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250 lines
10 KiB
250 lines
10 KiB
#include "selfdrive/ui/qt/onroad/model.h"
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constexpr int CLIP_MARGIN = 500;
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constexpr float MIN_DRAW_DISTANCE = 10.0;
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constexpr float MAX_DRAW_DISTANCE = 100.0;
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static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
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const auto &line_x = line.getX();
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int max_idx = 0;
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for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
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max_idx = i;
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}
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return max_idx;
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}
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void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
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auto *s = uiState();
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auto &sm = *(s->sm);
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// Check if data is up-to-date
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if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
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sm.rcv_frame("modelV2") < s->scene.started_frame) {
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return;
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}
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clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
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experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
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longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
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path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
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painter.save();
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const auto &model = sm["modelV2"].getModelV2();
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const auto &radar_state = sm["radarState"].getRadarState();
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const auto &lead_one = radar_state.getLeadOne();
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update_model(model, lead_one);
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drawLaneLines(painter);
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drawPath(painter, model, surface_rect.height());
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if (longitudinal_control && sm.alive("radarState")) {
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update_leads(radar_state, model.getPosition());
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const auto &lead_two = radar_state.getLeadTwo();
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if (lead_one.getStatus()) {
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drawLead(painter, lead_one, lead_vertices[0], surface_rect);
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}
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if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
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drawLead(painter, lead_two, lead_vertices[1], surface_rect);
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}
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}
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painter.restore();
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}
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void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
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for (int i = 0; i < 2; ++i) {
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const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
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if (lead_data.getStatus()) {
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float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
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mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &lead_vertices[i]);
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}
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}
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}
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void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
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const auto &model_position = model.getPosition();
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float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
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// update lane lines
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const auto &lane_lines = model.getLaneLines();
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const auto &line_probs = model.getLaneLineProbs();
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int max_idx = get_path_length_idx(lane_lines[0], max_distance);
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for (int i = 0; i < std::size(lane_line_vertices); i++) {
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lane_line_probs[i] = line_probs[i];
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mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
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}
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// update road edges
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const auto &road_edges = model.getRoadEdges();
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const auto &edge_stds = model.getRoadEdgeStds();
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for (int i = 0; i < std::size(road_edge_vertices); i++) {
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road_edge_stds[i] = edge_stds[i];
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mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
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}
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// update path
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if (lead.getStatus()) {
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const float lead_d = lead.getDRel() * 2.;
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max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
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}
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max_idx = get_path_length_idx(model_position, max_distance);
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mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
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}
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void ModelRenderer::drawLaneLines(QPainter &painter) {
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// lanelines
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for (int i = 0; i < std::size(lane_line_vertices); ++i) {
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painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
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painter.drawPolygon(lane_line_vertices[i]);
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}
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// road edges
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for (int i = 0; i < std::size(road_edge_vertices); ++i) {
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painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
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painter.drawPolygon(road_edge_vertices[i]);
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}
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}
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void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
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QLinearGradient bg(0, height, 0, 0);
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if (experimental_mode) {
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// The first half of track_vertices are the points for the right side of the path
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const auto &acceleration = model.getAcceleration().getX();
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const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
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for (int i = 0; i < max_len; ++i) {
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// Some points are out of frame
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int track_idx = max_len - i - 1; // flip idx to start from bottom right
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if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
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// Flip so 0 is bottom of frame
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float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
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// speed up: 120, slow down: 0
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float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
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// FIXME: painter.drawPolygon can be slow if hue is not rounded
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path_hue = int(path_hue * 100 + 0.5) / 100;
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float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
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float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
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float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
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bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
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// Skip a point, unless next is last
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i += (i + 2) < max_len ? 1 : 0;
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}
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} else {
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updatePathGradient(bg);
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}
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painter.setBrush(bg);
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painter.drawPolygon(track_vertices);
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}
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void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
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static const QColor throttle_colors[] = {
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QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
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QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
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QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
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static const QColor no_throttle_colors[] = {
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QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
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QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
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QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
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};
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// Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
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constexpr float transition_speed = 0.1f;
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// Start transition if throttle state changes
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bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle() || !longitudinal_control;
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if (allow_throttle != prev_allow_throttle) {
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prev_allow_throttle = allow_throttle;
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// Invert blend factor for a smooth transition when the state changes mid-animation
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blend_factor = std::max(1.0f - blend_factor, 0.0f);
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}
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const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
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const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
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if (blend_factor < 1.0f) {
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blend_factor = std::min(blend_factor + transition_speed, 1.0f);
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}
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// Set gradient colors by blending the start and end colors
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bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
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bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
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bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
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}
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QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
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if (t == 1.0f) return end;
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return QColor::fromRgbF(
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(1 - t) * start.redF() + t * end.redF(),
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(1 - t) * start.greenF() + t * end.greenF(),
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(1 - t) * start.blueF() + t * end.blueF(),
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(1 - t) * start.alphaF() + t * end.alphaF());
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}
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void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
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const QPointF &vd, const QRect &surface_rect) {
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const float speedBuff = 10.;
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const float leadBuff = 40.;
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const float d_rel = lead_data.getDRel();
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const float v_rel = lead_data.getVRel();
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float fillAlpha = 0;
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if (d_rel < leadBuff) {
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fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
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if (v_rel < 0) {
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fillAlpha += 255 * (-1 * (v_rel / speedBuff));
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}
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fillAlpha = (int)(fmin(fillAlpha, 255));
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}
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float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
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float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
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float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
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float g_xo = sz / 5;
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float g_yo = sz / 10;
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QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
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painter.setBrush(QColor(218, 202, 37, 255));
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painter.drawPolygon(glow, std::size(glow));
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// chevron
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QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
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painter.setBrush(QColor(201, 34, 49, fillAlpha));
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painter.drawPolygon(chevron, std::size(chevron));
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}
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// Projects a point in car to space to the corresponding point in full frame image space.
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bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
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Eigen::Vector3f input(in_x, in_y, in_z);
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auto pt = car_space_transform * input;
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*out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
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return clip_region.contains(*out);
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}
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void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
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QPolygonF *pvd, int max_idx, bool allow_invert) {
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const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
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QPointF left, right;
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pvd->clear();
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for (int i = 0; i <= max_idx; i++) {
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// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
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if (line_x[i] < 0) continue;
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bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
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bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
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if (l && r) {
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// For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
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if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
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continue;
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}
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pvd->push_back(left);
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pvd->push_front(right);
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}
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}
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}
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