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ui: minor e2e path tweaks (#26351)

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* new e2e path

* clean up

* fix

* 2.5 seconds feels disjointed
old-commit-hash: d257e28479
taco
Shane Smiskol 3 years ago committed by GitHub
parent e20020053d
commit de1abf9e42
2 changed files with 9 additions and 9 deletions
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  1. 17
      selfdrive/ui/qt/onroad.cc
  2. 1
      selfdrive/ui/qt/onroad.h

17
selfdrive/ui/qt/onroad.cc
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@ -170,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
} }
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { 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) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"}); pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@ -463,19 +463,18 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
if (scene.end_to_end_long) { if (scene.end_to_end_long) {
const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
float acceleration_future = 0; float acceleration_future = 0;
if (acceleration.getZ().size() > 16) { if (acceleration.getZ().size() > 10) {
acceleration_future = acceleration.getX()[16]; // 2.5 seconds acceleration_future = acceleration.getX()[10]; // 1.0 second
} }
start_hue = 60; // speed up: 148, slow down: 0
// speed up: 120, slow down: 0 start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0);
end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0);
// FIXME: painter.drawPolygon can be slow if hue is not rounded // FIXME: painter.drawPolygon can be slow if hue is not rounded
end_hue = int(end_hue * 100 + 0.5) / 100; start_hue = int(start_hue * 100 + 0.5) / 100;
bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); bg.setColorAt(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0));
} else { } else {
const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
float orientation_future = 0; float orientation_future = 0;

1
selfdrive/ui/qt/onroad.h
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@ -87,6 +87,7 @@ protected:
double prev_draw_t = 0; double prev_draw_t = 0;
FirstOrderFilter fps_filter; FirstOrderFilter fps_filter;
FirstOrderFilter accel_filter;
}; };
// container for all onroad widgets // container for all onroad widgets

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