clean up

selfdrive/ui/qt/onroad.cc

@@ -527,31 +527,13 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     const float MAX_UI_POINTS = 8;
 
-    qDebug() << "\n";
-    int i2 = 0;
-    while (i2 < right_points.length()) {
-      qDebug() << "new i:" << i2 << "len points:" << right_points.length();
-
-      i2 += (i2 < right_points.length() - 2) ? 2 : 1;
-    }
-    qDebug() << " ";
-
-//    int i = 0;
-
-//    int drawn = 0;
-
-
-
     // Filter out points out of frame
     QVector<QPointF> valid_points;
     std::copy_if(right_points.begin(), right_points.end(), std::back_inserter(valid_points),
                  [&](const QPointF &point) { return point.y() >= 0 && point.y() <= height(); });
     qDebug() << "valid_points len:" << valid_points.length() << "right_points len:" << right_points.length();
 
-//    float cur_pos = 0;
+    int drawn = 0;
-//    while (cur_pos < )
-
-    int drawn2 = 0;
     int final_idx = 0;
     if (!valid_points.isEmpty()) {
       for (int p = 0; p < MAX_UI_POINTS; p++) {
@@ -562,7 +544,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
         const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
         if (i >= acceleration.size()) break;
 
-        drawn2 += 1;
+        drawn += 1;
 
         // flip so 0 is bottom of frame
         float lin_grad_point = (height() - valid_points[i].y()) / height();
@@ -577,42 +559,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
         float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
         float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
         bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-  //      i += ((right_points.length() - drawn) > MAX_UI_POINTS ? fmax((right_points.length() - drawn) / MAX_UI_POINTS, 1) : 1);
         if (i == valid_points.length() - 1) break;
       }
       assert(final_idx == (valid_points.length() - 1));
-      assert(drawn2 <= MAX_UI_POINTS);
+      assert(drawn <= MAX_UI_POINTS);
-    }
+    }
-
-//    while (i < right_points.length()) {
-//      qDebug() << "i:" << i << "len points:" << right_points.length();
-//      const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-//      if (i >= acceleration.size()) break;
-//
-//      // Some points are out of frame
-//      if (right_points[i].y() < 0 || right_points[i].y() > height()) {
-//        i += 1;
-//        qDebug() << "skipping";
-//        continue;
-//      }
-//      drawn += 1;
-//
-//      // flip so 0 is bottom of frame
-//      float lin_grad_point = (height() - right_points[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 = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
-//      float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
-//      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-////      i += ((right_points.length() - drawn) > MAX_UI_POINTS ? fmax((right_points.length() - drawn) / MAX_UI_POINTS, 1) : 1);
-//      i += fmax((right_points.length() - drawn) / MAX_UI_POINTS, 1);
-//    }
-//    qDebug() << "total pts drawn:" << drawn;
 
   } else {
     bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));