Revert "draft"

This reverts commit 59db097611.

selfdrive/ui/qt/onroad.cc

@@ -531,67 +531,33 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
                  [&](const QPointF &point) { return point.y() >= 0 && point.y() <= height(); });
     qDebug() << "valid_points len:" << valid_points.length() << "right_points len:" << right_points.length();
 
-    float prev_y_pos = -1;
-    int drawn = 0;
-    for (int i = 0; i < right_points.length(); i++) {
-      const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-      if (i >= acceleration.size()) {qDebug() << "breaking"; break; };
-
-//      if (right_points[i].y() - prev_y_pos < 0.1) continue;
-
-      // Some points are out of frame
-      if (right_points[i].y() < 0 || right_points[i].y() > height()) continue;
-
-      // flip so 0 is bottom of frame
-      float lin_grad_point = (height() - right_points[i].y()) / height();
-      qDebug() << "lin_grad_point:" << lin_grad_point;
-
-//      if (lin_grad_point - prev_y_pos < 0.01) continue;
-      prev_y_pos = lin_grad_point;
-
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
-
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
-      float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-      drawn += 1;
-      qDebug() << "i:" << i << "len points:" << valid_points.length();
-
-//      if (i == valid_points.length() - 1) break;
+    int final_idx = 0;
+    if (!valid_points.isEmpty()) {
+      for (int p = 0; p < MAX_PATH_POINTS; p++) {
+        int i = (p / (MAX_PATH_POINTS - 1)) * (valid_points.length() - 1);
+        final_idx = i;
+
+        qDebug() << "i:" << i << "len points:" << valid_points.length();
+        const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+        if (i >= acceleration.size()) break;
+
+        // flip so 0 is bottom of frame
+        float lin_grad_point = (height() - valid_points[i].y()) / height();
+        qDebug() << "lin_grad_point:" << lin_grad_point;
+
+        // speed up: 120, slow down: 0
+        float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+        // FIXME: painter.drawPolygon can be slow if hue is not rounded
+        path_hue = int(path_hue * 100 + 0.5) / 100;
+
+        float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+        float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
+        float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
+        bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+        if (i == valid_points.length() - 1) break;
+      }
+      assert(final_idx == (valid_points.length() - 1));
     }
-    qDebug() << "drawn:" << drawn;
-
-//    int final_idx = 0;
-//    if (!valid_points.isEmpty()) {
-//      for (int p = 0; p < MAX_PATH_POINTS; p++) {
-//        int i = (p / (MAX_PATH_POINTS - 1)) * (valid_points.length() - 1);
-//        final_idx = i;
-//
-//        qDebug() << "i:" << i << "len points:" << valid_points.length();
-//        const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-//        if (i >= acceleration.size()) break;
-//
-//        // flip so 0 is bottom of frame
-//        float lin_grad_point = (height() - valid_points[i].y()) / height();
-//        qDebug() << "lin_grad_point:" << lin_grad_point;
-//
-//        // speed up: 120, slow down: 0
-//        float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-//        // FIXME: painter.drawPolygon can be slow if hue is not rounded
-//        path_hue = int(path_hue * 100 + 0.5) / 100;
-//
-//        float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-//        float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
-//        float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
-//        bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-//        if (i == valid_points.length() - 1) break;
-//      }
-//      assert(final_idx == (valid_points.length() - 1));
-//    }
 
   } else {
     bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));