brianhansonxyz/clearpilot
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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
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@@ -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);