From 9b78ec1316c25a237d525f78e13b150c99ee9680 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 25 May 2024 12:39:42 -0700
Subject: [PATCH] Visuals - Custom Onroad UI - Paths - Blind Spot

Show when a vehicle is detected in the blindspot.
---
 .../frogpilot/controls/frogpilot_planner.py     |  2 +-
 selfdrive/ui/qt/onroad.cc                       | 17 +++++++++++++++++
 selfdrive/ui/ui.cc                              |  1 +
 selfdrive/ui/ui.h                               |  1 +
 4 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index e4b4f3b..cb97c9e 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -129,7 +129,7 @@ class FrogPilotPlanner:
       else:
         self.min_accel = A_CRUISE_MIN
 
-    check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.lane_detection
+    check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
     if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
       self.lane_width_left = float(calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0]))
       self.lane_width_right = float(calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1]))
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index aae66dc..12b7e55 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -641,6 +641,23 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices);
 
+  // Paint blindspot path
+  if (scene.blind_spot_path) {
+    QLinearGradient bs(0, height(), 0, 0);
+
+    bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
+    bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
+    bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
+
+    painter.setBrush(bs);
+    if (blindSpotLeft) {
+      painter.drawPolygon(scene.track_adjacent_vertices[4]);
+    }
+    if (blindSpotRight) {
+      painter.drawPolygon(scene.track_adjacent_vertices[5]);
+    }
+  }
+
   // Paint adjacent lane paths
   if (scene.adjacent_path && (laneWidthLeft != 0 || laneWidthRight != 0)) {
     float minLaneWidth = laneDetectionWidth * 0.5;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ba291cb..1008b60 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -302,6 +302,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
   scene.adjacent_path = custom_paths && params.getBool("AdjacentPath");
   scene.adjacent_path_metrics = scene.adjacent_path && params.getBool("AdjacentPathMetrics");
+  scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
   scene.compass = custom_onroad_ui && params.getBool("Compass");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 342f382..8757d55 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -191,6 +191,7 @@ typedef struct UIScene {
   bool adjacent_path_metrics;
   bool always_on_lateral_active;
   bool blind_spot_left;
+  bool blind_spot_path;
   bool blind_spot_right;
   bool compass;
   bool conditional_experimental;