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UI: remove struct track_vertices_data (#20018)

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* remove struct track_vertices_data

* space

* rebase master
This commit is contained in:
Dean Lee 2021-02-08 19:06:14 +08:00 committed by GitHub
parent 2a935a2010
commit c2aefab553
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 10 additions and 18 deletions
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13
selfdrive/ui/paint.cc
View file

@ -125,12 +125,13 @@ static void draw_lead(UIState *s, int idx){
draw_chevron(s, x, y, sz, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
}
static void ui_draw_line(UIState *s, const vertex_data *v, const int cnt, NVGcolor *color, NVGpaint *paint) {
if (cnt == 0) return;
static void ui_draw_line(UIState *s, const line_vertices_data &vd, NVGcolor *color, NVGpaint *paint) {
if (vd.cnt == 0) return;
const vertex_data *v = &vd.v[0];
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, v[0].x, v[0].y);
for (int i = 1; i < cnt; i++) {
for (int i = 1; i < vd.cnt; i++) {
nvgLineTo(s->vg, v[i].x, v[i].y);
}
nvgClosePath(s->vg);
@ -178,19 +179,19 @@ static void ui_draw_vision_lane_lines(UIState *s) {
// paint lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene.lane_line_probs[i]);
ui_draw_line(s, scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt, &color, nullptr);
ui_draw_line(s, scene.lane_line_vertices[i], &color, nullptr);
}
// paint road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
ui_draw_line(s, scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt, &color, nullptr);
ui_draw_line(s, scene.road_edge_vertices[i], &color, nullptr);
}
// paint path
NVGpaint track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
ui_draw_line(s, scene.track_vertices.v, scene.track_vertices.cnt, nullptr, &track_bg);
ui_draw_line(s, scene.track_vertices, nullptr, &track_bg);
}
// Draw all world space objects.

3
selfdrive/ui/ui.cc
View file

@ -75,9 +75,8 @@ static void update_lead(UIState *s, const cereal::RadarState::Reader &radar_stat
}
}
template <class T>
static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
float y_off, float z_off, T *pvd, float max_distance) {
float y_off, float z_off, line_vertices_data *pvd, float max_distance) {
const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
int max_idx = -1;
vertex_data *v = &pvd->v[0];

12
selfdrive/ui/ui.hpp
View file

@ -58,9 +58,6 @@ const Rect home_btn = {60, 1080 - 180 - 40, 180, 180};
const int UI_FREQ = 20; // Hz
const int MODEL_PATH_MAX_VERTICES_CNT = TRAJECTORY_SIZE*2;
const int TRACK_POINTS_MAX_CNT = TRAJECTORY_SIZE*4;
typedef enum NetStatus {
NET_CONNECTED,
NET_DISCONNECTED,
@ -92,15 +89,10 @@ typedef struct {
} vertex_data;
typedef struct {
vertex_data v[MODEL_PATH_MAX_VERTICES_CNT];
vertex_data v[TRAJECTORY_SIZE * 2];
int cnt;
} line_vertices_data;
typedef struct {
vertex_data v[TRACK_POINTS_MAX_CNT];
int cnt;
} track_vertices_data;
typedef struct UIScene {
mat4 extrinsic_matrix; // Last row is 0 so we can use mat4.
@ -132,7 +124,7 @@ typedef struct UIScene {
// modelV2
float lane_line_probs[4];
float road_edge_stds[2];
track_vertices_data track_vertices;
line_vertices_data track_vertices;
line_vertices_data lane_line_vertices[4];
line_vertices_data road_edge_vertices[2];