Add traffic border color to C4

Cherry-picked Feature Request 745053 from 371f063362.

Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu>

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -21,6 +21,7 @@ from openpilot.selfdrive.ui.mici.onroad.starpilot_status import (
 )
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.starpilot.pip_sidecam import PipSideCamera
+from openpilot.selfdrive.ui.onroad.starpilot.starpilot_border import get_traffic_border_colors
 from openpilot.selfdrive.ui.lib.starpilot_visuals import get_border_width
 from openpilot.starpilot.common.favorite_slots import is_favorite_action_key, load_favorite_slots, toggle_favorite_slot
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
@@ -825,6 +826,17 @@ class AugmentedRoadView(CameraView):
       int(self._content_rect.height),
     )
     rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 16, border_size, get_border_color(ui_state))
+
+    if (colors := get_traffic_border_colors()) is not None:
+      for x, w, color in (
+        (border_rect.x, border_rect.width / 2, colors[0]),
+        (border_rect.x + border_rect.width / 2, border_rect.width - border_rect.width / 2, colors[1]),
+      ):
+        if color.a > 0:
+          rl.begin_scissor_mode(int(x), int(border_rect.y), int(w), int(border_rect.height))
+          rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 16, border_size, color)
+          rl.end_scissor_mode()
+
     rl.end_scissor_mode()
 
   def _get_border_width(self) -> int:

selfdrive/ui/onroad/starpilot/starpilot_border.py

@@ -170,55 +170,65 @@ def _render_csc_glow(border_rect: rl.Rectangle, border_width: float = UI_BORDER_
 _smoothed_steer = 0.0
 
 
+def get_traffic_border_colors() -> tuple[rl.Color, rl.Color] | None:
+  sm = ui_state.sm
+  car_state = sm["carState"] if sm.valid.get("carState", False) else None
+  if car_state is None:
+    return None
+  params = ui_state.ui_params
+  show_signal = params.get_bool("SignalMetrics")
+  show_blindspot = params.get_bool("BlindSpotMetrics")
+  if not (show_signal or show_blindspot):
+    return None
+
+  left_blindspot = car_state.leftBlindspot
+  right_blindspot = car_state.rightBlindspot
+  if ui_state.starpilot_toggles.get("v_asm_enabled", False):
+    vasm_left, vasm_right = get_fresh_vasm_state(ui_state.params_memory)
+    left_blindspot = left_blindspot or vasm_left
+    right_blindspot = right_blindspot or vasm_right
+  left_blinker = car_state.leftBlinker
+  right_blinker = car_state.rightBlinker
+
+  if not ((show_signal and (left_blinker or right_blinker)) or (show_blindspot and (left_blindspot or right_blindspot))):
+    return None
+
+  interval = 250 if show_blindspot and (left_blindspot or right_blindspot) else 500
+  flicker_active = (int(rl.get_time() * 1000) % (interval * 2)) < interval
+
+  def get_half_border_color(blindspot, turn_signal):
+    if turn_signal and show_signal:
+      if blindspot:
+        return TRAFFIC_COLOR if flicker_active else CEM_OVERRIDE_COLOR
+      else:
+        return CEM_OVERRIDE_COLOR if flicker_active else rl.Color(0, 0, 0, 0)
+    elif blindspot and show_blindspot:
+      return TRAFFIC_COLOR
+    else:
+      return rl.Color(0, 0, 0, 0)
+
+  left_color = get_half_border_color(left_blindspot, left_blinker)
+  right_color = get_half_border_color(right_blindspot, right_blinker)
+
+  return left_color, right_color
+
+
 def render_background_effects(rect: rl.Rectangle, border_width: float):
   global _smoothed_steer
   sm = ui_state.sm
 
