From 671183184bd177d697285d397bce10c51afd5395 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 8 Oct 2020 19:29:56 -0700
Subject: [PATCH] UI cleanup + startup time improvement (#2295)

---
 common/apk.py                  |  13 +++++---
 selfdrive/assets/img_comma.png | Bin 0 -> 11250 bytes
 selfdrive/ui/paint.cc          |  57 ++++++++++++---------------------
 selfdrive/ui/ui.hpp            |  17 ++++------
 4 files changed, 36 insertions(+), 51 deletions(-)
 create mode 100644 selfdrive/assets/img_comma.png

diff --git a/common/apk.py b/common/apk.py
index c04c19aa5..2dfe83852 100644
--- a/common/apk.py
+++ b/common/apk.py
@@ -3,6 +3,7 @@ import subprocess
 import glob
 import hashlib
 import shutil
+import threading
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog
 
@@ -27,8 +28,10 @@ def install_apk(path):
   return ret == 0
 
 def start_offroad():
-  set_package_permissions()
-  system("am start -n ai.comma.plus.offroad/.MainActivity")
+  def f():
+    set_package_permissions()
+    system("am start -n ai.comma.plus.offroad/.MainActivity")
+  threading.Thread(target=f).start()
 
 def set_package_permissions():
   pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
@@ -90,8 +93,10 @@ def update_apks():
       assert success
 
 def pm_apply_packages(cmd):
-  for p in android_packages:
-    system("pm %s %s" % (cmd, p))
+  def f():
+    for p in android_packages:
+      system("pm %s %s" % (cmd, p))
+  threading.Thread(target=f).start()
 
 if __name__ == "__main__":
   update_apks()
diff --git a/selfdrive/assets/img_comma.png b/selfdrive/assets/img_comma.png
new file mode 100644
index 0000000000000000000000000000000000000000..818946dd4aa93da736c9e758512e9ba66fe207f8
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 881074d8f..ad37caaca 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -18,12 +18,12 @@ extern "C"{
 
 // TODO: this is also hardcoded in common/transformations/camera.py
 // TODO: choose based on frame input size
-#ifdef QCOM2	
-const mat3 intrinsic_matrix = (mat3){{	
-  2648.0, 0.0, 1928.0/2,	
-  0.0, 2648.0, 1208.0/2,	
-  0.0,   0.0,   1.0	
-}};	
+#ifdef QCOM2
+const mat3 intrinsic_matrix = (mat3){{
+  2648.0, 0.0, 1928.0/2,
+  0.0, 2648.0, 1208.0/2,
+  0.0,   0.0,   1.0
+}};
 #else
 const mat3 intrinsic_matrix = (mat3){{
   910., 0., 582.,
@@ -32,14 +32,6 @@ const mat3 intrinsic_matrix = (mat3){{
 }};
 #endif
 
-const uint8_t alert_colors[][4] = {
-  [STATUS_OFFROAD] = {0x07, 0x23, 0x39, 0xf1},
-  [STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xc8},
-  [STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xf1},
-  [STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xf1},
-  [STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xf1},
-};
-
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
 vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) {
@@ -233,13 +225,13 @@ static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
   NVGpaint track_bg;
   if (is_mpc) {
     // Draw colored MPC track
-    const Color clr = bg_colors[s->status];
+    const NVGcolor clr = bg_colors[s->status];
     track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
-      nvgRGBA(clr.r, clr.g, clr.b, 255), nvgRGBA(clr.r, clr.g, clr.b, 255/2));
+                                 nvgRGBA(clr.r, clr.g, clr.b, 255), nvgRGBA(clr.r, clr.g, clr.b, 255/2));
   } else {
     // Draw white vision track
     track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
-      COLOR_WHITE, COLOR_WHITE_ALPHA(0));
+                                 COLOR_WHITE, COLOR_WHITE_ALPHA(0));
   }
   nvgFillPaint(s->vg, track_bg);
   nvgFill(s->vg);
@@ -443,23 +435,14 @@ static void ui_draw_vision_event(UIState *s) {
     // draw winding road sign
     const int img_turn_size = 160*1.5;
     ui_draw_image(s->vg, viz_event_x - (img_turn_size / 4), viz_event_y + bdr_s - 25, img_turn_size, img_turn_size, s->img_turn, 1.0f);
-  } else {
+  } else if (s->scene.controls_state.getEngageable()) {
     // draw steering wheel
     const int bg_wheel_size = 96;
     const int bg_wheel_x = viz_event_x + (viz_event_w-bg_wheel_size);
     const int bg_wheel_y = viz_event_y + (bg_wheel_size/2);
-    NVGcolor color = COLOR_BLACK_ALPHA(0);
-    if (s->status == STATUS_ENGAGED) {
-      color = nvgRGBA(23, 134, 68, 255);
-    } else if (s->status == STATUS_WARNING) {
-      color = COLOR_OCHRE;
-    } else {
-      color = nvgRGBA(23, 51, 73, 255);
-    }
+    const NVGcolor color = bg_colors[s->status];
 
-    if (s->scene.controls_state.getEngageable()){
-      ui_draw_circle_image(s->vg, bg_wheel_x, bg_wheel_y, bg_wheel_size, s->img_wheel, color, 1.0f, bg_wheel_y - 25);
-    }
+    ui_draw_circle_image(s->vg, bg_wheel_x, bg_wheel_y, bg_wheel_size, s->img_wheel, color, 1.0f, bg_wheel_y - 25);
   }
 }
 
