Visuals - Custom Onroad UI - Paths - Blind Spot

Show when a vehicle is detected in the blindspot.
FrogAi · Aug 6, 2024 · 61c75f0 · 61c75f0
1 parent 692fca7
commit 61c75f0
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Showing 4 changed files with 20 additions and 1 deletion.
diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -98,7 +98,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
     if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateral) and driving_gear:
       self.cem.update(carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles)
 
-    check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.lane_detection
+    check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
     if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
       self.lane_width_left = calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0])
       self.lane_width_right = calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1])

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -313,6 +313,23 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices);
 
+  // Paint blindspot path
+  if (scene.blind_spot_path) {
+    QLinearGradient bs(0, height(), 0, 0);
+
+    bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
+    bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
+    bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
+
+    painter.setBrush(bs);
+    if (blindSpotLeft) {
+      painter.drawPolygon(scene.track_adjacent_vertices[4]);
+    }
+    if (blindSpotRight) {
+      painter.drawPolygon(scene.track_adjacent_vertices[5]);
+    }
+  }
+
   // Paint adjacent lane paths
   if (scene.adjacent_path && (laneWidthLeft != 0 || laneWidthRight != 0)) {
     const float minLaneWidth = laneDetectionWidth * 0.5f;

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
@@ -312,6 +312,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
   scene.adjacent_path = custom_paths && params.getBool("AdjacentPath");
   scene.adjacent_path_metrics = scene.adjacent_path && params.getBool("AdjacentPathMetrics");
+  scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
   scene.compass = custom_onroad_ui && params.getBool("Compass");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");

diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
@@ -127,6 +127,7 @@ typedef struct UIScene {
   bool adjacent_path_metrics;
   bool always_on_lateral_active;
   bool blind_spot_left;
+  bool blind_spot_path;
   bool blind_spot_right;
   bool compass;
   bool conditional_experimental;