BigUI WIP: Some CEM Stuff

selfdrive/ui/onroad/starpilot/aethergauge.py

@@ -59,7 +59,7 @@ COLOR_STOP_LINE_GLOW = rl.Color(255, 30, 60, 255)
 COLOR_STOP_LINE_CORE = rl.Color(255, 200, 200, 255)
 
 # Set to True to force test-cycle mode (flip back to False before pushing)
-TEST_CYCLE = True
+TEST_CYCLE = False
 
 
 # --- Conversion helpers ---
@@ -170,7 +170,7 @@ def _build_curve_gauge_data(curvature: float, target_speed: float, v_cruise: flo
 # --- Force stop ---
 
 def _is_force_stop() -> bool:
-  return _get_val("starpilotPlan", "forcingStop", False)
+  return _get_val("starpilotPlan", "forcingStop", False) and not _get_val("starpilotPlan", "redLight", False)
 
 def _force_stop_data() -> AetherGaugeData:
   v_ego = _get_val("carState", "vEgo", 0.0)
@@ -184,7 +184,7 @@ def _force_stop_data() -> AetherGaugeData:
 # --- CEM: Stop light / stop sign ---
 
 def _is_stop_light() -> bool:
-  return ui_state.conditional_status == CEM_STATUS_STOP_LIGHT and _sm_valid("starpilotPlan")
+  return _get_val("starpilotPlan", "experimentalMode", False) and _get_val("starpilotPlan", "redLight", False)
 
 def _stop_light_data() -> AetherGaugeData:
   dist = 0.0
@@ -220,7 +220,7 @@ def _curve_speed_data() -> AetherGaugeData:
 # --- CEM: Curvature (non-CSC) ---
 
 def _is_curvature() -> bool:
-  return ui_state.conditional_status == CEM_STATUS_CURVE and _sm_valid("starpilotPlan")
+  return _get_val("starpilotPlan", "experimentalMode", False) and abs(_get_val("starpilotPlan", "roadCurvature", 0.0)) > 0.0012
 
 def _curvature_data() -> AetherGaugeData:
   csc_speed = _get_val("starpilotPlan", "cscSpeed", 0.0)
@@ -234,7 +234,8 @@ def _curvature_data() -> AetherGaugeData:
 # --- CEM: Lead vehicle (graphic only, no numeric) ---
 
 def _is_lead() -> bool:
-  return (ui_state.conditional_status == CEM_STATUS_LEAD
+  return (_get_val("starpilotPlan", "experimentalMode", False)
+          and _get_val("starpilotPlan", "trackingLead", False)
           and _sm_valid("radarState")
           and ui_state.sm["radarState"].leadOne.status)
 
@@ -249,6 +250,12 @@ def _lead_data() -> AetherGaugeData:
   )
 
 
+
+
+
+
+
+
 # --- Test cycle source (debug only, module-level state) ---
 
 _TEST_STATES = [

selfdrive/ui/onroad/starpilot/cem_status.py

@@ -1,48 +0,0 @@
-import pyray as rl
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.lib.starpilot_status import CEM_OVERRIDE_COLOR, EXPERIMENTAL_COLOR
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-
-def render_cem_status(rect: rl.Rectangle, font):
-  if not ui_state.params.get_bool("ShowCEMStatus"):
-    return
-
-  experimental_mode = ui_state.sm["selfdriveState"].experimentalMode
-  cond_status = ui_state.conditional_status
-
-  # Map status to text label
-  status_labels = {
-    1: "CHILL",
-    2: "EXP",
-    3: "CURVE",
-    4: "LEAD",
-    5: "TURN",
-    6: "SLOW",
-    7: "FAST",
-    8: "STOP",
-  }
-
-  label = "CHILL"
-  border_color = rl.Color(0, 0, 0, 166)
-
-  if cond_status == 1:
-    label = "CHILL"
-    border_color = CEM_OVERRIDE_COLOR  # Yellow
-  elif experimental_mode:
-    label = status_labels.get(cond_status, "EXP")
-    border_color = EXPERIMENTAL_COLOR  # Orange
-  else:
-    label = "CHILL"
-    border_color = rl.Color(80, 80, 80, 255)
-
-  # Draw background
-  rl.draw_rectangle_rounded(rect, 0.3, 10, rl.Color(0, 0, 0, 166))
-  # Draw border
-  rl.draw_rectangle_rounded_lines_ex(rect, 0.3, 10, 4, border_color)
-
-  # Draw text label centered inside the badge
-  font_size = 20
-  text_sz = measure_text_cached(font, label, font_size)
-  pos_x = rect.x + (rect.width - text_sz.x) / 2
-  pos_y = rect.y + (rect.height - text_sz.y) / 2
-  rl.draw_text_ex(font, label, rl.Vector2(int(pos_x), int(pos_y)), font_size, 0, rl.WHITE)

selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py

@@ -295,17 +295,14 @@ class StarPilotOnroadView(AugmentedRoadView):
     starpilot_car_state = ui_state.sm["starpilotCarState"] if ui_state.sm.valid.get("starpilotCarState", False) else None
     lateral_paused = starpilot_car_state.pauseLateral if starpilot_car_state else False
     longitudinal_paused = (starpilot_car_state.pauseLongitudinal or starpilot_car_state.forceCoast) if starpilot_car_state else False
-    show_cem_status = self._params.get_bool("ShowCEMStatus")
 
     # Build the list of active left-side (DM-adjacent) badges in order of priority:
-    # 1. Lateral Paused, 2. Longitudinal Paused, 3. CEM Status
+    # 1. Lateral Paused, 2. Longitudinal Paused
     active_badges = []
     if lateral_paused:
       active_badges.append("lateral_paused")
     if longitudinal_paused:
       active_badges.append("longitudinal_paused")
-    if show_cem_status:
-      active_badges.append("cem_status")
 
     # Dimensions
     badge_w = 120
@@ -333,9 +330,6 @@ class StarPilotOnroadView(AugmentedRoadView):
       elif badge == "longitudinal_paused":
         from openpilot.selfdrive.ui.onroad.starpilot.pause_indicators import render_longitudinal_paused
         render_longitudinal_paused(badge_rect)
-      elif badge == "cem_status":
-        from openpilot.selfdrive.ui.onroad.starpilot.cem_status import render_cem_status
-        render_cem_status(badge_rect, self._font_medium)
 
