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raylib: rounded onroad corners (#36348)

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* rounded corners

* use scissor

* 0.1

* middle

* don't trust chatter

* round

* clean p

* cleanup

* rev
This commit is contained in:
Shane Smiskol
2025-10-14 21:24:36 -07:00
committed by GitHub
parent 8a1fcd8991
commit 59bddfba8d
1 changed files with 24 additions and 7 deletions
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selfdrive/ui/onroad/augmented_road_view.py
+24 -7
View File
@@ -20,9 +20,9 @@ WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
BORDER_COLORS = {
UIStatus.DISENGAGED: rl.Color(0x17, 0x33, 0x49, 0xC8), # Blue for disengaged state
UIStatus.OVERRIDE: rl.Color(0x91, 0x9B, 0x95, 0xF1), # Gray for override state
UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1), # Green for engaged state
UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF), # Blue for disengaged state
UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF), # Gray for override state
UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF), # Green for engaged state
}
WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph)
@@ -71,9 +71,6 @@ class AugmentedRoadView(CameraView):
rect.height - 2 * UI_BORDER_SIZE,
)
# Draw colored border based on driving state
self._draw_border(rect)
# Enable scissor mode to clip all rendering within content rectangle boundaries
# This creates a rendering viewport that prevents graphics from drawing outside the border
rl.begin_scissor_mode(
@@ -98,6 +95,9 @@ class AugmentedRoadView(CameraView):
# End clipping region
rl.end_scissor_mode()
# Draw colored border based on driving state
self._draw_border(rect)
# publish uiDebug
msg = messaging.new_message('uiDebug')
msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
@@ -112,8 +112,25 @@ class AugmentedRoadView(CameraView):
pass
def _draw_border(self, rect: rl.Rectangle):
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
border_roundness = 0.15
border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color)
border_rect = rl.Rectangle(rect.x + UI_BORDER_SIZE, rect.y + UI_BORDER_SIZE,
rect.width - 2 * UI_BORDER_SIZE, rect.height - 2 * UI_BORDER_SIZE)
rl.draw_rectangle_rounded_lines_ex(border_rect, border_roundness, 10, UI_BORDER_SIZE, border_color)
# black bg around colored border
black_bg_thickness = UI_BORDER_SIZE
black_bg_rect = rl.Rectangle(
border_rect.x - UI_BORDER_SIZE,
border_rect.y - UI_BORDER_SIZE,
border_rect.width + 2 * UI_BORDER_SIZE,
border_rect.height + 2 * UI_BORDER_SIZE,
)
edge_offset = (black_bg_rect.height - border_rect.height) / 2 # distance between rect edges
roundness_out = (border_roundness * border_rect.height + 2 * edge_offset) / max(1.0, black_bg_rect.height)
rl.draw_rectangle_rounded_lines_ex(black_bg_rect, roundness_out, 10, black_bg_thickness, rl.BLACK)
rl.end_scissor_mode()
def _switch_stream_if_needed(self, sm):
if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams: