From 998cd7fa204081c12f7211113044dfa254a9e24c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 14 Apr 2022 20:09:51 -0700
Subject: [PATCH] UI: new laneless design (#24169)

* stash

* Revert "stash"

This reverts commit f0019010e28ffb6d70b3c84666572f30c22077c9.

* new laneless ui

* clean up

* always draw lane lines

* no compensation

* make sure it's long enough

* debug time

* tune design

* tune design 2

* correct scaling with new updated curve hue

* debug time

* full test

* revert test

* move yellow back a bit
---
 selfdrive/ui/qt/onroad.cc | 48 +++++++++++++++++++++++++++------------
 selfdrive/ui/qt/onroad.h  |  2 +-
 2 files changed, 34 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index cf997ed953..8af6fbae30 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -304,23 +304,41 @@ void NvgWindow::updateFrameMat(int w, int h) {
       .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }
 
-void NvgWindow::drawLaneLines(QPainter &painter, const UIScene &scene) {
-  if (!scene.end_to_end) {
-    // lanelines
-    for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, scene.lane_line_probs[i]));
-      painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
-    }
-    // road edges
-    for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-      painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
-    }
+void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
+  const UIScene &scene = s->scene;
+  // lanelines
+  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
+  }
+
+  // road edges
+  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
   }
+
   // paint path
   QLinearGradient bg(0, height(), 0, height() / 4);
-  bg.setColorAt(0, scene.end_to_end ? redColor() : whiteColor());
-  bg.setColorAt(1, scene.end_to_end ? redColor(0) : whiteColor(0));
+  if (scene.end_to_end) {
+    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
+    }
+    // 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 / 1.5, QColor::fromHslF(148 / 360., 1.0, 0.5, 1.0));
+    bg.setColorAt(0.55 / 1.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.8));
+    bg.setColorAt(0.9 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.65, 0.6));
+    bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.65, 0.0));
+  } else {
+    bg.setColorAt(0, whiteColor());
+    bg.setColorAt(1, whiteColor(0));
+  }
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
 }
@@ -366,7 +384,7 @@ void NvgWindow::paintGL() {
     painter.setRenderHint(QPainter::Antialiasing);
     painter.setPen(Qt::NoPen);
 
-    drawLaneLines(painter, s->scene);
+    drawLaneLines(painter, s);
 
     if (s->scene.longitudinal_control) {
       auto leads = (*s->sm)["modelV2"].getModelV2().getLeadsV3();
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 90a62c8771..1d95fa49f8 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -74,7 +74,7 @@ protected:
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
   void updateFrameMat(int w, int h) override;
-  void drawLaneLines(QPainter &painter, const UIScene &scene);
+  void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
   inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }