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ui: add ModelRendererSP::draw (#1372)

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* ModelRendererSP::draw

* match

* less

* huh?

* unused

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Kumar
2025-10-13 18:45:59 -07:00
committed by GitHub
parent 285fd97606
commit 39e73cc46e
4 changed files with 88 additions and 76 deletions
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selfdrive/ui/qt/onroad/model.cc
+1 -2
View File
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
update_model(model, lead_one);
drawLaneLines(painter);
drawPath(painter, model, surface_rect);
drawPath(painter, model, surface_rect.height());
if (longitudinal_control && sm.alive("radarState")) {
update_leads(radar_state, model.getPosition());
@@ -173,7 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
(1 - t) * start.alphaF() + t * end.alphaF());
}
void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &vd, const QRect &surface_rect) {
const float speedBuff = 10.;
selfdrive/ui/qt/onroad/model.h
-4
View File
@@ -39,9 +39,6 @@ protected:
virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
void drawLaneLines(QPainter &painter);
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
drawPath(painter, model, surface_rect.height());
}
void updatePathGradient(QLinearGradient &bg);
QColor blendColors(const QColor &start, const QColor &end, float t);
@@ -58,5 +55,4 @@ protected:
QPointF lead_vertices[2] = {};
Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
QRectF clip_region;
};
selfdrive/ui/sunnypilot/qt/onroad/model.cc
+81 -62
View File
@@ -21,74 +21,63 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
}
void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
ModelRenderer::draw(painter, surface_rect);
auto *s = uiState();
auto &sm = *(s->sm);
bool blindspot = s->scene.blindspot_ui;
if (blindspot) {
bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
//painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4)); // Red with alpha for blind spot
if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
painter.setBrush(gradient);
painter.drawPolygon(left_blindspot_vertices);
}
if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
painter.setBrush(gradient);
painter.drawPolygon(right_blindspot_vertices);
}
if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
sm.rcv_frame("modelV2") < s->scene.started_frame) {
return;
}
painter.save();
const auto &model = sm["modelV2"].getModelV2();
const auto &radar_state = sm["radarState"].getRadarState();
const auto &lead_one = radar_state.getLeadOne();
const auto &car_state = sm["carState"].getCarState();
update_model(model, lead_one);
drawLaneLines(painter);
bool blindspot = s->scene.blindspot_ui;
bool rainbow = s->scene.rainbow_mode;
//float v_ego = sm["carState"].getCarState().getVEgo();
bool left_blindspot = car_state.getLeftBlindspot();
bool right_blindspot = car_state.getRightBlindspot();
if (blindspot) {
drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
}
if (rainbow) {
// Simple time-based animation
float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
// simple linear gradient from bottom to top
QLinearGradient bg(0, surface_rect.height(), 0, 0);
// evenly spaced colors across the spectrum
// The animation shifts the entire spectrum smoothly
float animation_speed = 40.0f; // speed vroom vroom
float hue_offset = fmod(time_offset * animation_speed, 360.0f);
// 6-8 color stops for smooth transitions more color makes it laggy
const int num_stops = 7;
for (int i = 0; i < num_stops; i++) {
float position = static_cast<float>(i) / (num_stops - 1);
float hue = fmod(hue_offset + position * 360.0f, 360.0f);
float saturation = 0.9f;
float lightness = 0.6f;
// Alpha fades out towards the far end of the path
float alpha = 0.8f * (1.0f - position * 0.3f);
QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
bg.setColorAt(position, color);
}
painter.setBrush(bg);
painter.drawPolygon(track_vertices);
drawRainbowPath(painter, surface_rect);
} else {
// Normal path rendering
ModelRenderer::drawPath(painter, model, surface_rect.height());
}
drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
painter.restore();
}
void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
painter.setBrush(gradient);
painter.drawPolygon(left_blindspot_vertices);
}
if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
painter.setBrush(gradient);
painter.drawPolygon(right_blindspot_vertices);
}
}
void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
@@ -121,19 +110,16 @@ void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
}
if (has_lead_one) {
drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
}
if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
}
}
void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &chevron_pos,
int height, int width,
const QString &label) {
void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &chevron_pos, int height, int width) {
float d_rel = lead_data.getDRel();
float v_rel = lead_data.getVRel();
auto *s = uiState();
@@ -223,3 +209,36 @@ void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
painter.setPen(Qt::NoPen);
}
void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
// Simple time-based animation
float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
// simple linear gradient from bottom to top
QLinearGradient bg(0, surface_rect.height(), 0, 0);
// evenly spaced colors across the spectrum
// The animation shifts the entire spectrum smoothly
float animation_speed = 40.0f; // speed vroom vroom
float hue_offset = fmod(time_offset * animation_speed, 360.0f);
// 6-8 color stops for smooth transitions more color makes it laggy
const int num_stops = 7;
for (int i = 0; i < num_stops; i++) {
float position = static_cast<float>(i) / (num_stops - 1);
float hue = fmod(hue_offset + position * 360.0f, 360.0f);
float saturation = 0.9f;
float lightness = 0.6f;
// Alpha fades out towards the far end of the path
float alpha = 0.8f * (1.0f - position * 0.3f);
QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
bg.setColorAt(position, color);
}
painter.setBrush(bg);
painter.drawPolygon(track_vertices);
}
selfdrive/ui/sunnypilot/qt/onroad/model.h
+6 -8
View File
@@ -13,17 +13,15 @@ class ModelRendererSP : public ModelRenderer {
public:
ModelRendererSP() = default;
void draw(QPainter &painter, const QRect &surface_rect);
private:
void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
// Lead status display methods
void drawLeadStatus(QPainter &painter, int height, int width);
void drawLeadStatusAtPosition(QPainter &painter,
const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &chevron_pos,
int height, int width,
const QString &label);
void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &chevron_pos, int height, int width);
void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
void drawRainbowPath(QPainter &painter, const QRect &surface_rect);
QPolygonF left_blindspot_vertices;
QPolygonF right_blindspot_vertices;