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firestar5683
2026-04-21 22:38:23 -05:00
parent fd1ea78a62
commit 8304a7f77b
2 changed files with 32 additions and 42 deletions
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selfdrive/ui/mici/onroad/model_renderer.py
+23 -22
View File
@@ -21,7 +21,14 @@ MIN_DRAW_DISTANCE = 10.0
MAX_DRAW_DISTANCE = 100.0
RAINBOW_GRADIENT_COLOR_COUNT = 19
RAINBOW_SCROLL_SPEED_DEG_PER_SEC = 60.0
STOCK_LINE_GREEN = rl.Color(0, 255, 0, 255)
ACCEL_PATH_MIN_LIGHTNESS = 0.78
ACCEL_PATH_MIN_SATURATION = 0.50
STOCK_LANE_LINES_COLOR = rl.Color(255, 255, 255, 255)
LANE_LINE_COLORS = {
UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
}
THROTTLE_COLORS = [
rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4)
@@ -259,11 +266,6 @@ class ModelRenderer(Widget):
self._exp_gradient = self._build_rainbow_gradient(gradient_bottom, gradient_top)
return
custom_theme_selected = (self._params.get("ColorScheme", encoding="utf-8", default="stock") or "stock").lower() != "stock"
path_color = None
if custom_theme_selected or get_param_color(self._params, "PathColor", 255) is not None:
path_color = get_visual_color(self._params, "PathColor", "Path", rl.Color(48, 255, 156, 255))
segment_colors = []
gradient_stops = []
@@ -278,19 +280,11 @@ class ModelRenderer(Widget):
# Calculate color based on acceleration (0 is bottom, 1 is top)
lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
if path_color is not None and abs(self._acceleration_x[i]) < 0.25:
alpha = np.interp(lin_grad_point, [0.0, 1.0], [path_color.a, path_color.a * 0.10])
color = with_alpha(path_color, int(alpha))
gradient_stops.append(lin_grad_point)
segment_colors.append(color)
i += 1 + (1 if (i + 2) < max_len else 0)
continue
# speed up: 120, slow down: 0
path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
accel_magnitude = np.clip(abs(self._acceleration_x[i]) * 1.5, 0.0, 1.0)
saturation = np.interp(accel_magnitude, [0.0, 1.0], [ACCEL_PATH_MIN_SATURATION, 1.0])
lightness = np.interp(accel_magnitude, [0.0, 1.0], [ACCEL_PATH_MIN_LIGHTNESS, 0.62])
alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
# Use HSL to RGB conversion
@@ -366,12 +360,16 @@ class ModelRenderer(Widget):
def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
alpha = np.clip(prob, 0.0, 0.7)
stock_scheme = is_stock_color_scheme(self._params)
if adjacent:
override = get_param_color(self._params, "PathEdgesColor", 255)
if override is not None:
color = with_alpha(override, int(alpha * override.a))
elif stock_scheme:
base_color = LANE_LINE_COLORS.get(ui_state.status, LANE_LINE_COLORS[UIStatus.DISENGAGED])
color = rl.Color(base_color.r, base_color.g, base_color.b, int(alpha * 255))
else:
base_color = STOCK_LINE_GREEN if is_stock_color_scheme(self._params) else get_theme_color("PathEdge", STOCK_LINE_GREEN)
base_color = get_theme_color("PathEdge", rl.Color(0, 255, 64, 255))
color = with_alpha(base_color, int(alpha * base_color.a))
# turn adjacent lls orange if torque is high
@@ -384,15 +382,18 @@ class ModelRenderer(Widget):
np.interp(abs(torque), [0.6, 0.8], [0.0, 1.0])
)
else:
lane_lines_override = get_param_color(self._params, "LaneLinesColor", STOCK_LINE_GREEN.a)