@@ -541,7 +524,7 @@ static void ui_draw_vision_footer(UIState *s) {
   ui_draw_vision_face(s);
 }
 
-void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, int va_color,
+void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, UIStatus va_color,
                           const char* va_text1, const char* va_text2) {
   static std::map<cereal::ControlsState::AlertSize, const int> alert_size_map = {
       {cereal::ControlsState::AlertSize::NONE, 0},
@@ -552,7 +535,8 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
   const UIScene *scene = &s->scene;
   bool longAlert1 = strlen(va_text1) > 15;
 
-  const uint8_t *color = alert_colors[va_color];
+  NVGcolor color = bg_colors[va_color];
+  color.a *= s->alert_blinking_alpha;
   int alr_s = alert_size_map[va_size];
 
   const int alr_x = scene->viz_rect.x - bdr_s;
@@ -560,10 +544,10 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
   const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s);
   const int alr_y = s->fb_h-alr_h;
 
-  ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, nvgRGBA(color[0],color[1],color[2],(color[3]*s->alert_blinking_alpha)));
+  ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, color);
 
   NVGpaint gradient = nvgLinearGradient(s->vg, alr_x, alr_y, alr_x, alr_y+alr_h,
-                        nvgRGBAf(0.0,0.0,0.0,0.05), nvgRGBAf(0.0,0.0,0.0,0.35));
+                                        nvgRGBAf(0.0,0.0,0.0,0.05), nvgRGBAf(0.0,0.0,0.0,0.35));
   ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, gradient);
 
   nvgFillColor(s->vg, COLOR_WHITE);
@@ -589,6 +573,7 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
 static void ui_draw_vision(UIState *s) {
   const UIScene *scene = &s->scene;
   const Rect &viz_rect = scene->viz_rect;
+
   // Draw video frames
   glEnable(GL_SCISSOR_TEST);
   glViewport(viz_rect.x+scene->ui_viz_ro, viz_rect.y, s->fb_w - bdr_s*2, viz_rect.h);
@@ -618,8 +603,8 @@ static void ui_draw_vision(UIState *s) {
 }
 
 static void ui_draw_background(UIState *s) {
-  const Color color = bg_colors[s->status];
-  glClearColor(color.r/256.0, color.g/256.0, color.b/256.0, 1.0);
+  const NVGcolor color = bg_colors[s->status];
+  glClearColor(color.r, color.g, color.b, 1.0);
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 }
 
@@ -656,7 +641,7 @@ void ui_draw_image(NVGcontext *vg, float x, float y, float w, float h, int image
 
 void ui_draw_rect(NVGcontext *vg, float x, float y, float w, float h, NVGcolor color, float r, int width) {
   nvgBeginPath(vg);
-  r > 0? nvgRoundedRect(vg, x, y, w, h, r) : nvgRect(vg, x, y, w, h);
+  r > 0 ? nvgRoundedRect(vg, x, y, w, h, r) : nvgRect(vg, x, y, w, h);
   if (width) {
     nvgStrokeColor(vg, color);
     nvgStrokeWidth(vg, width);
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index a9016dd61..f09748d0e 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -33,7 +33,6 @@
 #define COLOR_WHITE_ALPHA(x) nvgRGBA(255, 255, 255, x)
 #define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
 #define COLOR_RED nvgRGBA(201, 34, 49, 255)
-#define COLOR_OCHRE nvgRGBA(218, 111, 37, 255)
 
 #define UI_BUF_COUNT 4
 
@@ -62,10 +61,6 @@ const int TRACK_POINTS_MAX_CNT = 50 * 2;
 
 const int SET_SPEED_NA = 255;
 
-typedef struct Color {
-  uint8_t r, g, b;
-} Color;
-
 typedef enum NetStatus {
   NET_CONNECTED,
   NET_DISCONNECTED,
@@ -80,12 +75,12 @@ typedef enum UIStatus {
   STATUS_ALERT,
 } UIStatus;
 
-static std::map<UIStatus, Color> bg_colors = {
-  {STATUS_OFFROAD, {0x07, 0x23, 0x39}},
-  {STATUS_DISENGAGED, {0x17, 0x33, 0x49}},
-  {STATUS_ENGAGED, {0x17, 0x86, 0x44}},
-  {STATUS_WARNING, {0xDA, 0x6F, 0x25}},
-  {STATUS_ALERT, {0xC9, 0x22, 0x31}},
+static std::map<UIStatus, NVGcolor> bg_colors = {
+  {STATUS_OFFROAD, nvgRGBA(0x07, 0x23, 0x39, 0xf1)},
+  {STATUS_DISENGAGED, nvgRGBA(0x17, 0x33, 0x49, 0xc8)},
+  {STATUS_ENGAGED, nvgRGBA(0x17, 0x86, 0x44, 0xf1)},
+  {STATUS_WARNING, nvgRGBA(0xDA, 0x6F, 0x25, 0xf1)},
+  {STATUS_ALERT, nvgRGBA(0xC9, 0x22, 0x31, 0xf1)},
 };
 
 typedef struct UIScene {