From fd0029be6c51669b79ff69ba3ea82e303ea68df0 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Thu, 2 May 2024 20:30:23 -0500
Subject: [PATCH] wip

---
 selfdrive/ui/qt/onroad.cc | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 5734387..ca07d88 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -825,10 +825,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // CLEARPILOT: color channel code rewriten to allow custom colors
   // Define base RGB color and alpha
-  int base_red = 255; // Example red color
-  int base_green = 200; // Example green color
-  int base_blue = 150; // Example blue color
-  float base_alpha = 0.75; // Example base alpha
+  int base_red = 139; // Dark red component
+  int base_green = 0; // Minimal green component
+  int base_blue = 0; // Minimal blue component
+  float base_alpha = 0.6; // 60% opacity
+
   QColor baseColor(base_red, base_green, base_blue);
 
   SubMaster &sm = *(s->sm);
@@ -876,22 +877,21 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
       float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
 
-      float path_hue = std::max(std::min(60 + acceleration[i] * 35, 120.f), 0.f);
-      path_hue = static_cast<int>(path_hue * 100 + 0.5) / 100; // Ensuring hue is rounded to reduce processing
-
-      float saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f);
-      float lightness = util::map_val(saturation, 0.5f, 0.0f, 0.95f, 0.62f);  // lighter when grey
-
-      float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, base_alpha, 0.0f);
-
       QColor base_color = QColor::fromRgb(base_red, base_green, base_blue);
       float h, s, l;
       base_color.getHslF(&h, &s, &l);
-      QColor final_color = QColor::fromHslF(path_hue / 360., saturation, lightness, dynamic_alpha);
 
+      // 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, 0.62f, 0.95f);
+
+      // Calculate dynamic alpha based on lin_grad_point
+      float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, base_alpha, 0.f);
+
+      QColor final_color = QColor::fromHslF(h / 360.f, adjusted_saturation, adjusted_lightness, dynamic_alpha);
       bg.setColorAt(lin_grad_point, final_color);
 
-      i += (i + 2) < max_len ? 1 : 0;  // skipping a point to optimize rendering
+      i += (i + 2) < max_len ? 1 : 0;  // Skipping a point to optimize rendering
     }
 
   } else {