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ui/update_model: cleanup (#20313)

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* cleanup

* fix ident
old-commit-hash: 980f8774ba1107ded67702d2b4b1a3e066945c67
This commit is contained in:
Dean Lee
2021-03-11 23:59:40 +08:00
committed by GitHub
parent fdd98b78e6
commit 3c98506939
1 changed files with 4 additions and 7 deletions
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selfdrive/ui/ui.cc
+4 -7
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@@ -110,8 +110,8 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
UIScene &scene = s->scene;
auto model_position = model.getPosition();
const float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
// update lane lines
const auto lane_lines = model.getLaneLines();
@@ -133,12 +133,9 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
// update path
if (scene.lead_data[0].getStatus()) {
const float lead_d = scene.lead_data[0].getDRel() * 2.;
const float path_length = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)),
0.0f, max_distance);
max_idx = get_path_length_idx(model_position, path_length);
} else {
max_idx = get_path_length_idx(model_position, max_distance);
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(model_position, max_distance);
update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
}