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ui: Use local variables for cereal

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This commit is contained in:
Jason Wen
2023-10-04 02:42:20 +00:00
parent 98dbd39209
commit 2c43f3b15b
1 changed files with 4 additions and 2 deletions
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selfdrive/ui/qt/onroad.cc
+4 -2
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@@ -1654,6 +1654,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
const UIScene &scene = s->scene;
SubMaster &sm = *(s->sm);
const auto car_state = sm["carState"].getCarState();
// Shane's colored lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
if (i == 1 || i == 2) {
@@ -1683,12 +1685,12 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// paint path
QLinearGradient bg(0, height(), 0, height() / 4);
if (madsEnabled || sm["carState"].getCarState().getCruiseState().getEnabled()) {
if (madsEnabled || car_state.getCruiseState().getEnabled()) {
if (steerOverride && latActive) {
bg.setColorAt(0.0, QColor::fromHslF(20 / 360., 0.94, 0.51, 0.17));
bg.setColorAt(0.5, QColor::fromHslF(20 / 360., 1.0, 0.68, 0.17));
bg.setColorAt(1.0, QColor::fromHslF(20 / 360., 1.0, 0.68, 0.0));
} else if (!(latActive || sm["carState"].getCarState().getCruiseState().getEnabled())) {
} else if (!(latActive || car_state.getCruiseState().getEnabled())) {
bg.setColorAt(0, whiteColor());
bg.setColorAt(1, whiteColor(0));
} else if (sm["controlsState"].getControlsState().getExperimentalMode()) {