From c2aefab55349df15613675acec6b68c8377245f5 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 8 Feb 2021 19:06:14 +0800
Subject: [PATCH] UI: remove struct track_vertices_data (#20018)

* remove struct track_vertices_data

* space

* rebase master
---
 selfdrive/ui/paint.cc | 13 +++++++------
 selfdrive/ui/ui.cc    |  3 +--
 selfdrive/ui/ui.hpp   | 12 ++----------
 3 files changed, 10 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 350a4124b..c0a069185 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -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.
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4a41113e8..d4bee2046 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -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];
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index cd3313980..f51ef9378 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -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];