dragonpilot/selfdrive/ui/qt/onroad.cc

#include "selfdrive/ui/qt/onroad.h"

#include <cmath>

#include <QDebug>
#include <QMouseEvent>

#include "common/timing.h"
#include "selfdrive/ui/qt/util.h"
#ifdef ENABLE_MAPS
#include "selfdrive/ui/qt/maps/map_helpers.h"
#include "selfdrive/ui/qt/maps/map_panel.h"
#endif

OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
  QVBoxLayout *main_layout  = new QVBoxLayout(this);
  main_layout->setMargin(UI_BORDER_SIZE);
  QStackedLayout *stacked_layout = new QStackedLayout;
  stacked_layout->setStackingMode(QStackedLayout::StackAll);
  main_layout->addLayout(stacked_layout);

  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);

  QWidget * split_wrapper = new QWidget;
  split = new QHBoxLayout(split_wrapper);
  split->setContentsMargins(0, 0, 0, 0);
  split->setSpacing(0);
  split->addWidget(nvg);

  if (getenv("DUAL_CAMERA_VIEW")) {
    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
    split->insertWidget(0, arCam);
  }

  if (getenv("MAP_RENDER_VIEW")) {
    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
    split->insertWidget(0, map_render);
  }

  stacked_layout->addWidget(split_wrapper);

  alerts = new OnroadAlerts(this);
  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
  stacked_layout->addWidget(alerts);

  // setup stacking order
  alerts->raise();

  setAttribute(Qt::WA_OpaquePaintEvent);
  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
}

void OnroadWindow::updateState(const UIState &s) {
  QColor bgColor = bg_colors[s.status];
  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
  alerts->updateAlert(alert);

  if (s.scene.map_on_left) {
    split->setDirection(QBoxLayout::LeftToRight);
  } else {
    split->setDirection(QBoxLayout::RightToLeft);
  }

  nvg->updateState(s);

  if (bg != bgColor) {
    // repaint border
    bg = bgColor;
    update();
  }
}

void OnroadWindow::mousePressEvent(QMouseEvent* e) {
#ifdef ENABLE_MAPS
  if (map != nullptr) {
    // Switch between map and sidebar when using navigate on openpilot
    bool sidebarVisible = geometry().x() > 0;
    bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
    map->setVisible(show_map && !map->isVisible());
  }
#endif
  // propagation event to parent(HomeWindow)
  QWidget::mousePressEvent(e);
}

void OnroadWindow::offroadTransition(bool offroad) {
#ifdef ENABLE_MAPS
  if (!offroad) {
    if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) {
      auto m = new MapPanel(get_mapbox_settings());
      map = m;

      QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);

      m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
      split->insertWidget(0, m);

      // hidden by default, made visible when navRoute is published
      m->setVisible(false);
    }
  }
#endif

  alerts->updateAlert({});
}

void OnroadWindow::paintEvent(QPaintEvent *event) {
  QPainter p(this);
  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
}

// ***** onroad widgets *****

// OnroadAlerts
void OnroadAlerts::updateAlert(const Alert &a) {
  if (!alert.equal(a)) {
    alert = a;
    update();
  }
}

void OnroadAlerts::paintEvent(QPaintEvent *event) {
  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
    return;
  }
  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
    {cereal::ControlsState::AlertSize::SMALL, 271},
    {cereal::ControlsState::AlertSize::MID, 420},
    {cereal::ControlsState::AlertSize::FULL, height()},
  };
  int h = alert_heights[alert.size];

  int margin = 40;
  int radius = 30;
  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
    margin = 0;
    radius = 0;
  }
  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);

  QPainter p(this);

  // draw background + gradient
  p.setPen(Qt::NoPen);
  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
  p.setBrush(QBrush(alert_colors[alert.status]));
  p.drawRoundedRect(r, radius, radius);

  QLinearGradient g(0, r.y(), 0, r.bottom());
  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));

  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
  p.setBrush(QBrush(g));
  p.drawRoundedRect(r, radius, radius);
  p.setCompositionMode(QPainter::CompositionMode_SourceOver);

