From ffd7259193b4c363fb6b7f6b09ca0faf365af2fa Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Blind spot path

---
 .../qt/onroad/frogpilot_annotated_camera.cc   | 22 +++++++++++++++++++
 .../ui/qt/onroad/frogpilot_annotated_camera.h |  4 ++++
 selfdrive/ui/qt/onroad/model.cc               |  3 +++
 3 files changed, 29 insertions(+)

diff --git a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
index 66716926..83a4ff1a 100644
--- a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
+++ b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
@@ -38,6 +38,9 @@ void FrogPilotAnnotatedCameraWidget::updateState(const UIState &s, const FrogPil
     speedConversionMetrics = MS_TO_MPH;
   }
 
+  blindspotLeft = carState.getLeftBlindspot();
+  blindspotRight = carState.getRightBlindspot();
+
   hideBottomIcons = selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE;
   hideBottomIcons |= frogpilotSelfdriveState.getAlertSize() != cereal::FrogPilotSelfdriveState::AlertSize::NONE;
 }
@@ -48,3 +51,22 @@ void FrogPilotAnnotatedCameraWidget::mousePressEvent(QMouseEvent *mouseEvent) {
 
 void FrogPilotAnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p, UIState &s) {
 }
+
+void FrogPilotAnnotatedCameraWidget::paintBlindSpotPath(QPainter &p) {
+  p.save();
+
+  QLinearGradient bs(0, height(), 0, 0);
+  bs.setColorAt(0.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.4f));
+  bs.setColorAt(0.5f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.35f));
+  bs.setColorAt(1.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.0f));
+  p.setBrush(bs);
+
+  if (track_adjacent_vertices[0].boundingRect().width() > 0 && blindspotLeft) {
+    p.drawPolygon(track_adjacent_vertices[0]);
+  }
+  if (track_adjacent_vertices[1].boundingRect().width() > 0 && blindspotRight) {
+    p.drawPolygon(track_adjacent_vertices[1]);
+  }
+
+  p.restore();
+}
diff --git a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
index 11c00c38..68cd722a 100644
--- a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
+++ b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
@@ -12,6 +12,7 @@ public:
   explicit FrogPilotAnnotatedCameraWidget(QWidget *parent = 0);
 
   void mousePressEvent(QMouseEvent *mouseEvent) override;
+  void paintBlindSpotPath(QPainter &p);
   void paintFrogPilotWidgets(QPainter &p, UIState &s);
   void updateState(const UIState &s, const FrogPilotUIState &fs);
 
@@ -40,6 +41,9 @@ protected:
   void showEvent(QShowEvent *event) override;
 
 private:
+  bool blindspotLeft;
+  bool blindspotRight;
+
   float distanceConversion;
   float setSpeed;
   float speedConversion;
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 7aeec196..357b8ce4 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -168,6 +168,9 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
   painter.drawPolygon(track_vertices);
 
   // FrogPilot variables
+  if (frogpilot_toggles.value("blind_spot_path").toBool()) {
+    frogpilot_nvg->paintBlindSpotPath(painter);
+  }
 }
 
 void ModelRenderer::updatePathGradient(QLinearGradient &bg) {