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[TIZI/TICI] ui: dynamic path width color (#1926)

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* Fix UI path color and thickness based on lateral steering state (Issue #1441)

* Fix UI path color and thickness based on lateral control engagement (Issue #1441)

* Fix UI path width and color based on MADS lateral engagement (Issue #1441)

* Fix UI path width and color based on MADS lateral engagement (Issue #1441)

* move to ModelRendererSP

* match torque bar

* same behavior across the board

* simplify

---------

Co-authored-by: Brennan Browne <brennanbrowne@google.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
granolaFPV
2026-08-21 17:51:43 -07:00
committed by GitHub
parent a49c260927
commit 4667241fe7
2 changed files with 14 additions and 2 deletions
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openpilot/selfdrive/ui/onroad/model_renderer.py
+2 -2
View File
@@ -192,7 +192,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
max_idx = self._get_path_length_idx(path_x_array, max_distance)
self._path.projected_points = self._map_line_to_polygon(
self._path.raw_points, 0.9, self._path_offset_z, max_idx, max_distance, allow_invert=False
self._path.raw_points, self._get_path_half_width(), self._path_offset_z, max_idx, max_distance, allow_invert=False
)
self._update_experimental_gradient()
@@ -292,7 +292,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
self._blend_filter.update(int(allow_throttle))
if ui_state.rainbow_path:
if ui_state.rainbow_path and self._lateral_active:
self.rainbow_path.draw_rainbow_path(self._rect, self._path)
return
openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+12
View File
@@ -4,11 +4,23 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
from openpilot.system.ui.lib.application import gui_app
class ModelRendererSP:
def __init__(self):
self.rainbow_path = RainbowPath()
self.chevron_metrics = ChevronMetrics()
self._width_filter = FirstOrderFilter(0.9, 0.1, 1 / gui_app.target_fps)
@property
def _lateral_active(self) -> bool:
return ui_state.status in (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
def _get_path_half_width(self) -> float:
target = 0.9 if self._lateral_active else 0.40
return self._width_filter.update(target)