  // text
  const QPoint c = r.center();
  p.setPen(QColor(0xff, 0xff, 0xff));
  p.setRenderHint(QPainter::TextAntialiasing);
  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
    p.setFont(InterFont(74, QFont::DemiBold));
    p.drawText(r, Qt::AlignCenter, alert.text1);
  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
    p.setFont(InterFont(88, QFont::Bold));
    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
    p.setFont(InterFont(66));
    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
    bool l = alert.text1.length() > 15;
    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
    p.setFont(InterFont(88));
    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
  }
}

// ExperimentalButton
ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
  setFixedSize(btn_size, btn_size);

  params = Params();
  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
}

void ExperimentalButton::changeMode() {
  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
  if (can_change) {
    params.putBool("ExperimentalMode", !experimental_mode);
  }
}

void ExperimentalButton::updateState(const UIState &s) {
  const auto cs = (*s.sm)["controlsState"].getControlsState();
  bool eng = cs.getEngageable() || cs.getEnabled();
  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
    engageable = eng;
    experimental_mode = cs.getExperimentalMode();
    update();
  }
}

void ExperimentalButton::paintEvent(QPaintEvent *event) {
  QPainter p(this);
  p.setRenderHint(QPainter::Antialiasing);

  QPoint center(btn_size / 2, btn_size / 2);
  QPixmap img = experimental_mode ? experimental_img : engage_img;

  p.setOpacity(1.0);
  p.setPen(Qt::NoPen);
  p.setBrush(QColor(0, 0, 0, 166));
  p.drawEllipse(center, btn_size / 2, btn_size / 2);
  p.setOpacity((isDown() || !engageable) ? 0.6 : 1.0);
  p.drawPixmap((btn_size - img_size) / 2, (btn_size - img_size) / 2, img);
}


// Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});

  QVBoxLayout *main_layout  = new QVBoxLayout(this);
  main_layout->setMargin(UI_BORDER_SIZE);
  main_layout->setSpacing(0);

  experimental_btn = new ExperimentalButton(this);
  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);

  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
}

void AnnotatedCameraWidget::updateState(const UIState &s) {
  const int SET_SPEED_NA = 255;
  const SubMaster &sm = *(s.sm);

  const bool cs_alive = sm.alive("controlsState");
  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();

  const auto cs = sm["controlsState"].getControlsState();

  // Handle older routes where vCruiseCluster is not set
  float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
  float set_speed = cs_alive ? v_cruise : SET_SPEED_NA;
  bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
  if (cruise_set && !s.scene.is_metric) {
    set_speed *= KM_TO_MILE;
  }

  // Handle older routes where vEgoCluster is not set
  float v_ego;
  if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
    v_ego = sm["carState"].getCarState().getVEgo();
  } else {
    v_ego = sm["carState"].getCarState().getVEgoCluster();
    v_ego_cluster_seen = true;
  }
  float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
  cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;

  auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
  float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
  speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);

  setProperty("speedLimit", speed_limit);
  setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
  setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);

  setProperty("is_cruise_set", cruise_set);
  setProperty("is_metric", s.scene.is_metric);
  setProperty("speed", cur_speed);
  setProperty("setSpeed", set_speed);
  setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph"));
  setProperty("hideDM", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE));
  setProperty("status", s.status);

  // update engageability/experimental mode button
  experimental_btn->updateState(s);

  // update DM icon
  auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
  setProperty("dmActive", dm_state.getIsActiveMode());
  setProperty("rightHandDM", dm_state.getIsRHD());
  // DM icon transition
  dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
}

void AnnotatedCameraWidget::drawHud(QPainter &p) {
  p.save();

  // Header gradient
  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
  p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);

  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
  QString speedStr = QString::number(std::nearbyint(speed));
  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";

  // Draw outer box + border to contain set speed and speed limit
  const int sign_margin = 12;
  const int us_sign_height = 186;
  const int eu_sign_size = 176;

  const QSize default_size = {172, 204};
  QSize set_speed_size = default_size;
  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;

  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;

  int top_radius = 32;
  int bottom_radius = has_eu_speed_limit ? 100 : 32;

  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
  p.setPen(QPen(whiteColor(75), 6));
  p.setBrush(blackColor(166));
  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);

  // Draw MAX
  QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
  QColor set_speed_color = whiteColor();
  if (is_cruise_set) {
    if (status == STATUS_DISENGAGED) {
      max_color = whiteColor();
    } else if (status == STATUS_OVERRIDE) {
      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
    } else if (speedLimit > 0) {
      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
      };
      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
    }
  } else {
    max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
    set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
  }
  p.setFont(InterFont(40, QFont::DemiBold));
  p.setPen(max_color);
  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
  p.setFont(InterFont(90, QFont::Bold));
  p.setPen(set_speed_color);
  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);

