UI: move rest of NVG to Qt (#23133)
* move ui_draw_world to qt * draw world if world_objects_visible is true * cleanup * cleanup includes * continue * cleanup * cleanup * enable multisampling on all devicespull/23147/head
Dean Lee
4 years ago
committed by
GitHub
parent
5e20a46db6
commit
20f571db3c
11 changed files with 126 additions and 223 deletions
@ -1,175 +0,0 @@ |
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#include "selfdrive/ui/paint.h" |
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#include <cassert> |
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#ifdef __APPLE__ |
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#include <OpenGL/gl3.h> |
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#define NANOVG_GL3_IMPLEMENTATION |
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#define nvgCreate nvgCreateGL3 |
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#else |
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#include <GLES3/gl3.h> |
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#define NANOVG_GLES3_IMPLEMENTATION |
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#define nvgCreate nvgCreateGLES3 |
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#endif |
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#define NANOVG_GLES3_IMPLEMENTATION |
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#include <nanovg_gl.h> |
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#include <nanovg_gl_utils.h> |
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#include "selfdrive/hardware/hw.h" |
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static void draw_chevron(UIState *s, float x, float y, float sz, NVGcolor fillColor, NVGcolor glowColor) { |
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// glow
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float g_xo = sz/5; |
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float g_yo = sz/10; |
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nvgBeginPath(s->vg); |
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nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo); |
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nvgLineTo(s->vg, x, y-g_xo); |
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nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo); |
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nvgClosePath(s->vg); |
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nvgFillColor(s->vg, glowColor); |
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nvgFill(s->vg); |
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// chevron
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nvgBeginPath(s->vg); |
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nvgMoveTo(s->vg, x+(sz*1.25), y+sz); |
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nvgLineTo(s->vg, x, y); |
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nvgLineTo(s->vg, x-(sz*1.25), y+sz); |
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nvgClosePath(s->vg); |
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nvgFillColor(s->vg, fillColor); |
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nvgFill(s->vg); |
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} |
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static void draw_lead(UIState *s, const cereal::RadarState::LeadData::Reader &lead_data, const vertex_data &vd) { |
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// Draw lead car indicator
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auto [x, y] = vd; |
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float fillAlpha = 0; |
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float speedBuff = 10.; |
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float leadBuff = 40.; |
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float d_rel = lead_data.getDRel(); |
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float v_rel = lead_data.getVRel(); |
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if (d_rel < leadBuff) { |
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fillAlpha = 255*(1.0-(d_rel/leadBuff)); |
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if (v_rel < 0) { |
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fillAlpha += 255*(-1*(v_rel/speedBuff)); |
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} |
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fillAlpha = (int)(fmin(fillAlpha, 255)); |
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} |
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float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; |
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x = std::clamp(x, 0.f, s->fb_w - sz / 2); |
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y = std::fmin(s->fb_h - sz * .6, y); |
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draw_chevron(s, x, y, sz, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW); |
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} |
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static void ui_draw_line(UIState *s, const line_vertices_data &vd, NVGcolor *color, NVGpaint *paint) { |
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if (vd.cnt == 0) return; |
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const vertex_data *v = &vd.v[0]; |
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nvgBeginPath(s->vg); |
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nvgMoveTo(s->vg, v[0].x, v[0].y); |
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for (int i = 1; i < vd.cnt; i++) { |
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nvgLineTo(s->vg, v[i].x, v[i].y); |
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} |
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nvgClosePath(s->vg); |
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if (color) { |
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nvgFillColor(s->vg, *color); |
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} else if (paint) { |
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nvgFillPaint(s->vg, *paint); |
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} |
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nvgFill(s->vg); |
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} |
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static void ui_draw_vision_lane_lines(UIState *s) { |
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const UIScene &scene = s->scene; |
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NVGpaint track_bg; |
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if (!scene.end_to_end) { |
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// paint lanelines
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for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { |
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NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene.lane_line_probs[i]); |
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ui_draw_line(s, scene.lane_line_vertices[i], &color, nullptr); |
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} |
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// paint road edges
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for (int i = 0; i < std::size(scene.road_edge_vertices); i++) { |
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NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)); |
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ui_draw_line(s, scene.road_edge_vertices[i], &color, nullptr); |
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} |
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track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4, |
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COLOR_WHITE, COLOR_WHITE_ALPHA(0)); |
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} else { |
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track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4, |
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COLOR_RED, COLOR_RED_ALPHA(0)); |
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} |
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// paint path
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ui_draw_line(s, scene.track_vertices, nullptr, &track_bg); |
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} |
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// Draw all world space objects.
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static void ui_draw_world(UIState *s) { |
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nvgScissor(s->vg, 0, 0, s->fb_w, s->fb_h); |
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// Draw lane edges and vision/mpc tracks
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ui_draw_vision_lane_lines(s); |
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// Draw lead indicators if openpilot is handling longitudinal
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if (s->scene.longitudinal_control) { |
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auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); |
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auto lead_two = (*s->sm)["radarState"].getRadarState().getLeadTwo(); |
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if (lead_one.getStatus()) { |
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draw_lead(s, lead_one, s->scene.lead_vertices[0]); |
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} |
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if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) { |
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draw_lead(s, lead_two, s->scene.lead_vertices[1]); |
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} |
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} |
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nvgResetScissor(s->vg); |
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} |
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static void ui_draw_vision(UIState *s) { |
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const UIScene *scene = &s->scene; |
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// Draw augmented elements
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if (scene->world_objects_visible) { |
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ui_draw_world(s); |
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} |
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} |
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void ui_draw(UIState *s, int w, int h) { |
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// Update intrinsics matrix after possible wide camera toggle change
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if (s->fb_w != w || s->fb_h != h) { |
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ui_resize(s, w, h); |
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} |
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glEnable(GL_BLEND); |
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); |
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nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f); |
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ui_draw_vision(s); |
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nvgEndFrame(s->vg); |
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glDisable(GL_BLEND); |
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} |
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void ui_nvg_init(UIState *s) { |
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// on EON, we enable MSAA
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s->vg = Hardware::EON() ? nvgCreate(0) : nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG); |
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assert(s->vg); |
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} |
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void ui_resize(UIState *s, int width, int height) { |
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s->fb_w = width; |
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s->fb_h = height; |
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auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; |
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float zoom = ZOOM / intrinsic_matrix.v[0]; |
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if (s->wide_camera) { |
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zoom *= 0.5; |
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} |
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// Apply transformation such that video pixel coordinates match video
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// 1) Put (0, 0) in the middle of the video
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// 2) Apply same scaling as video
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// 3) Put (0, 0) in top left corner of video
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s->car_space_transform.reset(); |
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s->car_space_transform.translate(width / 2, height / 2 + y_offset) |
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.scale(zoom, zoom) |
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.translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); |
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} |
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@ -1,8 +0,0 @@ |
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#pragma once |
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#include "selfdrive/ui/ui.h" |
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void ui_draw(UIState *s, int w, int h); |
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void ui_nvg_init(UIState *s); |
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void ui_resize(UIState *s, int width, int height); |
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void ui_update_params(UIState *s); |
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