Make it make sense

selfdrive/ui/lib/starpilot_status.py

@@ -27,10 +27,26 @@ def is_longitudinal_only_active(state: UIState) -> bool:
   return bool(state.sm["selfdriveState"].enabled and not car_control.latActive)
 
 
+def _override_color_applies(state: UIState) -> bool:
+  """Only gray the status when the active control mode is being overridden."""
+  if state.status != UIStatus.OVERRIDE:
+    return False
+
+  events = state.sm["onroadEvents"]
+  lateral_override = any(getattr(event, "overrideLateral", False) for event in events)
+  longitudinal_override = any(getattr(event, "overrideLongitudinal", False) for event in events)
+
+  if is_longitudinal_only_active(state):
+    return longitudinal_override
+  if state.always_on_lateral_active and not state.sm["selfdriveState"].enabled:
+    return lateral_override
+  return lateral_override or longitudinal_override
+
+
 def get_border_color(state: UIState):
   enabled = state.sm["selfdriveState"].enabled
   lateral_active = enabled or state.always_on_lateral_active
-  if state.status == UIStatus.OVERRIDE:
+  if _override_color_applies(state):
     return OVERRIDE_COLOR
   if is_longitudinal_only_active(state):
     return LONGITUDINAL_ONLY_COLOR
@@ -59,7 +75,7 @@ def get_path_edge_color(state: UIState):
 def get_screen_edge_color(state: UIState):
   enabled = state.sm["selfdriveState"].enabled
   lateral_active = enabled or state.always_on_lateral_active
-  if state.status == UIStatus.OVERRIDE:
+  if _override_color_applies(state):
     return OVERRIDE_COLOR
   if is_longitudinal_only_active(state):
     return LONGITUDINAL_ONLY_COLOR

selfdrive/ui/tests/test_starpilot_status.py

@@ -5,19 +5,21 @@ from openpilot.selfdrive.ui.lib.starpilot_status import (
   ENGAGED_COLOR,
   LONGITUDINAL_ONLY_COLOR,
   AOL_COLOR,
+  OVERRIDE_COLOR,
   get_border_color,
   get_screen_edge_color,
 )
 from openpilot.selfdrive.ui.ui_state import UIStatus
 
 
-def _state(*, enabled=False, lat_active=False, aol=False):
+def _state(*, enabled=False, lat_active=False, aol=False, status=None, events=()):
   return SimpleNamespace(
     sm={
       "selfdriveState": SimpleNamespace(enabled=enabled, experimentalMode=False),
       "carControl": SimpleNamespace(latActive=lat_active),
+      "onroadEvents": events,
     },
-    status=UIStatus.ENGAGED if enabled else UIStatus.DISENGAGED,
+    status=status if status is not None else (UIStatus.ENGAGED if enabled else UIStatus.DISENGAGED),
     always_on_lateral_active=aol,
     switchback_mode_enabled=False,
     traffic_mode_enabled=False,
@@ -40,3 +42,22 @@ def test_lateral_active_colors_remain_unchanged():
   assert _rgb(get_border_color(_state(enabled=True, lat_active=True))) == _rgb(ENGAGED_COLOR)
   assert _rgb(get_border_color(_state(aol=True))) == _rgb(AOL_COLOR)
   assert _rgb(get_border_color(_state())) == _rgb(DISENGAGED_COLOR)
+
+
+def test_override_color_matches_active_control_mode():
+  lateral_override = SimpleNamespace(overrideLateral=True, overrideLongitudinal=False)
+  longitudinal_override = SimpleNamespace(overrideLateral=False, overrideLongitudinal=True)
+  override = UIStatus.OVERRIDE
+
+  # Green: either active-control override is gray.
+  assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
+  assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
+
+  # Pink: steering is already inactive, so only a longitudinal override is gray.
+  pink_state = _state(enabled=True, status=override, events=[lateral_override])
+  assert _rgb(get_border_color(pink_state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
+  assert _rgb(get_border_color(_state(enabled=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
+
+  # Blue/AOL: longitudinal override is inactive, so only steering is gray.
+  assert _rgb(get_border_color(_state(aol=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
+  assert _rgb(get_border_color(_state(aol=True, status=override, events=[longitudinal_override]))) == _rgb(AOL_COLOR)