Path Edges

frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc

@@ -623,6 +623,41 @@ void FrogPilotAnnotatedCameraWidget::paintLongitudinalPaused(QPainter &p) {
   p.restore();
 }
 
+void FrogPilotAnnotatedCameraWidget::paintPathEdges(QPainter &p, int height) {
+  p.save();
+
+  QLinearGradient gradient(0, height, 0, 0);
+
+  std::function<void(const QColor &)> setPathEdgeColors = [&gradient](const QColor &baseColor) {
+    gradient.setColorAt(0.0f, QColor(baseColor.red(), baseColor.green(), baseColor.blue(), 255.0f * 0.4f));
+    gradient.setColorAt(0.5f, QColor(baseColor.red(), baseColor.green(), baseColor.blue(), 255.0f * 0.35f));
+    gradient.setColorAt(1.0f, QColor(baseColor.red(), baseColor.green(), baseColor.blue(), 255.0f * 0.0f));
+  };
+
+  if (frogpilot_scene.always_on_lateral_active) {
+    setPathEdgeColors(bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]);
+  } else if (frogpilot_scene.conditional_status == 1) {
+    setPathEdgeColors(bg_colors[STATUS_CEM_DISABLED]);
+  } else if (experimentalMode) {
+    setPathEdgeColors(bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED]);
+  } else if (frogpilot_toggles.value("color_scheme").toString() != "stock") {
+    setPathEdgeColors(QColor(frogpilot_toggles.value("path_edges_color").toString()));
+  } else {
+    gradient.setColorAt(0.0f, QColor::fromHslF(148.0f / 360.0f, 0.94f, 0.41f, 0.4f));
+    gradient.setColorAt(0.5f, QColor::fromHslF(112.0f / 360.0f, 1.0f, 0.54f, 0.35f));
+    gradient.setColorAt(1.0f, QColor::fromHslF(112.0f / 360.0f, 1.0f, 0.54f, 0.0f));
+  }
+
+  p.setBrush(gradient);
+
+  QPainterPath path;
+  path.addPolygon(track_vertices);
+  path.addPolygon(track_edge_vertices);
+  p.drawPath(path);
+
+  p.restore();
+}
+
 void FrogPilotAnnotatedCameraWidget::paintPedalIcons(QPainter &p) {
   p.save();
 

frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h

@@ -16,6 +16,7 @@ public:
   void paintBlindSpotPath(QPainter &p);
   void paintFrogPilotWidgets(QPainter &p, UIState &s);
   void paintLeadMetrics(QPainter &p, bool adjacent, QPointF *chevron, const cereal::RadarState::LeadData::Reader &lead_data);
+  void paintPathEdges(QPainter &p, int height);
   void updateState(const UIState &s, const FrogPilotUIState &fs);
 
   bool hideBottomIcons;
@@ -41,6 +42,8 @@ public:
   QPoint experimentalButtonPosition;
 
   QPolygonF track_adjacent_vertices[2];
+  QPolygonF track_edge_vertices;
+  QPolygonF track_vertices;
 
   QRect adjacentLeadTextRect;
   QRect leadTextRect;

selfdrive/ui/qt/onroad/model.cc

@@ -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) {