From 39e73cc46ea666787ff49bb1926d9d5625c1ae29 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Mon, 13 Oct 2025 18:45:59 -0700 Subject: [PATCH] ui: add ModelRendererSP::draw (#1372) * ModelRendererSP::draw * match * less * huh? * unused --------- Co-authored-by: Jason Wen --- selfdrive/ui/qt/onroad/model.cc | 3 +- selfdrive/ui/qt/onroad/model.h | 4 - selfdrive/ui/sunnypilot/qt/onroad/model.cc | 143 ++++++++++++--------- selfdrive/ui/sunnypilot/qt/onroad/model.h | 14 +- 4 files changed, 88 insertions(+), 76 deletions(-) diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index a4165be21..176af5661 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -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.; diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index 3ef8ba532..0a58d345c 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -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; - }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc index 14943b1d4..086b703e1 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc @@ -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::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(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::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(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); +} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h index 73999f005..68068f206 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h @@ -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;