PathEdge cleanup

selfdrive/ui/onroad/model_renderer.py

@@ -76,6 +76,7 @@ class ModelRenderer(Widget):
     self._adjacent_path_vertices = [np.empty((0, 2), dtype=np.float32), np.empty((0, 2), dtype=np.float32)]
     # Outer path polygon for edge rendering
     self._track_edge_vertices = np.empty((0, 2), dtype=np.float32)
+    self._path_edge_width = 0.0
 
     # Initialize ModelPoints objects
     self._path = ModelPoints()
@@ -254,6 +255,8 @@ class ModelRenderer(Widget):
       else:
         path_width *= 0.50
 
+    self._path_edge_width = path_width * path_edge_width_pct
+
     unclipped_max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
     unclipped_max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], unclipped_max_distance)
 

selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py

@@ -207,8 +207,8 @@ class StarPilotOnroadView(AugmentedRoadView):
     mr = self.model_renderer
 
     if mr._path.projected_points.size:
-      # Path edges (always rendered if track_edge_vertices exist)
-      if mr._track_edge_vertices.size >= 4:
+      # The default path-edge width is zero, which produces no visible strip.
+      if mr._path_edge_width > 0.0 and mr._track_edge_vertices.size >= 4:
         render_path_edges(mr)
 
       # Render adjacent lanes (incorporates both adjacent path and blind spot warnings)

selfdrive/ui/tests/test_onroad_render_layers.py

@@ -51,6 +51,7 @@ def _load_starpilot_onroad_view(monkeypatch):
   dummy_widget = type("DummyWidget", (), {})
   color = SimpleNamespace(r=0, g=0, b=0, a=255)
 
+  stub_module("openpilot.selfdrive.ui.onroad.starpilot.pip_sidecam", PipSideCamera=dummy_widget)
   stub_module("openpilot.selfdrive.ui.onroad.augmented_road_view", AugmentedRoadView=AugmentedRoadView)
   stub_module(
     "openpilot.selfdrive.ui.onroad.starpilot.starpilot_border",
@@ -192,6 +193,7 @@ def test_starpilot_road_overlays_use_the_parent_scissor(monkeypatch):
   view.model_renderer = SimpleNamespace(
     _path=SimpleNamespace(projected_points=SimpleNamespace(size=1)),
     _track_edge_vertices=SimpleNamespace(size=4),
+    _path_edge_width=0.3,
   )
   view._font_bold = object()
   view._get_border_width = lambda: 0
@@ -209,3 +211,9 @@ def test_starpilot_road_overlays_use_the_parent_scissor(monkeypatch):
   view._render_extra_road_overlays(object())
 
   assert events == ["path_edges", "adjacent_lanes", "stopping_point"]
+
+  events.clear()
+  view.model_renderer._path_edge_width = 0.0
+  view._render_extra_road_overlays(object())
+
+  assert events == ["adjacent_lanes", "stopping_point"]