mawei/onepilot
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

system/ui: fix rapid path color transition by correcting hardcoded increment (#35368)

Browse Source 
refactor color blending with configurable transition duration
This commit is contained in:
Dean Lee
2025-05-29 02:35:04 +08:00
committed by GitHub
parent 3682fac7b6
commit db8ecf183f
1 changed files with 17 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
system/ui/onroad/model_renderer.py
View File

@@ -4,13 +4,15 @@ import numpy as np
import pyray as rl
from cereal import messaging, car
from openpilot.common.params import Params
from openpilot.system.ui.lib.application import DEFAULT_FPS
from openpilot.system.ui.lib.shader_polygon import draw_polygon
CLIP_MARGIN = 500
MIN_DRAW_DISTANCE = 10.0
MAX_DRAW_DISTANCE = 100.0
PATH_COLOR_TRANSITION_DURATION = 0.5 # Seconds for color transition animation
PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS)
THROTTLE_COLORS = [
rl.Color(25, 235, 99, 102), # HSLF(148/360, 0.94, 0.51, 0.4)
@@ -238,22 +240,17 @@ class ModelRenderer:
# Update blend factor
if self._blend_factor < 1.0:
self._blend_factor = min(self._blend_factor + 0.1, 1.0)
self._blend_factor = min(self._blend_factor + PATH_BLEND_INCREMENT, 1.0)
begin_colors = NO_THROTTLE_COLORS if allow_throttle else THROTTLE_COLORS
end_colors = THROTTLE_COLORS if allow_throttle else NO_THROTTLE_COLORS
# Blend colors based on transition
colors = [
self._blend_colors(begin_colors[0], end_colors[0], self._blend_factor),
self._blend_colors(begin_colors[1], end_colors[1], self._blend_factor),
self._blend_colors(begin_colors[2], end_colors[2], self._blend_factor),
]
blended_colors = self._blend_colors(begin_colors, end_colors, self._blend_factor)
gradient = {
'start': (0.0, 1.0), # Bottom of path
'end': (0.0, 0.0), # Top of path
'colors': colors,
'colors': blended_colors,
'stops': [0.0, 0.5, 1.0],
}
draw_polygon(self._track_vertices, gradient=gradient)
@@ -364,14 +361,16 @@ class ModelRenderer:
return rl.Color(r_val, g_val, b_val, a_val)
@staticmethod
def _blend_colors(start: rl.Color, end: rl.Color, t: float) -> rl.Color:
"""Blend between two colors with factor t"""
def _blend_colors(begin_colors, end_colors, t):
if t >= 1.0:
return end
return end_colors
if t <= 0.0:
return begin_colors
return rl.Color(
int((1.0 - t) * start.r + t * end.r),
int((1.0 - t) * start.g + t * end.g),
int((1.0 - t) * start.b + t * end.b),
int((1.0 - t) * start.a + t * end.a),
)
inv_t = 1.0 - t
return [rl.Color(
int(inv_t * start.r + t * end.r),
int(inv_t * start.g + t * end.g),
int(inv_t * start.b + t * end.b),
int(inv_t * start.a + t * end.a)
) for start, end in zip(begin_colors, end_colors, strict=True)]