From 396576cd015501afe842b8d7ed3f8d135b6be210 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 May 2025 13:58:07 +0800
Subject: [PATCH] Rainbow Path - init

---
 common/params_keys.h                |  1 +
 selfdrive/ui/qt/offroad/dp_panel.cc |  5 +++++
 selfdrive/ui/qt/onroad/model.cc     | 34 ++++++++++++++++++++++++++++-
 selfdrive/ui/qt/onroad/model.h      |  3 +++
 selfdrive/ui/ui.cc                  |  1 +
 selfdrive/ui/ui.h                   |  1 +
 system/manager/manager.py           |  1 +
 7 files changed, 45 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index b576f1a97..30b9e5d4c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -119,4 +119,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
     {"dp_device_last_log", CLEAR_ON_MANAGER_START},
     {"dp_device_reset_conf", CLEAR_ON_MANAGER_START},
+    {"dp_ui_rainbow", PERSISTENT},
 };
diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc
index 548b02be5..b1c0d36b9 100644
--- a/selfdrive/ui/qt/offroad/dp_panel.cc
+++ b/selfdrive/ui/qt/offroad/dp_panel.cc
@@ -172,6 +172,11 @@ void DPPanel::add_ui_toggles() {
       QString::fromUtf8("🐉 ") + tr("UI"),
       "",
     },
+    {
+      "dp_ui_rainbow",
+      tr("Rainbow Driving Path like Tesla"),
+      tr("Why not?"),
+    },
   };
 
   QWidget *label = nullptr;
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 52902abdc..5dc6117cc 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -107,7 +107,39 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
 
 void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
   QLinearGradient bg(0, height, 0, 0);
-  if (experimental_mode) {
+
+  auto *s = uiState();
+  if (s->scene.dp_ui_rainbow) {
+    constexpr int NUM_COLORS = 25;
+    constexpr int ALPHA = 128;
+
+    float v_ego = (*uiState()->sm)["carState"].getCarState().getVEgo();
+
+    if (!dp_rainbow_init) {
+      dp_rainbow_color_list.reserve(NUM_COLORS);
+      for (int i = 0; i < NUM_COLORS; ++i) {
+        qreal t = static_cast<qreal>(i) / (NUM_COLORS - 1);
+        dp_rainbow_color_list.append(QColor::fromHsvF(t, 1.0, 1.0, ALPHA / 255.0));
+      }
+      dp_rainbow_init = true;
+    }
+    bg.setSpread(QGradient::RepeatSpread);
+    // bigger = faster, however it is still limited to the global UI_FREQ (refresh rate)
+    // only way to make it move faster is to reduce NUM_COLORS, but that will also reduce the color smoothness.
+    qreal rotation_speed = std::max(0.01f, v_ego) / UI_FREQ;
+    dp_rainbow_rotation -= rotation_speed;
+
+    if (dp_rainbow_rotation < 0.0) {
+      dp_rainbow_rotation += 1.0;
+      dp_rainbow_color_list.append(dp_rainbow_color_list.takeFirst());
+    }
+    // fill color
+    const qreal step = 1.0 / (NUM_COLORS - 1);
+    for (int i = 0; i < NUM_COLORS; ++i) {
+      bg.setColorAt(i * step, dp_rainbow_color_list.at(i));
+    }
+
+  } else if (experimental_mode) {
     // The first half of track_vertices are the points for the right side of the path
     const auto &acceleration = model.getAcceleration().getX();
     const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 79547e4b8..ea2d1ddda 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -36,4 +36,7 @@ private:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
+  QVector<QColor> dp_rainbow_color_list;
+  qreal dp_rainbow_rotation = 0;
+  bool dp_rainbow_init = false;
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ec3d40961..3892e43f5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -65,6 +65,7 @@ static void update_state(UIState *s) {
 void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
+  s->scene.dp_ui_rainbow = params.getBool("dp_ui_rainbow");
 }
 
 void UIState::updateStatus() {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ff67cacd..fcdb27f91 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -59,6 +59,7 @@ typedef struct UIScene {
 
   float light_sensor = -1;
   bool started, ignition, is_metric;
+  bool dp_ui_rainbow;
   uint64_t started_frame;
 } UIScene;
 
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9fe81947f..a5cc2ed55 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -41,6 +41,7 @@ def manager_init() -> None:
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
     ("DisableLogging", "0"),
+    ("dp_ui_rainbow", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):