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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 3a44c31bb0
commit ae081bfd56
3 changed files with 45 additions and 1 deletions
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selfdrive/ui/qt/onroad/model.cc
+7 -1
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@@ -127,7 +127,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
UIState *s = uiState();
path_width *= s->status == STATUS_ENGAGED ? 1.0f : s->status == STATUS_ALWAYS_ON_LATERAL_ACTIVE ? 0.75f : 0.50f;
}
mapLineToPolygon(model_position, frogpilot_toggles.value("model_ui").toBool() ? path_width : 0.9, path_offset_z, &track_vertices, max_idx, false);
mapLineToPolygon(model_position, frogpilot_toggles.value("model_ui").toBool() ? path_width * (1 - (frogpilot_toggles.value("path_edge_width").toDouble() / 100.0f)) : 0.9, path_offset_z, &track_vertices, max_idx, false);
// FrogPilot variables
FrogPilotUIState *fs = frogpilotUIState();
@@ -135,6 +135,10 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
const cereal::FrogPilotPlan::Reader &frogpilotPlan = fpsm["frogpilotPlan"].getFrogpilotPlan();
frogpilot_nvg->track_vertices = track_vertices;
mapLineToPolygon(model_position, frogpilot_toggles.value("model_ui").toBool() ? path_width : 0, path_offset_z, &frogpilot_nvg->track_edge_vertices, max_idx, false);
mapAveragedLineToPolygon(lane_lines[0], lane_lines[1], frogpilotPlan.getLaneWidthLeft() / 2.0f, 0, &frogpilot_nvg->track_adjacent_vertices[0], max_idx, height, false);
mapAveragedLineToPolygon(lane_lines[2], lane_lines[3], frogpilotPlan.getLaneWidthRight() / 2.0f, 0, &frogpilot_nvg->track_adjacent_vertices[1], max_idx, height, false);
}
@@ -207,6 +211,8 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
} else if (frogpilot_toggles.value("blind_spot_path").toBool()) {
frogpilot_nvg->paintBlindSpotPath(painter);
}
frogpilot_nvg->paintPathEdges(painter, height);
}
void ModelRenderer::updatePathGradient(QLinearGradient &bg) {