From 2fb5fbf3addebb48f86762b79f1ea6d9b26f4421 Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Sun, 5 Jul 2026 04:39:52 -0400
Subject: [PATCH] Raylib Rainbow Road Update (All)

---
 selfdrive/ui/mici/onroad/model_renderer.py    | 27 ++-------
 selfdrive/ui/onroad/model_renderer.py         | 27 ++-------
 selfdrive/ui/onroad/starpilot/rainbow_path.py | 56 +++++++++++++++++++
 3 files changed, 66 insertions(+), 44 deletions(-)
 create mode 100644 selfdrive/ui/onroad/starpilot/rainbow_path.py

diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 56252ab71..7d8d7fc8c 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -8,6 +8,7 @@ from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 from openpilot.selfdrive.ui.lib.starpilot_theme import get_param_color, get_theme_color, get_visual_color, is_stock_color_scheme, with_alpha
+from openpilot.selfdrive.ui.onroad.starpilot.rainbow_path import RainbowPath
 from openpilot.selfdrive.ui.lib.starpilot_visuals import lead_indicator_enabled
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import blend_colors
@@ -19,8 +20,6 @@ from openpilot.system.ui.widgets import Widget
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
-RAINBOW_GRADIENT_COLOR_COUNT = 19
-RAINBOW_SCROLL_SPEED_DEG_PER_SEC = 60.0
 STOCK_LANE_LINES_COLOR = rl.Color(255, 255, 255, 255)
 DEFAULT_LANE_LINES_WIDTH = 4.0
 DEFAULT_PATH_WIDTH = 6.1
@@ -91,6 +90,7 @@ class ModelRenderer(Widget):
       colors=[],
       stops=[],
     )
+    self._rainbow_path = RainbowPath()
 
     # Get longitudinal control setting from car parameters
     self._params = Params()
@@ -147,6 +147,8 @@ class ModelRenderer(Widget):
       self._transform_dirty = False
 
     self._draw_lane_lines()
+    if self._params.get_bool("RainbowPath", default=False) and sm.valid.get('carState', False):
+      self._rainbow_path.update(max(sm['carState'].vEgo, 0.0))
     self._draw_path(sm)
 
     if render_lead_indicator and radar_state:
@@ -261,8 +263,7 @@ class ModelRenderer(Widget):
     """Pre-calculate experimental mode gradient colors"""
     use_rainbow = self._params.get_bool("RainbowPath", default=False)
     if use_rainbow:
-      gradient_bottom, gradient_top = self._get_visible_gradient_bounds()
-      self._exp_gradient = self._build_rainbow_gradient(gradient_bottom, gradient_top)
+      self._exp_gradient = self._rainbow_path.get_gradient(0.0, 1.0)
       return
 
     if not self._experimental_mode or not self._params.get_bool("AccelerationPath", default=True):
@@ -319,24 +320,6 @@ class ModelRenderer(Widget):
     gradient_top = np.clip((float(np.min(visible_track_y)) - self._rect.y) / self._rect.height, 0.0, 1.0)
     return float(gradient_bottom), float(gradient_top)
 
-  def _build_rainbow_gradient(self, gradient_bottom: float, gradient_top: float) -> Gradient:
-    hue_offset = (rl.get_time() * RAINBOW_SCROLL_SPEED_DEG_PER_SEC) % 360.0
-    stops = [i / (RAINBOW_GRADIENT_COLOR_COUNT - 1) for i in range(RAINBOW_GRADIENT_COLOR_COUNT)]
-    colors = []
-
-    for i, stop in enumerate(stops):
-      hue_progress = i / RAINBOW_GRADIENT_COLOR_COUNT
-      path_hue = (hue_progress * 360.0 - hue_offset) % 360.0
-      alpha = np.interp(stop, [0.0, 1.0], [0.48, 0.18])
-      colors.append(self._hsla_to_color(path_hue / 360.0, 1.0, 0.5, alpha))
-
-    return Gradient(
-      start=(0.0, gradient_bottom),
-      end=(0.0, gradient_top),
-      colors=colors,
-      stops=stops,
-    )
-
   def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
     speed_buff, lead_buff = 10.0, 40.0
 
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index 8a000fe4a..6e6d43b65 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -8,6 +8,7 @@ from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 from openpilot.selfdrive.ui.lib.starpilot_theme import get_param_color, get_theme_color, get_visual_color, is_stock_color_scheme, with_alpha
+from openpilot.selfdrive.ui.onroad.starpilot.rainbow_path import RainbowPath
 from openpilot.selfdrive.ui.lib.starpilot_visuals import lead_indicator_enabled
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app
@@ -18,8 +19,6 @@ from openpilot.system.ui.widgets import Widget
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
-RAINBOW_GRADIENT_COLOR_COUNT = 19
-RAINBOW_SCROLL_SPEED_DEG_PER_SEC = 60.0
 STOCK_LANE_LINES_COLOR = rl.Color(255, 255, 255, 255)
 DEFAULT_LANE_LINES_WIDTH = 4.0
 DEFAULT_PATH_EDGE_WIDTH = 20.0
@@ -86,6 +85,7 @@ class ModelRenderer(Widget):
       colors=[],
       stops=[],
     )
+    self._rainbow_path = RainbowPath()
 