  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
  // US/Canada (MUTCD style) sign
  if (has_us_speed_limit) {
    p.setPen(Qt::NoPen);
    p.setBrush(whiteColor());
    p.drawRoundedRect(sign_rect, 24, 24);
    p.setPen(QPen(blackColor(), 6));
    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);

    p.setFont(InterFont(28, QFont::DemiBold));
    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
    p.setFont(InterFont(70, QFont::Bold));
    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
  }

  // EU (Vienna style) sign
  if (has_eu_speed_limit) {
    p.setPen(Qt::NoPen);
    p.setBrush(whiteColor());
    p.drawEllipse(sign_rect);
    p.setPen(QPen(Qt::red, 20));
    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));

    p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
    p.setPen(blackColor());
    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
  }

  // current speed
  p.setFont(InterFont(176, QFont::Bold));
  drawText(p, rect().center().x(), 210, speedStr);
  p.setFont(InterFont(66));
  drawText(p, rect().center().x(), 290, speedUnit, 200);

  p.restore();
}

void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
  QRect real_rect = p.fontMetrics().boundingRect(text);
  real_rect.moveCenter({x, y - real_rect.height() / 2});

  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
  p.drawText(real_rect.x(), real_rect.bottom(), text);
}

void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
  p.setOpacity(1.0);  // bg dictates opacity of ellipse
  p.setPen(Qt::NoPen);
  p.setBrush(bg);
  p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size);
  p.setOpacity(opacity);
  p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img);
  p.setOpacity(1.0);
}

void AnnotatedCameraWidget::initializeGL() {
  CameraWidget::initializeGL();
  qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
  qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
  qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
}

void AnnotatedCameraWidget::updateFrameMat() {
  CameraWidget::updateFrameMat();
  UIState *s = uiState();
  int w = width(), h = height();

  s->fb_w = w;
  s->fb_h = h;

  // Apply transformation such that video pixel coordinates match video
  // 1) Put (0, 0) in the middle of the video
  // 2) Apply same scaling as video
  // 3) Put (0, 0) in top left corner of video
  s->car_space_transform.reset();
  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
      .scale(zoom, zoom)
      .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
}

void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  painter.save();

  const UIScene &scene = s->scene;
  SubMaster &sm = *(s->sm);

  // lanelines
  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
    painter.drawPolygon(scene.lane_line_vertices[i]);
  }

  // road edges
  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
    painter.drawPolygon(scene.road_edge_vertices[i]);
  }

  // paint path
  QLinearGradient bg(0, height(), 0, 0);
  if (sm["controlsState"].getControlsState().getExperimentalMode()) {
    // The first half of track_vertices are the points for the right side of the path
    // and the indices match the positions of accel from uiPlan
    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());

    for (int i = 0; i < max_len; ++i) {
      // Some points are out of frame
      if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;

      // Flip so 0 is bottom of frame
      float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();

      // speed up: 120, slow down: 0
      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
      // FIXME: painter.drawPolygon can be slow if hue is not rounded
      path_hue = int(path_hue * 100 + 0.5) / 100;

      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));

      // Skip a point, unless next is last
      i += (i + 2) < max_len ? 1 : 0;
    }

  } else {
    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
  }

  painter.setBrush(bg);
  painter.drawPolygon(scene.track_vertices);

  painter.restore();
}

void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
  const UIScene &scene = s->scene;

  painter.save();

  // base icon
  int offset = UI_BORDER_SIZE + btn_size / 2;
  int x = rightHandDM ? width() - offset : offset;
  int y = height() - offset;
  float opacity = dmActive ? 0.65 : 0.2;
  drawIcon(painter, x, y, dm_img, blackColor(70), opacity);

  // face
  QPointF face_kpts_draw[std::size(default_face_kpts_3d)];
  float kp;
  for (int i = 0; i < std::size(default_face_kpts_3d); ++i) {
    kp = (scene.face_kpts_draw[i].v[2] - 8) / 120 + 1.0;
    face_kpts_draw[i] = QPointF(scene.face_kpts_draw[i].v[0] * kp + x, scene.face_kpts_draw[i].v[1] * kp + y);
  }

  painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap));
  painter.drawPolyline(face_kpts_draw, std::size(default_face_kpts_3d));