lane_lines_override = get_param_color(self._params, "LaneLinesColor", STOCK_LANE_LINES_COLOR.a)
if lane_lines_override is not None:
lane_lines_color = lane_lines_override
elif is_stock_color_scheme(self._params):
lane_lines_color = STOCK_LINE_GREEN
elif stock_scheme:
lane_lines_color = STOCK_LANE_LINES_COLOR
else:
lane_lines_color = get_theme_color("LaneLines", STOCK_LINE_GREEN)
lane_lines_color = get_theme_color("LaneLines", STOCK_LANE_LINES_COLOR)
color = with_alpha(lane_lines_color, int(alpha * lane_lines_color.a))
if stock_scheme and ui_state.status == UIStatus.DISENGAGED:
color = rl.Color(0, 0, 0, int(alpha * 255))
return color
def _draw_lane_lines(self):
selfdrive/ui/onroad/model_renderer.py
+9 -20
View File
@@ -19,7 +19,9 @@ MIN_DRAW_DISTANCE = 10.0
MAX_DRAW_DISTANCE = 100.0
RAINBOW_GRADIENT_COLOR_COUNT = 19
RAINBOW_SCROLL_SPEED_DEG_PER_SEC = 60.0
STOCK_LINE_GREEN = rl.Color(0, 255, 0, 255)
ACCEL_PATH_MIN_LIGHTNESS = 0.78
ACCEL_PATH_MIN_SATURATION = 0.50
STOCK_LANE_LINES_COLOR = rl.Color(255, 255, 255, 255)
THROTTLE_COLORS = [
rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4)
@@ -255,11 +257,6 @@ class ModelRenderer(Widget):
self._exp_gradient = self._build_rainbow_gradient(gradient_bottom, gradient_top)
return
custom_theme_selected = (self._params.get('ColorScheme', encoding='utf-8', default='stock') or 'stock').lower() != 'stock'
path_color = None
if custom_theme_selected or get_param_color(self._params, 'PathColor', 255) is not None:
path_color = get_visual_color(self._params, 'PathColor', 'Path', rl.Color(48, 255, 156, 255))
segment_colors = []
gradient_stops = []
@@ -274,19 +271,11 @@ class ModelRenderer(Widget):
# Calculate color based on acceleration (0 is bottom, 1 is top)
lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
if path_color is not None and abs(self._acceleration_x[i]) < 0.25:
alpha = np.interp(lin_grad_point, [0.0, 1.0], [path_color.a, path_color.a * 0.10])
color = with_alpha(path_color, int(alpha))
gradient_stops.append(lin_grad_point)
segment_colors.append(color)
i += 1 + (1 if (i + 2) < max_len else 0)
continue
# speed up: 120, slow down: 0
path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
accel_magnitude = np.clip(abs(self._acceleration_x[i]) * 1.5, 0.0, 1.0)
saturation = np.interp(accel_magnitude, [0.0, 1.0], [ACCEL_PATH_MIN_SATURATION, 1.0])
lightness = np.interp(accel_magnitude, [0.0, 1.0], [ACCEL_PATH_MIN_LIGHTNESS, 0.62])
alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
# Use HSL to RGB conversion
@@ -364,13 +353,13 @@ class ModelRenderer(Widget):
def _draw_lane_lines(self):
"""Draw lane lines and road edges"""
lane_lines_override = get_param_color(self._params, "LaneLinesColor", STOCK_LINE_GREEN.a)
lane_lines_override = get_param_color(self._params, "LaneLinesColor", STOCK_LANE_LINES_COLOR.a)
if lane_lines_override is not None:
lane_lines_color = lane_lines_override
elif is_stock_color_scheme(self._params):
lane_lines_color = STOCK_LINE_GREEN
lane_lines_color = STOCK_LANE_LINES_COLOR
else:
lane_lines_color = get_theme_color("LaneLines", STOCK_LINE_GREEN)
lane_lines_color = get_theme_color("LaneLines", STOCK_LANE_LINES_COLOR)
for i, lane_line in enumerate(self._lane_lines):
if lane_line.projected_points.size == 0: