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e2e long yellow path (#25679)

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* yellow brick road

* live toggling

* path color from acceleration

* more yellow
This commit is contained in:
Cameron Clough
2022-09-07 08:58:33 -07:00
committed by GitHub
parent c317bb464d
commit a8134f2265
3 changed files with 35 additions and 12 deletions
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selfdrive/ui/qt/onroad.cc
+33 -11
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@@ -459,19 +459,41 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
// paint path
QLinearGradient bg(0, height(), 0, height() / 4);
const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
float orientation_future = 0;
if (orientation.getZ().size() > 16) {
orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds
float start_hue, end_hue;
if (scene.end_to_end_long) {
const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
float acceleration_future = 0;
if (acceleration.getZ().size() > 16) {
acceleration_future = acceleration.getX()[16]; // 2.5 seconds
}
start_hue = 60;
// speed up: 120, slow down: 0
end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0);
// FIXME: painter.drawPolygon can be slow if hue is not rounded
end_hue = int(end_hue * 100 + 0.5) / 100;
bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
} else {
const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
float orientation_future = 0;
if (orientation.getZ().size() > 16) {
orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds
}
start_hue = 148;
// straight: 112, in turns: 70
end_hue = fmax(70, 112 - (orientation_future * 420));
// FIXME: painter.drawPolygon can be slow if hue is not rounded
end_hue = int(end_hue * 100 + 0.5) / 100;
bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.94, 0.51, 0.4));
bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
}
// straight: 112, in turns: 70
float curve_hue = fmax(70, 112 - (orientation_future * 420));
// FIXME: painter.drawPolygon can be slow if hue is not rounded
curve_hue = int(curve_hue * 100 + 0.5) / 100;
bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices);
selfdrive/ui/ui.cc
+1
View File
@@ -195,6 +195,7 @@ void ui_update_params(UIState *s) {
auto params = Params();
s->scene.is_metric = params.getBool("IsMetric");
s->scene.map_on_left = params.getBool("NavSettingLeftSide");
s->scene.end_to_end_long = params.getBool("EndToEndLong");
}
void UIState::updateStatus() {
selfdrive/ui/ui.h
+1 -1
View File
@@ -101,7 +101,7 @@ typedef struct UIScene {
QPointF lead_vertices[2];
float light_sensor, accel_sensor, gyro_sensor;
bool started, ignition, is_metric, map_on_left, longitudinal_control;
bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long;
uint64_t started_frame;
} UIScene;