From 00547795aaef074d3280fc181bc92579d48e94c3 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 6 Oct 2026 18:17:31 -0500
Subject: [PATCH] Keep zero speed visible

---
 openpilot/starpilot/ui/runtime_snapshot.py    | 12 ++++++++--
 .../ui/tests/test_runtime_snapshot.py         | 24 +++++++++++++++++++
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/openpilot/starpilot/ui/runtime_snapshot.py b/openpilot/starpilot/ui/runtime_snapshot.py
index 2018b9bcba..a0e39d6182 100644
--- a/openpilot/starpilot/ui/runtime_snapshot.py
+++ b/openpilot/starpilot/ui/runtime_snapshot.py
@@ -124,6 +124,14 @@ def _finite(value: Any, *, positive: bool = False) -> float | None:
   return number
 
 
+def _display_speed(value: Any) -> float | None:
+  try:
+    speed = float(value)
+  except (TypeError, ValueError, OverflowError):
+    return None
+  return max(0.0, speed) if math.isfinite(speed) else None
+
+
 def _model_confidence(model: Any | None) -> float | None:
   try:
     predictions = model.meta.disengagePredictions
@@ -377,9 +385,9 @@ class RuntimeSnapshotAdapter:
                        selfdrive is not None and selfdrive.enabled and car is not None and
                        bool(getattr(car, "canValid", False)) and not getattr(car, "canTimeout", True) and ui.CP is not None and
                        ui.CP.openpilotLongitudinalControl)
-    raw_speed = None if display_car is None else _finite(display_car.vEgoCluster)
+    raw_speed = None if display_car is None else _display_speed(display_car.vEgoCluster)
     if raw_speed is None or raw_speed == 0:
-      raw_speed = None if display_car is None else _finite(display_car.vEgo)
+      raw_speed = None if display_car is None else _display_speed(display_car.vEgo)
     display_car_valid = bool(display_car is not None and getattr(display_car, "canValid", False) and
                              not getattr(display_car, "canTimeout", True))
     timer_car_fresh = False
diff --git a/openpilot/starpilot/ui/tests/test_runtime_snapshot.py b/openpilot/starpilot/ui/tests/test_runtime_snapshot.py
index e58c12c27f..4641f461d7 100644
--- a/openpilot/starpilot/ui/tests/test_runtime_snapshot.py
+++ b/openpilot/starpilot/ui/tests/test_runtime_snapshot.py
@@ -519,6 +519,30 @@ class TestRuntimeSnapshot(unittest.TestCase):
     self.assertIsNone(snapshot.home.stats)
     self.assertEqual(snapshot.home.model_label, "")
 
+  def test_zero_speed_remains_visible_across_signed_filtered_estimates(self):
+    import pyray as rl
+    from openpilot.starpilot.ui.onroad_large_widgets import CurrentSpeedHud
+
+    for metric in (False, True):
+      ui = ui_fake()
+      ui.is_metric = metric
+      adapter = RuntimeSnapshotAdapter(ui)
+      ui.sm.messages["carState"].vEgoCluster = 0.0
+      for speed in (-0.238205, -0.001, 0.0, 0.001, 0.44704):
+        with self.subTest(metric=metric, speed=speed):
+          ui.sm.messages["carState"].vEgo = speed
+          state = adapter.build(ShellMode.ONROAD, now_ns=NOW).onroad
+          self.assertEqual(state.speed_mps, max(0.0, speed))
+          fonts = Mock(spec=BitmapFonts)
+          fonts.measure.return_value = NS(width=10, height=20)
+          fonts.vertical_ink.return_value = (0., 20.)
+          CurrentSpeedHud(fonts).render(rl.Rectangle(0, 0, 1800, 1020), state)
+          self.assertEqual(fonts.draw.call_args_list[0].args[0], "1" if speed == 0.44704 and not metric else
+                           str(round(max(0., speed) * (3.6 if metric else 2.2369362921))))
+          self.assertEqual(fonts.draw.call_args_list[1].args[0], "km/h" if metric else "mph")
+      ui.sm.logMonoTime["carState"] = NOW - 2_000_000_000
+      self.assertIsNone(adapter.build(ShellMode.ONROAD, now_ns=NOW).onroad.speed_mps)
+
   def test_stale_and_malformed_values_never_become_displayed_speed(self):
     ui = ui_fake()
     ui.sm.logMonoTime["slcState"] = NOW - 500_000_000