From f3e2f519e3d2f304ca5db6fbda83e8f8988c5bae Mon Sep 17 00:00:00 2001 From: Your Name Date: Fri, 3 May 2024 22:23:28 -0500 Subject: [PATCH] wip --- selfdrive/ui/qt/onroad.cc | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 6eb1957..0117c84 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -856,7 +856,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { acceleration.push_back(acceleration_const[i]); } - // try { + 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; @@ -878,13 +878,13 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { 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(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(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(OTHER_LANE_ALPHA * 255 * 0.0))); - // } + } 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(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(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(OTHER_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(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(CENTER_LANE_ALPHA * 255 * 0.4))); @@ -896,7 +896,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // Paint path edges // don't paint if not engaged color - if (bg != bg_colors[STATUS_DISENGAGED]) { + // if (bg != bg_colors[STATUS_DISENGAGED]) { // Use current background color QLinearGradient edge_gradient; edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast(OTHER_LANE_ALPHA * 255))); @@ -909,7 +909,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.setBrush(edge_gradient); painter.drawPath(path); - } + // } // Paint blindspot path if (scene.blind_spot_path) {