Visuals - Model UI - Path Edges

Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.

Default is 20% of the total path.

Blue = Navigation
Light Blue = 'Always On Lateral'
Green = Default
Orange = 'Experimental Mode'
Red = 'Traffic Mode'
Yellow = 'Conditional Experimental Mode' Overriden

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -441,6 +441,50 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, c
     paintLane(scene.track_adjacent_vertices[5], laneWidthRight, blindSpotRight);
   }
 
+  // Paint path edges
+  QLinearGradient pe(0, height(), 0, 0);
+  auto setGradientColors = [&](const QColor &baseColor) {
+    pe.setColorAt(0.0, baseColor);
+    QColor color = baseColor;
+    color.setAlphaF(0.5);
+    pe.setColorAt(0.5, color);
+    color.setAlphaF(0.1);
+    pe.setColorAt(1.0, color);
+  };
+
+  if (alwaysOnLateralActive) {
+    setGradientColors(bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]);
+  } else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) {
+    setGradientColors(bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
+  } else if (experimentalMode) {
+    setGradientColors(bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
+  } else if (trafficModeActive) {
+    setGradientColors(bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
+  } else if (scene.navigate_on_openpilot) {
+    setGradientColors(bg_colors[STATUS_NAVIGATION_ACTIVE]);
+  } else if (currentHolidayTheme != 0) {
+    const std::map<double, QBrush> &colorMap = std::get<2>(holidayThemeConfiguration[currentHolidayTheme]);
+    for (const std::pair<double, QBrush> &entry : colorMap) {
+      pe.setColorAt(entry.first, entry.second.color().darker(120));
+    }
+  } else if (customColors != 0) {
+    const std::map<double, QBrush> &colorMap = std::get<2>(themeConfiguration[customColors]);
+    for (const std::pair<double, QBrush> &entry : colorMap) {
+      pe.setColorAt(entry.first, entry.second.color().darker(120));
+    }
+  } else {
+    pe.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.1));
+  }
+
+  QPainterPath path;
+  path.addPolygon(scene.track_vertices);
+  path.addPolygon(scene.track_edge_vertices);
+
+  painter.setBrush(pe);
+  painter.drawPath(path);
+
   painter.restore();
 }
 

selfdrive/ui/ui.cc

@@ -132,7 +132,10 @@ void update_model(UIState *s,
     }
   }
   max_idx = get_path_length_idx(plan_position, max_distance);
-  update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, plan_position, scene.model_ui ? path * (1 - scene.path_edge_width / 100.0f) : 0.9, 1.22, &scene.track_vertices, max_idx, false);
+
+  // Update path edges
+  update_line_data(s, plan_position, scene.model_ui ? path : 0, 1.22, &scene.track_edge_vertices, max_idx, false);
 }
 
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -404,6 +407,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
   scene.hide_lead_marker = scene.model_ui && params.getBool("HideLeadMarker");
   scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f;
+  scene.path_edge_width = params.getInt("PathEdgeWidth");
 
   bool quality_of_life_controls = params.getBool("QOLControls");
   scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise");

selfdrive/ui/ui.h

@@ -209,6 +209,7 @@ typedef struct UIScene {
   float lane_width_right;
   float lat_accel;
   float lead_detection_threshold;
+  float path_edge_width;
   float speed_jerk;
   float speed_jerk_difference;
   float speed_limit;
@@ -237,6 +238,7 @@ typedef struct UIScene {
   int wheel_icon;
 
   QPolygonF track_adjacent_vertices[6];
+  QPolygonF track_edge_vertices;
 
 } UIScene;