From 768a2f324c2a03d60a5667b91d7c479209109eb6 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 28 Jun 2026 16:22:40 -0500
Subject: [PATCH] Mici CSC Icon

---
 selfdrive/ui/mici/onroad/sidebar_widgets.py | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/sidebar_widgets.py b/selfdrive/ui/mici/onroad/sidebar_widgets.py
index 07cb37b0c..fad88bba8 100644
--- a/selfdrive/ui/mici/onroad/sidebar_widgets.py
+++ b/selfdrive/ui/mici/onroad/sidebar_widgets.py
@@ -193,6 +193,14 @@ class MiciSidebarWidgets(Widget):
       pass
     return False
 
+  def _curve_speed_controller_active(self) -> bool:
+    try:
+      if ui_state.sm.recv_frame["starpilotPlan"] >= ui_state.started_frame:
+        return bool(ui_state.sm["starpilotPlan"].cscControllingSpeed)
+    except Exception:
+      pass
+    return False
+
   def _cem_reason(self) -> tuple[str, rl.Color]:
     if self._demo:
       status = ui_state.params_memory.get_int("CEStatus", default=CEStatus["OFF"])
@@ -201,6 +209,11 @@ class MiciSidebarWidgets(Widget):
         return status_reason
       return self._fallback_demo_reason()
 
+    if self._model_stop_active():
+      return "stop", TRAFFIC_RED
+    if self._curve_speed_controller_active():
+      return "curve", CEM_BLUE
+
     conditional_experimental = ui_state.params.get_bool("ConditionalExperimental")
     conditional_chill = ui_state.params.get_bool("ConditionalChill") and not conditional_experimental
     if conditional_chill:
@@ -219,8 +232,6 @@ class MiciSidebarWidgets(Widget):
     status_reason = self._ce_status_reason(status)
     if status_reason is not None:
       return status_reason
-    if self._model_stop_active():
-      return "stop", TRAFFIC_RED
     return "chill", WHITE
 
   def _fallback_demo_reason(self) -> tuple[str, rl.Color]: