tici driverview support (#20223)

* add tici support and clean up

* not exactly 4/3

* keep c2 style

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/ui/paint.cc

@@ -263,19 +263,22 @@ static void ui_draw_vision_face(UIState *s) {
 static void ui_draw_driver_view(UIState *s) {
   s->sidebar_collapsed = true;
   const bool is_rhd = s->scene.is_rhd;
-  const int width = 3 * s->viz_rect.w / 4;
+  const int width = 4 * s->viz_rect.h / 3;
   const Rect rect = {s->viz_rect.centerX() - width / 2, s->viz_rect.y, width, s->viz_rect.h};  // x, y, w, h
   const Rect valid_rect = {is_rhd ? rect.right() - rect.h / 2 : rect.x, rect.y, rect.h / 2, rect.h};
 
   // blackout
-  const int blackout_x = is_rhd ? rect.x : valid_rect.right();
+  const int blackout_x_r = valid_rect.right();
-  const int blackout_w = rect.w - valid_rect.w;
+#ifndef QCOM2
-  NVGpaint gradient = nvgLinearGradient(s->vg, blackout_x, rect.y, blackout_x + blackout_w, rect.y,
+  const int blackout_w_r = rect.right() - valid_rect.right();
-                                        COLOR_BLACK_ALPHA(is_rhd ? 255 : 0), COLOR_BLACK_ALPHA(is_rhd ? 0 : 255));
+  const int blackout_x_l = rect.x;
-  ui_fill_rect(s->vg, {blackout_x, rect.y, blackout_w, rect.h}, gradient);
+#else
-  ui_fill_rect(s->vg, {blackout_x, rect.y, blackout_w, rect.h}, COLOR_BLACK_ALPHA(144));
+  const int blackout_w_r = s->viz_rect.right() - valid_rect.right();
-  // border
+  const int blackout_x_l = s->viz_rect.x;
-  ui_draw_rect(s->vg, rect, bg_colors[STATUS_OFFROAD], 1);
+#endif
+  const int blackout_w_l = valid_rect.x - blackout_x_l;
+  ui_fill_rect(s->vg, {blackout_x_l, rect.y, blackout_w_l, rect.h}, COLOR_BLACK_ALPHA(144));
+  ui_fill_rect(s->vg, {blackout_x_r, rect.y, blackout_w_r, rect.h}, COLOR_BLACK_ALPHA(144));
 
   const bool face_detected = s->scene.driver_state.getFaceProb() > 0.4;
   if (face_detected) {
@@ -494,13 +497,32 @@ static const mat4 device_transform = {{
   0.0,  0.0, 0.0, 1.0,
 }};
 
+static const float driver_view_ratio = 1.333;
+#ifndef QCOM2
 // frame from 4/3 to 16/9 display
-static const mat4 full_to_wide_frame_transform = {{
+static const mat4 driver_view_transform = {{
-  .75,  0.0, 0.0, 0.0,
+  driver_view_ratio*(1080-2*bdr_s)/(1920-2*bdr_s),  0.0, 0.0, 0.0,
   0.0,  1.0, 0.0, 0.0,
   0.0,  0.0, 1.0, 0.0,
   0.0,  0.0, 0.0, 1.0,
 }};
+#else
+// from dmonitoring.cc
+static const int full_width_tici = 1928;
+static const int full_height_tici = 1208;
+static const int adapt_width_tici = 668;
+static const int crop_x_offset = 32;
+static const int crop_y_offset = -196;
+static const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
+static const float xscale = yscale*(1080-2*bdr_s)/(2160-2*bdr_s)*full_width_tici/full_height_tici;
+
+static const mat4 driver_view_transform = {{
+  xscale,  0.0, 0.0, xscale*crop_x_offset/full_width_tici*2,
+  0.0,  yscale, 0.0, yscale*crop_y_offset/full_height_tici*2,
+  0.0,  0.0, 1.0, 0.0,
+  0.0,  0.0, 0.0, 1.0,
+}};
+#endif
 
 void ui_nvg_init(UIState *s) {
   // init drawing
@@ -606,7 +628,7 @@ void ui_nvg_init(UIState *s) {
     0.0, 0.0, 0.0, 1.0,
   }};
 
-  s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
+  s->front_frame_mat = matmul(device_transform, driver_view_transform);
   s->rear_frame_mat = matmul(device_transform, frame_transform);
 
   // Apply transformation such that video pixel coordinates match video