UI 10x speedup with hardware antialias (#1787)

* enable MSAA, disable nvg antialias

* less opaque and clean up

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: b62da571b4

selfdrive/common/framebuffer.cc

@@ -102,6 +102,9 @@ extern "C" FramebufferState* framebuffer_init(
     EGL_DEPTH_SIZE,   0,
     EGL_STENCIL_SIZE, 8,
     EGL_RENDERABLE_TYPE, EGL_OPENGL_ES3_BIT_KHR,
+    // enable MSAA
+    EGL_SAMPLE_BUFFERS, 1,
+    EGL_SAMPLES, 4,
     EGL_NONE,
   };
 

selfdrive/ui/paint.cc

@@ -289,7 +289,7 @@ static inline bool valid_frame_pt(UIState *s, float x, float y) {
   return x >= 0 && x <= s->rgb_width && y >= 0 && y <= s->rgb_height;
 
 }
-static void update_lane_line_data(UIState *s, const float *points, float off, bool is_ghost, model_path_vertices_data *pvd, float valid_len) {
+static void update_lane_line_data(UIState *s, const float *points, float off, model_path_vertices_data *pvd, float valid_len) {
   pvd->cnt = 0;
   int rcount = fmin(MODEL_PATH_MAX_VERTICES_CNT / 2, valid_len);
   for (int i = 0; i < rcount; i++) {
@@ -305,7 +305,7 @@ static void update_lane_line_data(UIState *s, const float *points, float off, bo
   }
   for (int i = rcount; i > 0; i--) {
     float px = (float)i;
-    float py = is_ghost?(points[i]-off):(points[i]+off);
+    float py = points[i] + off;
     const vec4 p_car_space = (vec4){{px, py, 0., 1.}};
     const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
     if(!valid_frame_pt(s, p_full_frame.v[0], p_full_frame.v[1]))
@@ -317,16 +317,16 @@ static void update_lane_line_data(UIState *s, const float *points, float off, bo
 }
 
 static void update_all_lane_lines_data(UIState *s, const PathData &path, model_path_vertices_data *pstart) {
-  update_lane_line_data(s, path.points, 0.025*path.prob, false, pstart, path.validLen);
+  update_lane_line_data(s, path.points, 0.025*path.prob, pstart, path.validLen);
   float var = fmin(path.std, 0.7);
-  update_lane_line_data(s, path.points, -var, true, pstart + 1, path.validLen);
-  update_lane_line_data(s, path.points, var, true, pstart + 2, path.validLen);
+  update_lane_line_data(s, path.points, -var, pstart + 1, path.validLen);
+  update_lane_line_data(s, path.points, var, pstart + 2, path.validLen);
 }
 
 static void ui_draw_lane(UIState *s, const PathData *path, model_path_vertices_data *pstart, NVGcolor color) {
   ui_draw_lane_line(s, pstart, color);
   float var = fmin(path->std, 0.7);
-  color.a /= 4;
+  color.a /= 25;
   ui_draw_lane_line(s, pstart + 1, color);
   ui_draw_lane_line(s, pstart + 2, color);
 }
@@ -758,7 +758,7 @@ void ui_draw(UIState *s) {
   nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
   ui_draw_sidebar(s);
   if (s->started && s->active_app == cereal::UiLayoutState::App::NONE && s->status != STATUS_STOPPED && s->vision_seen) {
-      ui_draw_vision(s);
+    ui_draw_vision(s);
   }
   nvgEndFrame(s->vg);
   glDisable(GL_BLEND);
@@ -858,7 +858,13 @@ static const mat4 full_to_wide_frame_transform = {{
 
 void ui_nvg_init(UIState *s) {
   // init drawing
+#ifdef QCOM
+  // on QCOM, we enable MSAA
+  s->vg = nvgCreate(0);
+#else
   s->vg = nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+#endif
+
   assert(s->vg);
 
   s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");