From 1d78524b9d9c8aa62fb3193048271c1f9829f35a Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 7 Sep 2022 08:58:33 -0700
Subject: [PATCH] e2e long yellow path (#25679)

* yellow brick road

* live toggling

* path color from acceleration

* more yellow
old-commit-hash: a8134f226589675b2d1619bc6ed8b0d9c6a37ba7
---
 selfdrive/ui/qt/onroad.cc | 46 +++++++++++++++++++++++++++++----------
 selfdrive/ui/ui.cc        |  1 +
 selfdrive/ui/ui.h         |  2 +-
 3 files changed, 36 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 4414e602e6..3920453a47 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -459,19 +459,41 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // paint path
   QLinearGradient bg(0, height(), 0, height() / 4);
-  const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
-  float orientation_future = 0;
-  if (orientation.getZ().size() > 16) {
-    orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
+  float start_hue, end_hue;
+  if (scene.end_to_end_long) {
+    const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
+    float acceleration_future = 0;
+    if (acceleration.getZ().size() > 16) {
+      acceleration_future = acceleration.getX()[16];  // 2.5 seconds
+    }
+    start_hue = 60;
+    // speed up: 120, slow down: 0
+    end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0);
+
+    // FIXME: painter.drawPolygon can be slow if hue is not rounded
+    end_hue = int(end_hue * 100 + 0.5) / 100;
+
+    bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
+    bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
+    bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
+  } else {
+    const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
+    float orientation_future = 0;
+    if (orientation.getZ().size() > 16) {
+      orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
+    }
+    start_hue = 148;
+    // straight: 112, in turns: 70
+    end_hue = fmax(70, 112 - (orientation_future * 420));
+
+    // FIXME: painter.drawPolygon can be slow if hue is not rounded
+    end_hue = int(end_hue * 100 + 0.5) / 100;
+
+    bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.94, 0.51, 0.4));
+    bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
+    bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
   }
-  // straight: 112, in turns: 70
-  float curve_hue = fmax(70, 112 - (orientation_future * 420));
-  // FIXME: painter.drawPolygon can be slow if hue is not rounded
-  curve_hue = int(curve_hue * 100 + 0.5) / 100;
-
-  bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-  bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
-  bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
+
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices);
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 317ef497a5..b208945fe2 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -195,6 +195,7 @@ void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
   s->scene.map_on_left = params.getBool("NavSettingLeftSide");
+  s->scene.end_to_end_long = params.getBool("EndToEndLong");
 }
 
 void UIState::updateStatus() {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 16f78cdef4..08ae16ab24 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -101,7 +101,7 @@ typedef struct UIScene {
   QPointF lead_vertices[2];
 
   float light_sensor, accel_sensor, gyro_sensor;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long;
   uint64_t started_frame;
 } UIScene;