blue

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.pulse_glide import get_pulse_glide_border_color
 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 (
@@ -842,7 +843,8 @@ class AugmentedRoadView(CameraView):
       int(self._content_rect.width),
       int(self._content_rect.height),
     )
-    rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 16, border_size, get_border_color(ui_state))
+    border_color = get_pulse_glide_border_color(ui_state.sm, get_border_color(ui_state))
+    rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 16, border_size, border_color)
 
     if (colors := get_traffic_border_colors()) is not None:
       for x, w, color in (

selfdrive/ui/onroad/starpilot/pulse_glide.py

@@ -6,7 +6,19 @@ from openpilot.system.ui.lib.text_measure import draw_text_with_shadow, measure_
 
 PULSE_COLOR = rl.Color(52, 190, 112, 255)
 GLIDE_COLOR = rl.Color(65, 155, 235, 255)
-BANNER_BACKGROUND = rl.Color(0, 0, 0, 210)
+DEEP_GLIDE_BORDER_COLOR = rl.Color(24, 72, 150, 255)
+
+
+def get_pulse_glide_border_color(sm, default_color: rl.Color) -> rl.Color:
+  """Use a deep-blue outer border only while developer P&G is gliding."""
+  if not sm.valid.get("starpilotCarState", False) or not sm.valid.get("starpilotPlan", False):
+    return default_color
+
+  car_state = sm["starpilotCarState"]
+  plan = sm["starpilotPlan"]
+  if bool(getattr(car_state, "pulseAndGlide", False)) and bool(getattr(plan, "pulseGlideCoasting", False)):
+    return DEEP_GLIDE_BORDER_COLOR
+  return default_color
 
 
 def render_pulse_glide(rect: rl.Rectangle, coasting: bool) -> None:
@@ -26,36 +38,3 @@ def render_pulse_glide(rect: rl.Rectangle, coasting: bool) -> None:
     font_size,
     rl.WHITE,
   )
-
-
-def render_pulse_glide_banner(content_rect: rl.Rectangle, coasting: bool) -> None:
-  """Render a non-alert on-road status banner while developer P&G is armed."""
-  border = GLIDE_COLOR if coasting else PULSE_COLOR
-  state_label = "GLIDING" if coasting else "PULSE"
-  title_font = gui_app.font(FontWeight.MEDIUM)
-  state_font = gui_app.font(FontWeight.BOLD)
-  title_size = measure_text_cached(title_font, "PULSE & GLIDE", 22)
-  state_size = measure_text_cached(state_font, state_label, 34)
-
-  banner_w = max(340.0, title_size.x + 48.0, state_size.x + 96.0)
-  banner_h = 86.0
-  banner_rect = rl.Rectangle(
-    content_rect.x + (content_rect.width - banner_w) / 2.0,
-    content_rect.y + 28.0,
-    banner_w,
-    banner_h,
-  )
-
-  rl.draw_rectangle_rounded(banner_rect, 0.25, 12, BANNER_BACKGROUND)
-  rl.draw_rectangle_rounded_lines_ex(banner_rect, 0.25, 12, 4, border)
-
-  title_pos = rl.Vector2(
-    banner_rect.x + (banner_rect.width - title_size.x) / 2.0,
-    banner_rect.y + 10.0,
-  )
-  state_pos = rl.Vector2(
-    banner_rect.x + (banner_rect.width - state_size.x) / 2.0,
-    banner_rect.y + 38.0,
-  )
-  draw_text_with_shadow(title_font, "PULSE & GLIDE", title_pos, 22, rl.WHITE)
-  draw_text_with_shadow(state_font, state_label, state_pos, 34, rl.WHITE)

selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py

@@ -14,7 +14,7 @@ from openpilot.selfdrive.ui.onroad.starpilot.widgets import (
 )
 from openpilot.selfdrive.ui.onroad.starpilot.stopping_point import render_stopping_point
 from openpilot.selfdrive.ui.onroad.starpilot.pause_indicators import render_lateral_paused, render_longitudinal_paused
-from openpilot.selfdrive.ui.onroad.starpilot.pulse_glide import render_pulse_glide, render_pulse_glide_banner
+from openpilot.selfdrive.ui.onroad.starpilot.pulse_glide import get_pulse_glide_border_color, render_pulse_glide
 from openpilot.selfdrive.ui.onroad.starpilot.pip_sidecam import PipSideCamera
 from openpilot.selfdrive.ui.onroad.starpilot.favorite_radial_menu import FavoriteRadialMenu
 from openpilot.selfdrive.ui.onroad.starpilot.weather_icon import render_weather_icon
@@ -97,7 +97,7 @@ class StarPilotOnroadView(AugmentedRoadView):
 
   def _render(self, rect: rl.Rectangle):
     border_width = self._get_border_width()
-    border_color = get_screen_edge_color(ui_state)
+    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)
     render_background_effects(rect, border_width)
 
@@ -178,7 +178,6 @@ class StarPilotOnroadView(AugmentedRoadView):
     if alert_showing is not None:
       return
 
-    self._render_pulse_glide_banner()
     self._render_developer_metrics()
 
     self.layout_manager.render_widgets(exclude={"speed_limit", "set_speed"})
@@ -186,18 +185,6 @@ class StarPilotOnroadView(AugmentedRoadView):
     self._render_torque_bar()
     self._render_bottom_row_widgets()
 
-  def _render_pulse_glide_banner(self) -> None:
-    starpilot_car_state = (
-      ui_state.sm["starpilotCarState"]
-      if ui_state.sm.valid.get("starpilotCarState", False) else None
-    )
-    if not starpilot_car_state or not starpilot_car_state.pulseAndGlide:
-      return
-
-    plan = ui_state.sm["starpilotPlan"] if ui_state.sm.valid.get("starpilotPlan", False) else None
-    coasting = bool(getattr(plan, "pulseGlideCoasting", False)) if plan else False
-    render_pulse_glide_banner(self._content_rect, coasting)
-
   def _render_torque_bar(self) -> None:
     """Draw the curved torque-utilization indicator at the bottom of the screen."""
     if not self._params.get_bool("EnableTorqueBarWidget", default=True):