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Remove redundant code (commaai#1361)
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* changing the coordinate system only once

* remove white space

* remove white space

* s->scene. to  scene->

* whitespace
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@deanlee
deanlee authored Apr 17, 2020
1 parent 24495a2 commit 3e2e241
Showing 1 changed file with 56 additions and 86 deletions.
142 changes: 56 additions & 86 deletions selfdrive/ui/paint.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -59,94 +59,75 @@ static float lerp(float v0, float v1, float t) {

static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
NVGcolor fillColor, NVGcolor glowColor) {
const UIScene *scene = &s->scene;

nvgSave(s->vg);

nvgTranslate(s->vg, 240.0f, 0.0);
nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2);
nvgScale(s->vg, 2.0, 2.0);
nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);

const vec4 p_car_space = (vec4){{x_in, y_in, 0., 1.}};
const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);

float x = p_full_frame.v[0];
float y = p_full_frame.v[1];
if (x < 0 || y < 0.){
return;
}

sz *= 30;
sz /= (x_in / 3 + 30);
if (sz > 30) sz = 30;
if (sz < 15) sz = 15;

float x = p_full_frame.v[0];
float y = p_full_frame.v[1];


// glow
nvgBeginPath(s->vg);
float g_xo = sz/5;
float g_yo = sz/10;
if (x >= 0 && y >= 0.) {
nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
nvgLineTo(s->vg, x, y-g_xo);
nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo);
nvgClosePath(s->vg);
}
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
nvgLineTo(s->vg, x, y-g_xo);
nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo);
nvgClosePath(s->vg);
nvgFillColor(s->vg, glowColor);
nvgFill(s->vg);

// chevron
nvgBeginPath(s->vg);
if (x >= 0 && y >= 0.) {
nvgMoveTo(s->vg, x+(sz*1.25), y+sz);
nvgLineTo(s->vg, x, y);
nvgLineTo(s->vg, x-(sz*1.25), y+sz);
nvgClosePath(s->vg);
}
nvgMoveTo(s->vg, x+(sz*1.25), y+sz);
nvgLineTo(s->vg, x, y);
nvgLineTo(s->vg, x-(sz*1.25), y+sz);
nvgClosePath(s->vg);
nvgFillColor(s->vg, fillColor);
nvgFill(s->vg);

nvgRestore(s->vg);
}

static void draw_lead(UIState *s, float d_rel, float v_rel, float y_rel){
// Draw lead car indicator
float fillAlpha = 0;
float speedBuff = 10.;
float leadBuff = 40.;
if (d_rel < leadBuff) {
fillAlpha = 255*(1.0-(d_rel/leadBuff));
if (v_rel < 0) {
fillAlpha += 255*(-1*(v_rel/speedBuff));
}
fillAlpha = (int)(fmin(fillAlpha, 255));
// Draw lead car indicator
float fillAlpha = 0;
float speedBuff = 10.;
float leadBuff = 40.;
if (d_rel < leadBuff) {
fillAlpha = 255*(1.0-(d_rel/leadBuff));
if (v_rel < 0) {
fillAlpha += 255*(-1*(v_rel/speedBuff));
}
draw_chevron(s, d_rel, y_rel, 25,
nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
fillAlpha = (int)(fmin(fillAlpha, 255));
}
draw_chevron(s, d_rel, y_rel, 25, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
}

static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) {
nvgSave(s->vg);
nvgTranslate(s->vg, 240.0f, 0.0); // rgb-box space
nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); // zoom 2x
nvgScale(s->vg, 2.0, 2.0);
nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);
nvgBeginPath(s->vg);

bool started = false;
for (int i=0; i<pvd->cnt; i++) {
if (pvd->v[i].x < 0 || pvd->v[i].y < 0.) {
float x = pvd->v[i].x;
float y = pvd->v[i].y;
if (x < 0 || y < 0.) {
continue;
}
if (!started) {
nvgMoveTo(s->vg, pvd->v[i].x, pvd->v[i].y);
nvgMoveTo(s->vg, x, y);
started = true;
} else {
nvgLineTo(s->vg, pvd->v[i].x, pvd->v[i].y);
nvgLineTo(s->vg, x, y);
}
}

