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Customize the model visuals in the onroad UI

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Added toggles to customize the lane lines, path, road edges, path edges, and an "Unlimited Length" mode that extends the road UI out as far as the model can see.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 786e52880d
commit b11db103c8
6 changed files with 126 additions and 6 deletions
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38
selfdrive/ui/qt/onroad.cc
View File

@@ -564,6 +564,44 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices);
// Create new path with track vertices and track edge vertices
QPainterPath path;
path.addPolygon(scene.track_vertices);
path.addPolygon(scene.track_edge_vertices);
// Paint path edges
QLinearGradient pe(0, height(), 0, 0);
if (alwaysOnLateralActive) {
pe.setColorAt(0.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.1));
} else if (conditionalStatus == 1 || conditionalStatus == 3) {
pe.setColorAt(0.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.1));
} else if (experimentalMode) {
pe.setColorAt(0.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.1));
} else if (scene.navigate_on_openpilot) {
pe.setColorAt(0.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.1));
} else if (customColors != 0) {
const auto &colorMap = std::get<3>(themeConfiguration[customColors]);
for (const auto &[position, brush] : colorMap) {
QColor darkerColor = brush.color().darker(120);
pe.setColorAt(position, darkerColor);
}
} else {
pe.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.1));
}
painter.setBrush(pe);
painter.drawPath(path);
// Paint blindspot path
if (scene.blind_spot_path) {
QLinearGradient bs(0, height(), 0, 0);

31
selfdrive/ui/ui.cc
View File

@@ -86,7 +86,8 @@ void update_model(UIState *s,
if (plan_position.getX().size() < model.getPosition().getX().size()) {
plan_position = model.getPosition();
}
float max_distance = std::clamp(*(plan_position.getX().end() - 1),
float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
std::clamp(*(plan_position.getX().end() - 1),
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
// update lane lines
@@ -95,7 +96,7 @@ void update_model(UIState *s,
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
scene.lane_line_probs[i] = lane_line_probs[i];
update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
update_line_data(s, lane_lines[i], scene.model_ui ? scene.lane_line_width * scene.lane_line_probs[i] : 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
}
// update road edges
@@ -103,21 +104,33 @@ void update_model(UIState *s,
const auto road_edge_stds = model.getRoadEdgeStds();
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
scene.road_edge_stds[i] = road_edge_stds[i];
update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
update_line_data(s, road_edges[i], scene.model_ui ? scene.road_edge_width : 0.025, 0, &scene.road_edge_vertices[i], max_idx);
}
// update path
float path;
if (scene.dynamic_path_width) {
float multiplier = scene.enabled ? 1.0f : scene.always_on_lateral_active ? 0.75f : 0.50f;
path = scene.path_width * multiplier;
} else {
path = scene.path_width;
}
auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
if (lead_one.getStatus()) {
const float lead_d = lead_one.getDRel() * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(plan_position, max_distance);
update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
update_line_data(s, plan_position, scene.model_ui ? path * (1 - scene.path_edge_width / 100) : 0.9, 1.22, &scene.track_vertices, max_idx, false);
// Update path edges
update_line_data(s, plan_position, scene.model_ui ? path : 0, 1.22, &scene.track_edge_vertices, max_idx, false);
// Update adjacent paths
for (int i = 4; i <= 5; i++) {
update_line_data(s, lane_lines[i], scene.blind_spot_path ? (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2 : 0, 0, &scene.track_adjacent_vertices[i], max_idx);
update_line_data(s, lane_lines[i], scene.blind_spot_path ? (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2.0f : 0, 0, &scene.track_adjacent_vertices[i], max_idx);
}
}
@@ -279,6 +292,14 @@ void ui_update_frogpilot_params(UIState *s) {
scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0;
scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
scene.model_ui = params.getBool("ModelUI");
scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f;
scene.path_edge_width = params.getInt("PathEdgeWidth");
scene.path_width = params.getInt("PathWidth") / 10.0f * (scene.is_metric ? 1.0f : FOOT_TO_METER) / 2.0f;
scene.road_edge_width = params.getInt("RoadEdgesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f;
scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
bool quality_of_life_controls = params.getBool("QOLControls");
bool quality_of_life_visuals = params.getBool("QOLVisuals");

8
selfdrive/ui/ui.h
View File

@@ -176,13 +176,20 @@ typedef struct UIScene {
bool blind_spot_path;
bool blind_spot_right;
bool conditional_experimental;
bool dynamic_path_width;
bool enabled;
bool experimental_mode;
bool model_ui;
bool turn_signal_left;
bool turn_signal_right;
bool unlimited_road_ui_length;
float lane_line_width;
float lane_width_left;
float lane_width_right;
float path_edge_width;
float path_width;
float road_edge_width;
int camera_view;
int conditional_speed;
@@ -193,6 +200,7 @@ typedef struct UIScene {
int custom_signals;
QPolygonF track_adjacent_vertices[6];
QPolygonF track_edge_vertices;
} UIScene;