ui: smooth transition of path colors on AllowThrottle state changes (#…

…33766)

* smooth transition of path colors on AllowThrottle state changes

* Invert blend factor when the state changes mid-animation

selfdrive/ui/qt/onroad/model.cc

@@ -135,15 +135,57 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
  }
 
  } else {
- bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
- bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
- bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
+ updatePathGradient(bg);
  }
 
  painter.setBrush(bg);
  painter.drawPolygon(track_vertices);
 }
 
+void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
+ static const QColor throttle_colors[] = {
+ QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
+ QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
+ QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
+
+ static const QColor no_throttle_colors[] = {
+ QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
+ QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
+ QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
+ };
+
+ // Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
+ constexpr float transition_speed = 0.1f;
+
+ // Start transition if throttle state changes
+ bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle();
+ if (allow_throttle != prev_allow_throttle) {
+ prev_allow_throttle = allow_throttle;
+ // Invert blend factor for a smooth transition when the state changes mid-animation
+ blend_factor = std::max(1.0f - blend_factor, 0.0f);
+ }
+
+ const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
+ const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
+ if (blend_factor < 1.0f) {
+ blend_factor = std::min(blend_factor + transition_speed, 1.0f);
+ }
+
+ // Set gradient colors by blending the start and end colors
+ bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
+ bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
+ bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
+}
+
+QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
+ if (t == 1.0f) return end;
+ return QColor::fromRgbF(
+ (1 - t) * start.redF() + t * end.redF(),
+ (1 - t) * start.greenF() + t * end.greenF(),
+ (1 - t) * start.blueF() + t * end.blueF(),
+ (1 - t) * start.alphaF() + t * end.alphaF());
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
  const QPointF &vd, const QRect &surface_rect) {
  const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -20,9 +20,13 @@ class ModelRenderer {
  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+ void updatePathGradient(QLinearGradient &bg);
+ QColor blendColors(const QColor &start, const QColor &end, float t);
 
  bool longitudinal_control = false;
  bool experimental_mode = false;
+ float blend_factor = 1.0f;
+ bool prev_allow_throttle = false;
  float lane_line_probs[4] = {};
  float road_edge_stds[2] = {};
  QPolygonF track_vertices;

selfdrive/ui/ui.cc

@@ -93,7 +93,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
  sm = std::make_unique<SubMaster>(std::vector<const char*>{
  "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
  "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
- "wideRoadCameraState", "managerState", "selfdriveState",
+ "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
  });
  prime_state = new PrimeState(this);
  language = QString::fromStdString(Params().get("LanguageSetting"));