From e079751f79c5256b1881cb34d1a92d08faa128d7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 5 Nov 2022 15:05:30 -0700
Subject: [PATCH] ui: revert e2e path changes (#26382)

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

This reverts commit 0b385a5650c4e0b06eb83e44bdba3fcff117beeb.

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

This reverts commit d257e28479f49339e7f79491ff9d67e9ba034dfe.

* stronger colors

45
---
 selfdrive/ui/qt/onroad.cc | 17 +++++++++--------
 selfdrive/ui/qt/onroad.h  |  1 -
 selfdrive/ui/ui.cc        |  2 +-
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index c4e4beb76a..bfd2f44561 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/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;
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 1f6a49bf8c..7edca6b3d5 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/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
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 0198405769..945218ec11 100644
--- a/selfdrive/ui/ui.cc
+++ b/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",
   });