nvgClosePath(s->vg);
nvgFillColor(s->vg, color);
nvgFill(s->vg);
nvgRestore(s->vg);
}

static void update_track_data(UIState *s, bool is_mpc, track_vertices_data *pvd) {
Expand Down Expand Up @@ -216,37 +197,21 @@ static void update_all_track_data(UIState *s) {


static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
const UIScene *scene = &s->scene;
const PathData path = scene->model.path;
const float *mpc_x_coords = &scene->mpc_x[0];
const float *mpc_y_coords = &scene->mpc_y[0];

nvgSave(s->vg);
nvgTranslate(s->vg, 240.0f, 0.0); // rgb-box space
nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); // zoom 2x
nvgScale(s->vg, 2.0, 2.0);
nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);
nvgBeginPath(s->vg);

bool started = false;
float off = is_mpc?0.3:0.5;
float lead_d = scene->lead_d_rel*2.;
float path_height = is_mpc?(lead_d>5.)?fmin(lead_d, 25.)-fmin(lead_d*0.35, 10.):20.
:(lead_d>0.)?fmin(lead_d, 50.)-fmin(lead_d*0.35, 10.):49.;
int vi = 0;
for(int i = 0;i < pvd->cnt;i++) {
if (pvd->v[i].x < 0 || pvd->v[i].y < 0) {
float x = pvd->v[i].x;
float y = pvd->v[i].y;
if (x < 0 || y < 0) {
continue;
}

if (!started) {
nvgMoveTo(s->vg, pvd->v[i].x, pvd->v[i].y);
nvgMoveTo(s->vg, x, y);
started = true;
} else {
nvgLineTo(s->vg, pvd->v[i].x, pvd->v[i].y);
nvgLineTo(s->vg, x, y);
}
}

nvgClosePath(s->vg);

NVGpaint track_bg;
Expand All @@ -260,10 +225,8 @@ static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
}

nvgFillPaint(s->vg, track_bg);
nvgFill(s->vg);
nvgRestore(s->vg);
}

static void draw_steering(UIState *s, float curvature) {
Expand Down Expand Up @@ -397,6 +360,21 @@ static void ui_draw_world(UIState *s) {
return;
}

const int inner_height = viz_w*9/16;
const int ui_viz_rx = scene->ui_viz_rx;
const int ui_viz_rw = scene->ui_viz_rw;
const int ui_viz_ro = scene->ui_viz_ro;

nvgSave(s->vg);
nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);

nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
nvgTranslate(s->vg, 240.0f, 0.0);
nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2);
nvgScale(s->vg, 2.0, 2.0);
nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);

// Draw lane edges and vision/mpc tracks
ui_draw_vision_lanes(s);

Expand All @@ -406,6 +384,7 @@ static void ui_draw_world(UIState *s) {
if ((scene->lead_status2) && (fabs(scene->lead_d_rel - scene->lead_d_rel2) > 3.0)) {
draw_lead(s, scene->lead_d_rel2, scene->lead_v_rel2, scene->lead_y_rel2);
}
nvgRestore(s->vg);
}

static void ui_draw_vision_maxspeed(UIState *s) {
Expand Down Expand Up @@ -907,35 +886,26 @@ static void ui_draw_vision(UIState *s) {
glClear(GL_STENCIL_BUFFER_BIT);

nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
nvgSave(s->vg);

// Draw augmented elements
const int inner_height = viz_w*9/16;
nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
if (!scene->frontview && !scene->fullview) {
ui_draw_world(s);
}

nvgRestore(s->vg);

// Set Speed, Current Speed, Status/Events
if (!scene->frontview) {
ui_draw_vision_header(s);
} else {
ui_draw_driver_view(s);
}

if (s->scene.alert_size != ALERTSIZE_NONE) {
if (scene->alert_size != ALERTSIZE_NONE) {
// Controls Alerts
ui_draw_vision_alert(s, s->scene.alert_size, s->status,
s->scene.alert_text1, s->scene.alert_text2);
ui_draw_vision_alert(s, scene->alert_size, s->status,
scene->alert_text1, scene->alert_text2);
} else {
if (!scene->frontview){ui_draw_vision_footer(s);}
}


nvgEndFrame(s->vg);
glDisable(GL_BLEND);
}
Expand Down

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