From 9eddde3a359f2ccc8404ca3bdadede94dd0b1d27 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 16:57:47 +0800
Subject: [PATCH] ui: replace line_vertices_data with QPolygonF (#25001)

use QPolygonF

use push_front
---
 selfdrive/ui/qt/onroad.cc |  6 +++---
 selfdrive/ui/ui.cc        | 20 +++++++-------------
 selfdrive/ui/ui.h         | 12 ++++--------
 3 files changed, 14 insertions(+), 24 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7fbeb74c22a6ac..de48fb24ec7985 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -427,13 +427,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
+    painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
+    painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
   // paint path
@@ -452,7 +452,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
   bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
+  painter.drawPolygon(scene.track_vertices);
 
   painter.restore();
 }
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c9e3e3daa1f68b..e040db4e8f9a3b 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
 }
 
 static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
-                             float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) {
+                             float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
 
-  std::vector<QPointF> left_points, right_points;
+  QPolygonF left_points, right_points;
+  left_points.reserve(max_idx + 1);
+  right_points.reserve(max_idx + 1);
+
   for (int i = 0; i <= max_idx; i++) {
     QPointF left, right;
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
@@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
         continue;
       }
       left_points.push_back(left);
-      right_points.push_back(right);
+      right_points.push_front(right);
     }
   }
-
-  pvd->cnt = 2 * left_points.size();
-  assert(left_points.size() == right_points.size());
-  assert(pvd->cnt <= std::size(pvd->v));
-
-  for (int left_idx = 0; left_idx < left_points.size(); left_idx++){
-    int right_idx = 2 * left_points.size() - left_idx - 1;
-    pvd->v[left_idx] = left_points[left_idx];
-    pvd->v[right_idx] = right_points[left_idx];
-  }
+  *pvd = left_points + right_points;
 }
 
 static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index ae0f0546dcaf9a..6db296114d360b 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -8,6 +8,7 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
+#include <QPolygonF>
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
@@ -87,11 +88,6 @@ const QColor bg_colors [] = {
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
 };
 
-typedef struct {
-  QPointF v[TRAJECTORY_SIZE * 2];
-  int cnt;
-} line_vertices_data;
-
 typedef struct UIScene {
   mat3 view_from_calib;
   cereal::PandaState::PandaType pandaType;
@@ -99,9 +95,9 @@ typedef struct UIScene {
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];
-  line_vertices_data track_vertices;
-  line_vertices_data lane_line_vertices[4];
-  line_vertices_data road_edge_vertices[2];
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4];
+  QPolygonF road_edge_vertices[2];
 
   // lead
   QPointF lead_vertices[2];