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Blind spot path

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Added toggle to display a red path in the adjacent lane when a vehicle is detected in the blind spot.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 0cd83a9021
commit e20aaf75e5
10 changed files with 78 additions and 1 deletions
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21
selfdrive/ui/qt/onroad.cc
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@@ -537,6 +537,24 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices);
// Paint blindspot path
if (scene.blind_spot_path) {
QLinearGradient bs(0, height(), 0, 0);
if (blindSpotLeft || blindSpotRight) {
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
}
painter.setBrush(bs);
if (blindSpotLeft) {
painter.drawPolygon(scene.track_adjacent_vertices[4]);
}
if (blindSpotRight) {
painter.drawPolygon(scene.track_adjacent_vertices[5]);
}
}
painter.restore();
}
@@ -737,6 +755,9 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
alwaysOnLateral = scene.always_on_lateral;
alwaysOnLateralActive = scene.always_on_lateral_active;
blindSpotLeft = scene.blind_spot_left;
blindSpotRight = scene.blind_spot_right;
experimentalMode = scene.experimental_mode;
if (alwaysOnLateral) {