     # Get longitudinal control setting from car parameters
     self._params = Params()
@@ -127,6 +127,8 @@ class ModelRenderer(Widget):
     self._use_rainbow = self._params.get_bool('RainbowPath', default=False)
     self._use_accel_path = self._params.get_bool('AccelerationPath', default=True)
     self._is_metric = self._params.get_bool('IsMetric')
+    if self._use_rainbow and sm.valid.get('carState', False):
+      self._rainbow_path.update(max(sm['carState'].vEgo, 0.0))
     lead_info_enabled = self._lead_info_enabled
     render_lead_indicator = (
       (self._longitudinal_control or lead_info_enabled)
@@ -270,8 +272,7 @@ class ModelRenderer(Widget):
   def _update_experimental_gradient(self):
     """Pre-calculate experimental mode gradient colors"""
     if self._use_rainbow:
-      gradient_bottom, gradient_top = self._get_visible_gradient_bounds()
-      self._exp_gradient = self._build_rainbow_gradient(gradient_bottom, gradient_top)
+      self._exp_gradient = self._rainbow_path.get_gradient(0.0, 1.0)
       return
 
     if not self._experimental_mode or not self._use_accel_path:
@@ -330,24 +331,6 @@ class ModelRenderer(Widget):
     gradient_top = np.clip((float(np.min(visible_track_y)) - self._rect.y) / self._rect.height, 0.0, 1.0)
     return float(gradient_bottom), float(gradient_top)
 
-  def _build_rainbow_gradient(self, gradient_bottom: float, gradient_top: float) -> Gradient:
-    hue_offset = (rl.get_time() * RAINBOW_SCROLL_SPEED_DEG_PER_SEC) % 360.0
-    stops = [i / (RAINBOW_GRADIENT_COLOR_COUNT - 1) for i in range(RAINBOW_GRADIENT_COLOR_COUNT)]
-    colors = []
-
-    for i, stop in enumerate(stops):
-      hue_progress = i / RAINBOW_GRADIENT_COLOR_COUNT
-      path_hue = (hue_progress * 360.0 - hue_offset) % 360.0
-      alpha = np.interp(stop, [0.0, 1.0], [0.48, 0.18])
-      colors.append(self._hsla_to_color(path_hue / 360.0, 1.0, 0.5, alpha))
-
-    return Gradient(
-      start=(0.0, gradient_bottom),
-      end=(0.0, gradient_top),
-      colors=colors,
-      stops=stops,
-    )
-
   def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
     speed_buff, lead_buff = 10.0, 40.0
 
diff --git a/selfdrive/ui/onroad/starpilot/rainbow_path.py b/selfdrive/ui/onroad/starpilot/rainbow_path.py
new file mode 100644
index 000000000..693fe21be
--- /dev/null
+++ b/selfdrive/ui/onroad/starpilot/rainbow_path.py
@@ -0,0 +1,56 @@
+from __future__ import annotations
+
+import colorsys
+
+import pyray as rl
+from openpilot.system.ui.lib.shader_polygon import Gradient
+
+
+HUE_RANGE = 120.0
+SCROLL_DEG_PER_SEC_PER_MPS = 5.0
+ALPHA_BOTTOM = 0.5
+ALPHA_TOP = 0.1
+NUM_STOPS = 12
+
+
+def _hsla_to_color(h: float, s: float, l: float, a: float) -> rl.Color:
+  rgb = colorsys.hls_to_rgb(h, l, s)
+  return rl.Color(int(rgb[0] * 255), int(rgb[1] * 255), int(rgb[2] * 255), int(a * 255))
+
+
+class RainbowPath:
+  """Rainbow path renderer ported from the FrogPilot/StarPilot Qt C++ UI implementation."""
+
+  def __init__(self) -> None:
+    self._hue_offset: float = 0.0
+    self._last_time: float = 0.0
+
+  def update(self, speed_ms: float) -> None:
+    """Accumulate hue offset from vehicle speed. Call once per frame."""
+    now = rl.get_time()
+    dt = now - self._last_time if self._last_time > 0.0 else 0.0
+    self._last_time = now
+    if speed_ms > 0.0 and dt > 0.0:
+      self._hue_offset = (self._hue_offset + speed_ms * SCROLL_DEG_PER_SEC_PER_MPS * dt) % 360.0
+
+  def get_gradient(self, gradient_bottom: float, gradient_top: float) -> Gradient:
+    """Build a Gradient compatible with draw_polygon().
+
+    Args:
+      gradient_bottom: Normalized y-position (0-1) of the path bottom.
+      gradient_top: Normalized y-position (0-1) of the path top.
+    """
+    stops = [i / (NUM_STOPS - 1) for i in range(NUM_STOPS)]
+    colors = []
+
+    for stop in stops:
+      path_hue = (stop * HUE_RANGE + self._hue_offset) % 360.0
+      alpha = ALPHA_BOTTOM + (ALPHA_TOP - ALPHA_BOTTOM) * stop
+      colors.append(_hsla_to_color(path_hue / 360.0, 1.0, 0.5, alpha))
+
+    return Gradient(
+      start=(0.0, gradient_bottom),
+      end=(0.0, gradient_top),
+      colors=colors,
+      stops=stops,
+    )