  // tracking arcs
  const int arc_l = 133;
  const float arc_t_default = 6.7;
  const float arc_t_extend = 12.0;
  QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
                                      0.545 + 0.4 * s->engaged(),
                                      0.545 - 0.285 * s->engaged(),
                                      0.4 * (1.0 - dm_fade_state));
  float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
  float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;
  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
  painter.drawArc(QRectF(std::fmin(x + delta_x, x), y - arc_l / 2, fabs(delta_x), arc_l), (scene.driver_pose_sins[1]>0 ? 90 : -90) * 16, 180 * 16);
  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap));
  painter.drawArc(QRectF(x - arc_l / 2, std::fmin(y + delta_y, y), arc_l, fabs(delta_y)), (scene.driver_pose_sins[0]>0 ? 0 : 180) * 16, 180 * 16);

  painter.restore();
}

void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
  painter.save();

  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
  const float v_rel = lead_data.getVRel();

  float fillAlpha = 0;
  if (d_rel < leadBuff) {
    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
    if (v_rel < 0) {
      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
    }
    fillAlpha = (int)(fmin(fillAlpha, 255));
  }

  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
  float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
  float y = std::fmin(height() - sz * .6, (float)vd.y());

  float g_xo = sz / 5;
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
  painter.setBrush(QColor(218, 202, 37, 255));
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
  painter.setBrush(redColor(fillAlpha));
  painter.drawPolygon(chevron, std::size(chevron));

  painter.restore();
}

void AnnotatedCameraWidget::paintGL() {
  UIState *s = uiState();
  SubMaster &sm = *(s->sm);
  const double start_draw_t = millis_since_boot();
  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
  const cereal::RadarState::Reader &radar_state = sm["radarState"].getRadarState();

  // draw camera frame
  {
    std::lock_guard lk(frame_lock);

    if (frames.empty()) {
      if (skip_frame_count > 0) {
        skip_frame_count--;
        qDebug() << "skipping frame, not ready";
        return;
      }
    } else {
      // skip drawing up to this many frames if we're
      // missing camera frames. this smooths out the
      // transitions from the narrow and wide cameras
      skip_frame_count = 5;
    }

    // Wide or narrow cam dependent on speed
    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
    if (has_wide_cam) {
      float v_ego = sm["carState"].getCarState().getVEgo();
      if ((v_ego < 10) || available_streams.size() == 1) {
        wide_cam_requested = true;
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
      // for replay of old routes, never go to widecam
      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);

    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
    if (s->scene.calibration_valid) {
      auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
      CameraWidget::updateCalibration(calib);
    } else {
      CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
    }
    CameraWidget::setFrameId(model.getFrameId());
    CameraWidget::paintGL();
  }

  QPainter painter(this);
  painter.setRenderHint(QPainter::Antialiasing);
  painter.setPen(Qt::NoPen);

  if (s->worldObjectsVisible()) {
    if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
      update_model(s, model, sm["uiPlan"].getUiPlan());
      if (sm.rcv_frame("radarState") > s->scene.started_frame) {
        update_leads(s, radar_state, model.getPosition());
      }
    }

    drawLaneLines(painter, s);

    if (s->scene.longitudinal_control) {
      auto lead_one = radar_state.getLeadOne();
      auto lead_two = radar_state.getLeadTwo();
      if (lead_one.getStatus()) {
        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
      }
      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
      }
    }
  }

  // DMoji
  if (!hideDM && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
    update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
    drawDriverState(painter, s);
  }

  drawHud(painter);

  double cur_draw_t = millis_since_boot();
  double dt = cur_draw_t - prev_draw_t;
  double fps = fps_filter.update(1. / dt * 1000);
  if (fps < 15) {
    LOGW("slow frame rate: %.2f fps", fps);
  }
  prev_draw_t = cur_draw_t;

  // publish debug msg
  MessageBuilder msg;
  auto m = msg.initEvent().initUiDebug();
  m.setDrawTimeMillis(cur_draw_t - start_draw_t);
  pm->send("uiDebug", msg);
}

void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
  CameraWidget::showEvent(event);

  ui_update_params(uiState());
  prev_draw_t = millis_since_boot();
}