   # 1. Turn Signal and Blind Spot indicators
-  car_state = sm["carState"] if sm.valid.get("carState", False) else None
-  if car_state:
-    params = ui_state.ui_params
-    show_signal = params.get_bool("SignalMetrics")
-    show_blindspot = params.get_bool("BlindSpotMetrics")
-    if show_signal or show_blindspot:
-      left_blindspot = car_state.leftBlindspot
-      right_blindspot = car_state.rightBlindspot
-      if ui_state.starpilot_toggles.get("v_asm_enabled", False):
-        vasm_left, vasm_right = get_fresh_vasm_state(ui_state.params_memory)
-        left_blindspot = left_blindspot or vasm_left
-        right_blindspot = right_blindspot or vasm_right
-      left_blinker = car_state.leftBlinker
-      right_blinker = car_state.rightBlinker
-
-      if (show_signal and (left_blinker or right_blinker)) or (show_blindspot and (left_blindspot or right_blindspot)):
-        interval = 250 if show_blindspot and (left_blindspot or right_blindspot) else 500
-        flicker_active = (int(rl.get_time() * 1000) % (interval * 2)) < interval
-
-        def get_half_border_color(blindspot, turn_signal):
-          if turn_signal and show_signal:
-            if blindspot:
-              return TRAFFIC_COLOR if flicker_active else CEM_OVERRIDE_COLOR
-            else:
-              return CEM_OVERRIDE_COLOR if flicker_active else rl.Color(0, 0, 0, 0)
-          elif blindspot and show_blindspot:
-            return TRAFFIC_COLOR
-          else:
-            return rl.Color(0, 0, 0, 0)
-
-        left_color = get_half_border_color(left_blindspot, left_blinker)
-        right_color = get_half_border_color(right_blindspot, right_blinker)
-
-        # Draw left side borders
-        if left_color.a > 0:
-          rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width // 2), int(rect.height))
-          rl.draw_rectangle_rounded(rect, 0.12, 10, left_color)
-          rl.end_scissor_mode()
-
-        # Draw right side borders
-        if right_color.a > 0:
-          rl.begin_scissor_mode(int(rect.x + rect.width // 2), int(rect.y), int(rect.width // 2), int(rect.height))
-          rl.draw_rectangle_rounded(rect, 0.12, 10, right_color)
-          rl.end_scissor_mode()
+  colors = get_traffic_border_colors()
+  if colors is not None:
+    left_color, right_color = colors
+    if left_color.a > 0:
+      rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width // 2), int(rect.height))
+      rl.draw_rectangle_rounded(rect, 0.12, 10, left_color)
+      rl.end_scissor_mode()
+    if right_color.a > 0:
+      rl.begin_scissor_mode(int(rect.x + rect.width // 2), int(rect.y), int(rect.width // 2), int(rect.height))
+      rl.draw_rectangle_rounded(rect, 0.12, 10, right_color)
+      rl.end_scissor_mode()
 
