Not quite a pollo bowl

selfdrive/ui/lib/starpilot_visuals.py

@@ -7,6 +7,16 @@ import pyray as rl
 from openpilot.common.params import Params
 
 
+_BORDER_ROUNDNESS = 0.12
+_BORDER_RADIUS_MULTIPLE = 3.0
+
+
+def get_border_roundness(rect: rl.Rectangle, border_width: float) -> float:
+  """Keep a rectangular camera inset inside the rounded frame at thin widths."""
+  min_dimension = max(1.0, min(rect.width, rect.height))
+  return min(_BORDER_ROUNDNESS, 2.0 * _BORDER_RADIUS_MULTIPLE * border_width / min_dimension)
+
+
 def blend_colors(a: rl.Color, b: rl.Color, f: float) -> rl.Color:
   h0, s0, v0 = (hsv0 := rl.color_to_hsv(a)).x, hsv0.y, hsv0.z
   h1, s1, v1 = (hsv1 := rl.color_to_hsv(b)).x, hsv1.y, hsv1.z

selfdrive/ui/onroad/starpilot/starpilot_border.py

@@ -11,6 +11,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.lib.starpilot_status import (
   CEM_OVERRIDE_COLOR, ENGAGED_COLOR, EXPERIMENTAL_COLOR, TRAFFIC_COLOR
 )
+from openpilot.selfdrive.ui.lib.starpilot_visuals import get_border_roundness
 
 
 
@@ -218,6 +219,7 @@ def get_traffic_border_colors() -> tuple[rl.Color, rl.Color] | None:
 def render_background_effects(rect: rl.Rectangle, border_width: float):
   global _smoothed_steer
   sm = ui_state.sm
+  border_roundness = get_border_roundness(rect, border_width)
 
   # 1. Turn Signal and Blind Spot indicators
   colors = get_traffic_border_colors()
@@ -225,11 +227,11 @@ def render_background_effects(rect: rl.Rectangle, border_width: float):
     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.draw_rectangle_rounded(rect, border_roundness, 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.draw_rectangle_rounded(rect, border_roundness, 10, right_color)
       rl.end_scissor_mode()
 
   # 2. Steering Torque Border
@@ -262,7 +264,7 @@ def render_background_effects(rect: rl.Rectangle, border_width: float):
         else:
           rl.begin_scissor_mode(int(rect.x + rect.width - border_width), y_pos, int(border_width), int(visible_height))
 
-        rl.draw_rectangle_rounded(rect, 0.12, 10, col)
+        rl.draw_rectangle_rounded(rect, border_roundness, 10, col)
         rl.end_scissor_mode()
 
 

selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py

@@ -21,6 +21,7 @@ from openpilot.selfdrive.ui.onroad.starpilot.weather_icon import render_weather_
 from openpilot.selfdrive.ui.lib.starpilot_status import (
   get_screen_edge_color,
 )
+from openpilot.selfdrive.ui.lib.starpilot_visuals import get_border_roundness
 from openpilot.starpilot.common.favorite_slots import (
   build_favorite_slot_options,
   filter_favorite_slot_options,
@@ -100,8 +101,9 @@ class StarPilotOnroadView(AugmentedRoadView):
 
   def _render(self, rect: rl.Rectangle):
     border_width = self._get_border_width()
+    border_roundness = get_border_roundness(rect, border_width)
     border_color = get_pulse_glide_border_color(ui_state.sm, get_screen_edge_color(ui_state))
-    rl.draw_rectangle_rounded(rect, 0.12, 10, border_color)
+    rl.draw_rectangle_rounded(rect, border_roundness, 10, border_color)
     render_background_effects(rect, border_width)
 
     # The favorite menu has first claim on the lower-left gesture. Filtering
@@ -159,7 +161,8 @@ class StarPilotOnroadView(AugmentedRoadView):
 
   def _draw_border(self, rect: rl.Rectangle):
     border_width = self._get_border_width()
-    rl.draw_rectangle_rounded_lines_ex(rect, 0.12, 10, border_width, rl.BLACK)
+    border_roundness = get_border_roundness(rect, border_width)
+    rl.draw_rectangle_rounded_lines_ex(rect, border_roundness, 10, border_width, rl.BLACK)
     border_rect = rl.Rectangle(rect.x + border_width, rect.y + border_width,
                                 rect.width - 2 * border_width, rect.height - 2 * border_width)
     render_overlay(border_rect, border_width)

selfdrive/ui/tests/test_starpilot_visuals.py

@@ -1,6 +1,8 @@
 import importlib.util
+import math
 import unittest
 from pathlib import Path
+from types import SimpleNamespace
 
 
 MODULE_PATH = Path(__file__).resolve().parents[1] / "lib" / "starpilot_visuals.py"
@@ -9,6 +11,7 @@ MODULE = importlib.util.module_from_spec(SPEC)
 assert SPEC is not None and SPEC.loader is not None
 SPEC.loader.exec_module(MODULE)
 lead_indicator_enabled = MODULE.lead_indicator_enabled
+get_border_roundness = MODULE.get_border_roundness
 
 
 class FakeParams:
@@ -29,6 +32,21 @@ class FakeParams:
 
 
 class TestStarPilotVisuals(unittest.TestCase):
+  def test_border_roundness_contains_camera_corner(self):
+    rect = SimpleNamespace(width=2160, height=1080)
+    base_width = 30
+    min_dimension = min(rect.width, rect.height)
+
+    for scale in (25, 50, 65, 100, 250):
+      border_width = round(base_width * scale / 100)
+      roundness = get_border_roundness(rect, border_width)
+      radius = roundness * min_dimension / 2
+      self.assertLessEqual(math.sqrt(2) * (radius - border_width), radius)
+
+  def test_border_roundness_preserves_stock_geometry(self):
+    rect = SimpleNamespace(width=2160, height=1080)
+    self.assertAlmostEqual(get_border_roundness(rect, 30), 0.12)
+
   def test_lead_indicator_enabled_by_default(self):
     self.assertTrue(lead_indicator_enabled(FakeParams()))