Restore familiar torque arc colors and label

openpilot/starpilot/ui/onroad_customization.py

@@ -135,7 +135,7 @@ for _profile, _data in PROFILES.items():
   _bounds = _data["bounds"]
   _x, _y, _width, _height = maximum_footprint(_bounds["x"], _bounds["y"], _bounds["width"], _bounds["height"], _data["width"])
   _data["widgets"]["torque_bar"] = {
-    **_widget("Steering demand", "torque_bar", _width, _height, _x, _y), "layer": "underlay",
+    **_widget("Torque bar", "torque_bar", _width, _height, _x, _y), "layer": "underlay",
     "note": "Torque command or lateral-acceleration demand. Full width reflects the configured display scale."}
 ACTIONLESS_WIDGETS = {profile: set(data["widgets"]) - {"speed_limit_actions"} for profile, data in PROFILES.items()}
 

openpilot/starpilot/ui/onroad_torque.py

@@ -39,8 +39,7 @@ class TorqueBarWidget:
     if not enabled:
       return
     cap_radius = LARGE_CAP_RADIUS if screen_width == 2160 else CAP_RADIUS
-    self._painter.render(rect, torque, alpha, screen_width, cap_radius, widget_offset(state.customization, profile, 'torque_bar'),
-                         demand_only=state.torque_is_demand)
+    self._painter.render(rect, torque, alpha, screen_width, cap_radius, widget_offset(state.customization, profile, 'torque_bar'))
 
   def close(self) -> None:
     self._painter.close()

openpilot/starpilot/ui/onroad_torque_draw.py

@@ -82,7 +82,7 @@ class TorqueBarPainter:
     self._shader = shader
 
   def render(self, rect: rl.Rectangle, torque: float, alpha: float, screen_width: float, cap_radius: float,
-             offset: tuple[float, float] = (0, 0), *, demand_only: bool = False) -> None:
+             offset: tuple[float, float] = (0, 0)) -> None:
     if alpha <= 0:
       return
     self.prepare()
@@ -101,7 +101,7 @@ class TorqueBarPainter:
     start, end = ((end_sine, -end_cosine), (0, -1)) if torque < 0 else ((0, -1), (end_sine, -end_cosine))
     dot_y = rect.y + rect.height - torque_offset - thickness / 2 + offset[1]
     indicator_alpha = int(255 * 0.9 * alpha) / 255
-    warmth = 0.0 if demand_only else max(0.0, min(1.0, (abs(torque) - 0.75) * 4))
+    warmth = max(0.0, min(1.0, (abs(torque) - 0.75) * 4))
     extent = (middle_radius + thickness / 2 - cap) * sine + cap
     reach = max(0.65 * extent, 0.0001)
     values = {

openpilot/starpilot/ui/tests/test_onroad_customization.py

@@ -38,6 +38,11 @@ def road(document=None, **changes):
                  customization=document or default_document(), **changes)
 
 
+def test_torque_bar_keeps_its_familiar_customization_label():
+  for profile in customization_metadata()['profiles'].values():
+    assert profile['widgets']['torque_bar']['label'] == 'Torque bar'
+
+
 def test_defaults_and_metadata_are_independent_and_valid():
   document = default_document()
   assert validate_document(document) == document

openpilot/starpilot/ui/tests/test_onroad_torque_draw.py

@@ -1,6 +1,7 @@
 import numpy as np
 from contextlib import contextmanager
 from types import SimpleNamespace as NS
+from dataclasses import replace
 from unittest.mock import patch
 
 from openpilot.starpilot.ui.raylib import rl
@@ -8,6 +9,8 @@ import pytest
 
 from openpilot.starpilot.ui import onroad_torque_draw
 from openpilot.starpilot.ui.onroad_torque_draw import TorqueBarPainter
+from openpilot.starpilot.ui.onroad_torque import TorqueBarWidget
+from openpilot.starpilot.ui.onroad_state import OnroadState, SpeedLimitObservation
 
 
 @contextmanager
@@ -135,19 +138,24 @@ def test_shader_failure_never_paints_the_bounding_rectangle(default_shader_id):
   assert gpu.unloads == ([1] if default_shader_id == 0 else [])
 
 
-@pytest.mark.parametrize('width,rect,cap', [
-  (536, (0, 0, 476, 240), 7), (2160, (30, 30, 1800, 1020), 21), (1860, (30, 30, 1800, 1800), 7),
+@pytest.mark.parametrize('width,rect', [
+  (536, (0, 0, 476, 240)), (2160, (30, 30, 1800, 1020)), (1860, (30, 30, 1800, 1800)),
 ])
-@pytest.mark.parametrize('utilization', [-1, -.9, -.3, .3, .9, 1])
-def test_demand_has_direction_without_claiming_physical_torque_saturation(width, rect, cap, utilization):
-  with record_gpu() as gpu:
-    painter = TorqueBarPainter()
-    painter.render(rl.Rectangle(*rect), utilization, 1, width, cap, demand_only=True)
-    painter.render(rl.Rectangle(*rect), utilization, 1, width, cap)
-  demand, torque = gpu.frames
-  assert demand.uniforms['gradient'][1:] == pytest.approx((1, 0, 1))
+@pytest.mark.parametrize('utilization', [-1, -.875, -.75, -.3, .3, .75, .875, 1])
+def test_demand_preserves_original_colors_geometry_and_direction(width, rect, utilization):
+  state = OnroadState(True, True, 15.0, 80.0, SpeedLimitObservation(), lateral_active=True, torque_source_available=True,
+                      torque_utilization=utilization, torque_is_demand=True)
+  frames = []
+  for demand_only in (True, False):
+    widget = TorqueBarWidget()
+    with record_gpu() as gpu:
+      for _ in range(120):
+        widget.render(rl.Rectangle(*rect), replace(state, torque_is_demand=demand_only), width)
+      frames.append(gpu.frames[-1])
+  demand, torque = frames
+  warmth = max(0.0, min(1.0, (abs(widget._torque_filter.x) - .75) * 4))
+  assert demand.uniforms['gradient'][1:] == pytest.approx((1 - warmth * 140 / 255, warmth * 85 / 255, 1 - warmth))
+  assert demand.uniforms == torque.uniforms
   assert demand.uniforms['indicatorNormals'][0 if utilization < 0 else 2] * utilization > 0
   assert demand.uniforms['indicatorNormals'] == torque.uniforms['indicatorNormals']
   assert demand.vertices == torque.vertices
-  if abs(utilization) > .75:
-    assert torque.uniforms['gradient'][1:] != pytest.approx((1, 0, 1))