   # 2. Steering Torque Border
   car_control = sm["carControl"] if sm.valid.get("carControl", False) else None

selfdrive/ui/tests/test_traffic_border.py

@@ -0,0 +1,149 @@
+from types import SimpleNamespace
+
+from openpilot.selfdrive.ui.lib.starpilot_status import TRAFFIC_COLOR, CEM_OVERRIDE_COLOR
+from openpilot.selfdrive.ui.onroad.starpilot import starpilot_border
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+TRANSPARENT = (0, 0, 0, 0)
+
+
+def _rgba(color):
+  return color.r, color.g, color.b, color.a
+
+
+def _car_state(left_blindspot=False, right_blindspot=False, left_blinker=False, right_blinker=False):
+  return SimpleNamespace(
+    leftBlindspot=left_blindspot,
+    rightBlindspot=right_blindspot,
+    leftBlinker=left_blinker,
+    rightBlinker=right_blinker,
+  )
+
+
+def _setup(monkeypatch, *, car_state, signal=True, blindspot=True, v_asm_enabled=False, v_asm=(False, False), time=0.0):
+  class FakeSM(dict):
+    valid = {"carState": True}
+
+  monkeypatch.setattr(ui_state, "sm", FakeSM(carState=car_state))
+  monkeypatch.setattr(
+    ui_state,
+    "ui_params",
+    SimpleNamespace(get_bool=lambda key: {"SignalMetrics": signal, "BlindSpotMetrics": blindspot}[key]),
+  )
+  monkeypatch.setattr(ui_state, "starpilot_toggles", {"v_asm_enabled": v_asm_enabled})
+  monkeypatch.setattr(ui_state, "params_memory", object())
+  monkeypatch.setattr(starpilot_border, "get_fresh_vasm_state", lambda _memory: v_asm)
+  monkeypatch.setattr(starpilot_border.rl, "get_time", lambda: time)
+
+
+def test_traffic_border_inactive_when_metrics_disabled(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state(left_blinker=True), signal=False, blindspot=False)
+
+  assert starpilot_border.get_traffic_border_colors() is None
+
+
+def test_traffic_border_inactive_when_nothing_active(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state())
+
+  assert starpilot_border.get_traffic_border_colors() is None
+
+
+def test_traffic_border_left_blindspot_is_red(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state(left_blindspot=True))
+
+  left, right = starpilot_border.get_traffic_border_colors()
+
+  assert _rgba(left) == _rgba(TRAFFIC_COLOR)
+  assert _rgba(right) == TRANSPARENT
+
+
+def test_traffic_border_right_blindspot_is_red(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state(right_blindspot=True))
+
+  left, right = starpilot_border.get_traffic_border_colors()
+
+  assert _rgba(left) == TRANSPARENT
+  assert _rgba(right) == _rgba(TRAFFIC_COLOR)
+
+
+def test_traffic_border_blinker_alone_flickers_amber(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state(left_blinker=True), blindspot=False, time=0.1)
+
+  left, right = starpilot_border.get_traffic_border_colors()
+  assert _rgba(left) == _rgba(CEM_OVERRIDE_COLOR)
+  assert _rgba(right) == TRANSPARENT
+
+  _setup(monkeypatch, car_state=_car_state(left_blinker=True), blindspot=False, time=0.6)
+  left, right = starpilot_border.get_traffic_border_colors()
+  assert _rgba(left) == TRANSPARENT
+  assert _rgba(right) == TRANSPARENT
+
+
+def test_traffic_border_blinker_with_blindspot_flickers_red_and_amber(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state(left_blinker=True, left_blindspot=True), time=0.1)
+
+  left, _ = starpilot_border.get_traffic_border_colors()
+  assert _rgba(left) == _rgba(TRAFFIC_COLOR)
+
+  _setup(monkeypatch, car_state=_car_state(left_blinker=True, left_blindspot=True), time=0.3)
+  left, _ = starpilot_border.get_traffic_border_colors()
+  assert _rgba(left) == _rgba(CEM_OVERRIDE_COLOR)
+
+
+def test_traffic_border_v_asm_blindspot_is_red(monkeypatch):
+  _setup(monkeypatch, car_state=_car_state(), v_asm_enabled=True, v_asm=(True, False))
+
+  left, right = starpilot_border.get_traffic_border_colors()
+  assert _rgba(left) == _rgba(TRAFFIC_COLOR)
+  assert _rgba(right) == TRANSPARENT
+
+
+def test_c4_draw_border_paints_traffic_color_on_active_half(monkeypatch):
+  import pyray as rl
+  from openpilot.selfdrive.ui.mici.onroad import augmented_road_view as mici_view
+
+  view = object.__new__(mici_view.AugmentedRoadView)
+  view._content_rect = rl.Rectangle(10, 20, 200, 100)
+  view._get_border_width = lambda: 8
+  view._closed = True
+
+  base_color = rl.Color(0, 0, 0, 255)
+  calls = []
+  monkeypatch.setattr(mici_view, "get_border_color", lambda _state: base_color)
+  monkeypatch.setattr(mici_view, "get_traffic_border_colors", lambda: (TRAFFIC_COLOR, rl.Color(0, 0, 0, 0)))
+  monkeypatch.setattr(mici_view.rl, "begin_scissor_mode", lambda *args: calls.append(("begin_scissor", args)))
+  monkeypatch.setattr(mici_view.rl, "end_scissor_mode", lambda: calls.append(("end_scissor",)))
+  monkeypatch.setattr(mici_view.rl, "draw_rectangle_rounded_lines_ex", lambda *args: calls.append(("line", args)))
+
+  view._draw_border()
+
+  lines = [c for c in calls if c[0] == "line"]
+  assert len(lines) == 2
+  assert _rgba(lines[0][1][4]) == _rgba(base_color)
+  assert _rgba(lines[1][1][4]) == _rgba(TRAFFIC_COLOR)
+
+  scissor = [c for c in calls if c[0] == "begin_scissor"]
+  assert scissor[0][1] == (10, 20, 200, 100)
+  assert scissor[1][1] == (14, 24, 96, 92)
+
+
+def test_c4_draw_border_skips_traffic_colors_when_inactive(monkeypatch):
+  import pyray as rl
+  from openpilot.selfdrive.ui.mici.onroad import augmented_road_view as mici_view
+
+  view = object.__new__(mici_view.AugmentedRoadView)
+  view._content_rect = rl.Rectangle(10, 20, 200, 100)
+  view._get_border_width = lambda: 8
+  view._closed = True
+
+  calls = []
+  monkeypatch.setattr(mici_view, "get_border_color", lambda _state: rl.Color(0, 0, 0, 255))
+  monkeypatch.setattr(mici_view, "get_traffic_border_colors", lambda: None)
+  monkeypatch.setattr(mici_view.rl, "begin_scissor_mode", lambda *args: calls.append(("begin_scissor", args)))
+  monkeypatch.setattr(mici_view.rl, "end_scissor_mode", lambda: calls.append(("end_scissor",)))
+  monkeypatch.setattr(mici_view.rl, "draw_rectangle_rounded_lines_ex", lambda *args: calls.append(("line", args)))
+
+  view._draw_border()
+
+  assert len([c for c in calls if c[0] == "line"]) == 1
+  assert len([c for c in calls if c[0] == "begin_scissor"]) == 1