0), (2, 1), (2, 2)]
+NO_BROW = []
+
+# Mouths (centered, not mirrored)
+MOUTH_SMILE = [(6, 6), (7, 7), (7, 8), (6, 9)]
+MOUTH_NORMAL = [(7, 7), (7, 8)]
+MOUTH_SAD = [(7, 6), (6, 7), (6, 8), (7, 9)]
+
+
+# --- Animations ---
+
+NORMAL = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
+  ],
+)
+
+ASLEEP = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), NO_BROW, NO_BROW, MOUTH_NORMAL),
+  ],
+  # frame_duration=0.25,
+)
+
+SLEEPY = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), NO_BROW, _mirror(BROW_STRAIGHT), MOUTH_NORMAL),
+    _make_frame(EYE_CLOSED, _mirror(EYE_HALF), NO_BROW, _mirror(BROW_LOWERED), MOUTH_NORMAL),
+    _make_frame(EYE_CLOSED, _mirror(EYE_OPEN), NO_BROW, _mirror(BROW_HIGH), MOUTH_NORMAL)
+  ],
+  frame_duration=0.25,
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  repeat_interval=10,
+  hold_end=1.5,
+)
+
+INQUISITIVE = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_LEFT_LOOK, _mirror_no_flip(EYE_LEFT_LOOK, EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift_left(EYE_LEFT_LOOK, 1), _shift_left(_mirror_no_flip(EYE_LEFT_LOOK, EYE_OPEN), 1), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift_left(EYE_LEFT_LOOK, 1), _shift_left(_mirror_no_flip(EYE_LEFT_LOOK, EYE_OPEN), 1), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift_left(EYE_LEFT_LOOK, 1), _shift_left(_mirror_no_flip(EYE_LEFT_LOOK, EYE_OPEN), 1), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_LEFT_LOOK, _mirror_no_flip(EYE_LEFT_LOOK, EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    # _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_RIGHT_LOOK, _mirror_no_flip(EYE_RIGHT_LOOK, EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift_right(EYE_RIGHT_LOOK, 1), _shift_right(_mirror_no_flip(EYE_RIGHT_LOOK, EYE_OPEN), 1), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift_right(EYE_RIGHT_LOOK, 1), _shift_right(_mirror_no_flip(EYE_RIGHT_LOOK, EYE_OPEN), 1), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift_right(EYE_RIGHT_LOOK, 1), _shift_right(_mirror_no_flip(EYE_RIGHT_LOOK, EYE_OPEN), 1), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_RIGHT_LOOK, _mirror_no_flip(EYE_RIGHT_LOOK, EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.REPEAT_FORWARD,
+  frame_duration=0.2,
+  repeat_interval=10
+)