ui: revert e2e path changes (#26382)

* Revert "ui: fade to default path color when inactive (#26375)"

This reverts commit 73bff7b2a9f0b49969bf2134393383fe5faa065d.

* Revert "ui: minor e2e path tweaks (#26351)"

This reverts commit d0f80298a6491d22ac67f1eea27b9cc57c8f22bb.

* stronger colors

45
old-commit-hash: e079751f79

selfdrive/ui/qt/onroad.cc

@@ -170,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 }
 
 
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+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"});
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@@ -463,18 +463,19 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (scene.end_to_end_long) {
     const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
     float acceleration_future = 0;
-    if (acceleration.getZ().size() > 10 && (*s->sm)["carControl"].getCarControl().getLongActive()) {
-      acceleration_future = acceleration.getX()[10];  // 1.0 second
+    if (acceleration.getZ().size() > 16) {
+      acceleration_future = acceleration.getX()[16];  // 2.5 seconds
     }
-    // speed up: 148, slow down: 0
-    start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0);
+    start_hue = 60;
+    // speed up: 120, slow down: 0
+    end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0);
 
     // FIXME: painter.drawPolygon can be slow if hue is not rounded
-    start_hue = int(start_hue * 100 + 0.5) / 100;
+    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(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0));
+    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;

selfdrive/ui/qt/onroad.h

@@ -87,7 +87,6 @@ protected:
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
-  FirstOrderFilter accel_filter;
 };
 
 // container for all onroad widgets

selfdrive/ui/ui.cc

@@ -214,7 +214,7 @@ void UIState::updateStatus() {
 
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
-    "modelV2", "carControl", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
+    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman",
     "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
   });