UI: prep for custom model rendering (#920)

* Refactor and extend ModelRenderer for custom Sunnypilot logic

Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components.

* Update selfdrive/ui/sunnypilot/qt/onroad/model.cc

* Refactor `ModelRenderer` for modularity

Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes.

* Cleaning logic on ModelRenderSP

Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -9,7 +9,9 @@
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
+#define ModelRenderer ModelRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"

selfdrive/ui/qt/onroad/model.cc

@@ -1,18 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
 
-constexpr int CLIP_MARGIN = 500;
-constexpr float MIN_DRAW_DISTANCE = 10.0;
-constexpr float MAX_DRAW_DISTANCE = 100.0;
-
-static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto &line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   auto *s = uiState();
   auto &sm = *(s->sm);
@@ -35,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
+  drawPath(painter, model, surface_rect);
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());

selfdrive/ui/qt/onroad/model.h

@@ -9,21 +9,39 @@
 #include "selfdrive/ui/ui.h"
 #endif
 
+constexpr int CLIP_MARGIN = 500;
+constexpr float MIN_DRAW_DISTANCE = 10.0;
+constexpr float MAX_DRAW_DISTANCE = 100.0;
+
+inline int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
+  const auto &line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
+}
+
 class ModelRenderer {
 public:
+  virtual ~ModelRenderer() = default;
+
   ModelRenderer() {}
   void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
   void draw(QPainter &painter, const QRect &surface_rect);
 
-private:
+protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
+  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
+    drawPath(painter, model, surface_rect.height());
+  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 

selfdrive/ui/sunnypilot/qt/onroad/model.h

@@ -11,5 +11,5 @@
 
 class ModelRendererSP : public ModelRenderer {
 public:
-  ModelRendererSP() {}
+  ModelRendererSP() = default;
 };