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2024-05-11 15:27:31 -05:00
parent bc2a4e2266
commit 4373a0198f
11 changed files with 303 additions and 218 deletions
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selfdrive/ui/qt/onroad.cc
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@@ -853,51 +853,53 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
QColor center_lane_color = bg_colors[CENTER_LANE_COLOR];
QLinearGradient path_gradient(0, height(), 0, 0);
if (experimentalMode || scene.acceleration_path) {
// The first half of track_vertices are the points for the right side of the path
// and the indices match the positions of accel from uiPlan
const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel();
const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration_const.size());
if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
if (experimentalMode || scene.acceleration_path) {
// The first half of track_vertices are the points for the right side of the path
// and the indices match the positions of accel from uiPlan
const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel();
const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration_const.size());
// Copy of the acceleration vector
std::vector<float> acceleration;
for (int i = 0; i < acceleration_const.size(); i++) {
acceleration.push_back(acceleration_const[i]);
}
try {
for (int i = 0; i < max_len; ++i) {
// Rewrote to generate color based off of bg_colors[CENTER_LANE_COLOR] constant
if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
double _h, _s, _l; // Use double for compatibility with QColor::getHslF()
center_lane_color.getHslF(&_h, &_s, &_l);
// Calculate saturation and lightness based on acceleration
float adjusted_saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f);
float adjusted_lightness = util::map_val(adjusted_saturation, 0.f, 1.f, static_cast<float>(_l), 0.95f); // Using base lightness as a starting point
// Calculate dynamic alpha based on lin_grad_point
float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, CENTER_LANE_ALPHA, 0.f);
QColor final_color = QColor::fromHslF(static_cast<float>(_h / 360.f), adjusted_saturation, adjusted_lightness, dynamic_alpha);
path_gradient.setColorAt(lin_grad_point, final_color);
i += (i + 2) < max_len ? 1 : 0; // Skipping a point to optimize rendering
// Copy of the acceleration vector
std::vector<float> acceleration;
for (int i = 0; i < acceleration_const.size(); i++) {
acceleration.push_back(acceleration_const[i]);
}
} catch (const std::exception& e) {
// Default shading if for some reason the above code fails
path_gradient = QLinearGradient(0, height(), 0, 0);
try {
for (int i = 0; i < max_len; ++i) {
// Rewrote to generate color based off of bg_colors[CENTER_LANE_COLOR] constant
if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
double _h, _s, _l; // Use double for compatibility with QColor::getHslF()
center_lane_color.getHslF(&_h, &_s, &_l);
// Calculate saturation and lightness based on acceleration
float adjusted_saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f);
float adjusted_lightness = util::map_val(adjusted_saturation, 0.f, 1.f, static_cast<float>(_l), 0.95f); // Using base lightness as a starting point
// Calculate dynamic alpha based on lin_grad_point
float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, CENTER_LANE_ALPHA, 0.f);
QColor final_color = QColor::fromHslF(static_cast<float>(_h / 360.f), adjusted_saturation, adjusted_lightness, dynamic_alpha);
path_gradient.setColorAt(lin_grad_point, final_color);
i += (i + 2) < max_len ? 1 : 0; // Skipping a point to optimize rendering
}
} catch (const std::exception& e) {
// Default shading if for some reason the above code fails
path_gradient = QLinearGradient(0, height(), 0, 0);
path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.5)));
path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.4)));
path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
}
} else {
path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.5)));
path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.4)));
path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
}
} else {
path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.5)));
path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.4)));
path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
}
painter.setBrush(path_gradient);