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cached params

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This commit is contained in:
royjr
2025-09-23 06:42:14 -04:00
parent f2ddf9abba
commit fbd1f6bad1
2 changed files with 35 additions and 20 deletions
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selfdrive/ui/qt/onroad/model.cc
+29 -20
View File
@@ -2,6 +2,13 @@
#include <QPainterPath>
#include <algorithm>
void ModelRenderer::updateParams() {
visual_style_ = QString::fromStdString(Params().get("VisualStyle")).toInt();
visual_blend_ = QString::fromStdString(Params().get("VisualStyleBlend")).toInt();
visual_blend_threshold_ = QString::fromStdString(Params().get("VisualStyleBlendThreshold")).toFloat();
visual_radar_tracks_ = QString::fromStdString(Params().get("VisualRadarTracks")).toInt();
}
void ModelRenderer::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
painter.setBrush(QColor(255, 255, 255, 200));
painter.setPen(Qt::NoPen);
@@ -9,13 +16,20 @@ void ModelRenderer::drawRadarPoint(QPainter &painter, const QPointF &pos, float
}
void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
static double last_params_t = 0.0;
double params_now = millis_since_boot();
if (params_now - last_params_t > 1000.0) {
updateParams();
last_params_t = params_now;
}
static double last_draw_t = millis_since_boot();
static float avg_frame_time = 50.0f; // ms
static float avg_frame_time = 50.0f;
static float avg_fps = 20.0f;
double now = millis_since_boot();
double frame_time_ms = now - last_draw_t;
last_draw_t = now;
double frame_now = millis_since_boot();
double frame_time_ms = frame_now - last_draw_t;
last_draw_t = frame_now;
float fps = (frame_time_ms > 0) ? (1000.0f / frame_time_ms) : 0.0f;
@@ -58,7 +72,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
}
}
if (QString::fromStdString(Params().get("VisualRadarTracks")).toInt()) {
if (visual_radar_tracks_) {
if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
for (const auto &track : tracks) {
@@ -116,7 +130,7 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
const auto &model_position = model.getPosition();
float max_distance;
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 0) {
if (visual_style_ == 0) {
max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
} else {
max_distance = std::clamp(*(model_position.getX().end() - 1), 0.0f, 300.0f);
@@ -128,7 +142,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(lane_line_vertices); i++) {
lane_line_probs[i] = line_probs[i];
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 2) {
if (visual_style_ == 2) {
mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
} else {
mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
@@ -140,7 +154,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
const auto &edge_stds = model.getRoadEdgeStds();
for (int i = 0; i < std::size(road_edge_vertices); i++) {
road_edge_stds[i] = edge_stds[i];
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 2) {
if (visual_style_ == 2) {
mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
} else {
mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
@@ -157,7 +171,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
}
void ModelRenderer::drawLaneLines(QPainter &painter) {
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 2) {
if (visual_style_ == 2) {
QRectF r = clip_region;
// --- Find horizon from road edges ---
@@ -550,10 +564,8 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
float g_xo = sz / 5;
float g_yo = sz / 10;
int visual_style = QString::fromStdString(Params().get("VisualStyle")).toInt();
QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
if (visual_style == 2) {
if (visual_style_ == 2) {
painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
} else {
painter.setBrush(QColor(218, 202, 37, 255));
@@ -562,7 +574,7 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
// chevron
QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
if (visual_style == 2) {
if (visual_style_ == 2) {
painter.setBrush(QColor(0, 0, 0, fillAlpha));
} else {
painter.setBrush(QColor(201, 34, 49, fillAlpha));
@@ -579,9 +591,6 @@ float mapRange(float x, float in_min, float in_max, float out_min, float out_max
bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
auto *s = uiState();
auto &sm = *(s->sm);
int visual_style = QString::fromStdString(Params().get("VisualStyle")).toInt();
int visual_blend = QString::fromStdString(Params().get("VisualStyleBlend")).toInt();
float visual_blend_threshold = QString::fromStdString(Params().get("VisualStyleBlendThreshold")).toFloat();
float blend_speed_mph = sm["carState"].getCarState().getVEgo() * 2.23694f; // convert to mph
// Normal perspective (3D)
@@ -612,21 +621,21 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
);
// Force top-down if VisualStyle == 3
if (visual_style == 3) {
if (visual_style_ == 3) {
*out = topdown_view;
return clip_region.contains(*out);
}
// Blending mode
if (visual_blend == 1 && visual_style != 0) {
if (visual_blend_ == 1 && visual_style_ != 0) {
static float blend = 0.0f; // 0 = 3D, 1 = 2D
static float target_blend = 0.0f; // where we want to go
static double last_t = millis_since_boot();
// Hysteresis logic
if (target_blend < 0.5f && blend_speed_mph > visual_blend_threshold) {
if (target_blend < 0.5f && blend_speed_mph > visual_blend_threshold_) {
target_blend = 1.0f; // switch to 2D
} else if (target_blend > 0.5f && blend_speed_mph < (visual_blend_threshold - 5)) {
} else if (target_blend > 0.5f && blend_speed_mph < (visual_blend_threshold_ - 5)) {
target_blend = 0.0f; // switch back to 3D
}
selfdrive/ui/qt/onroad/model.h
+6
View File
@@ -71,4 +71,10 @@ protected:
QColor lead_status_color;
void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 5.0f);
void updateParams();
int visual_style_ = 0;
int visual_blend_ = 0;
float visual_blend_threshold_ = 20.0f;
int visual_radar_tracks_ = 0;
};