     # 2. Render Compass & Weather (on the opposite side of DM icon)
     # Dimensions

selfdrive/ui/tests/test_aethergauge.py

@@ -0,0 +1,160 @@
+import sys
+import types
+import unittest
+from unittest.mock import MagicMock
+
+from collections import namedtuple
+
+ColorClass = namedtuple("Color", ["r", "g", "b", "a"])
+
+# 1. Register Mock/Stub for pyray
+rl = types.SimpleNamespace(
+  Color=lambda r, g, b, a=255: ColorClass(r, g, b, a),
+  Rectangle=lambda x=0, y=0, width=0, height=0: types.SimpleNamespace(x=x, y=y, width=width, height=height),
+  Vector2=lambda x=0, y=0: types.SimpleNamespace(x=x, y=y),
+  Texture2D=type("Texture2D", (), {}),
+  Font=type("Font", (), {}),
+  WHITE=ColorClass(255, 255, 255, 255),
+  BLACK=ColorClass(0, 0, 0, 255),
+  get_time=lambda: 1.0,
+)
+sys.modules["pyray"] = rl
+
+# 2. Register Mock/Stub for text_measure
+text_measure = types.SimpleNamespace(
+  measure_text_cached=lambda *a, **k: types.SimpleNamespace(x=100, y=20)
+)
+sys.modules["openpilot.system.ui.lib.text_measure"] = text_measure
+
+# 3. Register Mock/Stub for starpilot_border
+starpilot_border = types.SimpleNamespace(
+  _csc_state=lambda: None,
+  _intensity=lambda c: 0.0,
+  _glow_color=lambda i: rl.Color(0, 255, 0, 255),
+)
+sys.modules["openpilot.selfdrive.ui.onroad.starpilot.starpilot_border"] = starpilot_border
+
+class MockSubMaster:
+  def __init__(self):
+    self.valid = {}
+    self.updated = {}
+    self.data = {}
+
+  def __getitem__(self, key):
+    return self.data.get(key)
+
+  def __setitem__(self, key, value):
+    self.data[key] = value
+
+  def reset(self):
+    self.valid.clear()
+    self.updated.clear()
+    self.data.clear()
+
+mock_ui_state = types.SimpleNamespace(
+  is_metric=False,
+  sm=MockSubMaster(),
+)
+ui_state_mod = types.ModuleType("openpilot.selfdrive.ui.ui_state")
+ui_state_mod.ui_state = mock_ui_state
+sys.modules["openpilot.selfdrive.ui.ui_state"] = ui_state_mod
+
+# Now import aethergauge
+from openpilot.selfdrive.ui.onroad.starpilot.aethergauge import (
+  AetherGauge,
+  AetherGaugeData,
+  IndicatorType,
+  _is_lead,
+  _lead_data,
+  _is_stop_light,
+  _is_curvature,
+)
+
+class TestAetherGaugeLeadLogic(unittest.TestCase):
+  def setUp(self):
+    mock_ui_state.sm.reset()
+
+  def test_is_lead_inactive_if_not_experimental(self):
+    mock_ui_state.sm.valid["starpilotPlan"] = True
+    mock_ui_state.sm.valid["radarState"] = True
+    mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
+      experimentalMode=False,
+      trackingLead=True,
+    )
+    mock_ui_state.sm["radarState"] = types.SimpleNamespace(
+      leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
+    )
+    self.assertFalse(_is_lead())
+
+  def test_is_lead_inactive_if_not_tracking_lead(self):
+    mock_ui_state.sm.valid["starpilotPlan"] = True
+    mock_ui_state.sm.valid["radarState"] = True
+    mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
+      experimentalMode=True,
+      trackingLead=False,
+    )
+    mock_ui_state.sm["radarState"] = types.SimpleNamespace(
+      leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
+    )
+    self.assertFalse(_is_lead())
+
+  def test_is_lead_active_when_experimental_and_tracking(self):
+    mock_ui_state.sm.valid["starpilotPlan"] = True
+    mock_ui_state.sm.valid["radarState"] = True
+    mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
+      experimentalMode=True,
+      trackingLead=True,
+    )
+    mock_ui_state.sm["radarState"] = types.SimpleNamespace(
+      leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
+    )
+    self.assertTrue(_is_lead())
+
+  def test_lead_data_slow(self):
+    mock_ui_state.sm.valid["radarState"] = True
+    mock_ui_state.sm["radarState"] = types.SimpleNamespace(
+      leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=25.0)
+    )
+    data = _lead_data()
+    self.assertEqual(data.text, "SLOW")
+    self.assertEqual(data.indicator_extra, "slower")
+    self.assertEqual(data.indicator_value, 25.0)
+    self.assertEqual(data.indicator_type, IndicatorType.LEAD)
+
+  def test_lead_data_stopped(self):
+    mock_ui_state.sm.valid["radarState"] = True
+    mock_ui_state.sm["radarState"] = types.SimpleNamespace(
+      leadOne=types.SimpleNamespace(status=True, vLead=0.5, dRel=12.0)
+    )
+    data = _lead_data()
+    self.assertEqual(data.text, "STOPPED")
+    self.assertEqual(data.indicator_extra, "stopped")
+    self.assertEqual(data.indicator_value, 12.0)
+    self.assertEqual(data.indicator_type, IndicatorType.LEAD)
+
+  def test_is_stop_light(self):
+    mock_ui_state.sm.valid["starpilotPlan"] = True
+    mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
+      experimentalMode=True,
+      redLight=True,
+    )
+    self.assertTrue(_is_stop_light())
+
+    mock_ui_state.sm["starpilotPlan"].redLight = False
+    self.assertFalse(_is_stop_light())
+
+  def test_is_curvature(self):
+    mock_ui_state.sm.valid["starpilotPlan"] = True
+    mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
+      experimentalMode=True,
+      roadCurvature=0.002,
+    )
+    self.assertTrue(_is_curvature())
+
+    mock_ui_state.sm["starpilotPlan"].roadCurvature = 0.0005
+    self.assertFalse(_is_curvature())
+
+
+
+if __name__ == "__main__":
+  unittest.main()