StarPilot/selfdrive/ui/lib/starpilot_status.py

import pyray as rl

from openpilot.selfdrive.ui.ui_state import UIStatus, UIState

CEM_DISABLED_OVERRIDE_STATUSES = {1}
CEM_MANUAL_OVERRIDE_STATUSES = {1, 2}
CEM_ACTIVE_STATUSES = {3, 4, 5, 6, 7, 8}

DISENGAGED_COLOR = rl.Color(18, 40, 57, 255)
AOL_COLOR = rl.Color(10, 186, 181, 255)
ENGAGED_COLOR = rl.Color(22, 127, 64, 255)
OVERRIDE_COLOR = rl.Color(137, 146, 141, 255)
EXPERIMENTAL_COLOR = rl.Color(218, 111, 37, 255)
CEM_OVERRIDE_COLOR = rl.Color(255, 214, 0, 255)
SWITCHBACK_COLOR = rl.Color(139, 108, 197, 255)
TRAFFIC_COLOR = rl.Color(201, 34, 49, 255)
LONGITUDINAL_ONLY_COLOR = rl.Color(255, 105, 180, 255)


def is_longitudinal_only_active(state: UIState) -> bool:
  """Return true when the user has paused lateral while control is enabled.

  carControl.latActive also becomes false when lateral is temporarily unavailable,
  such as below minimum steer speed, so it does not represent user intent.
  """
  return bool(state.sm["selfdriveState"].enabled and state.sm["starpilotCarState"].pauseLateral)


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 _override_color_applies(state):
    return OVERRIDE_COLOR
  if is_longitudinal_only_active(state):
    return LONGITUDINAL_ONLY_COLOR
  if state.switchback_mode_enabled and lateral_active:
    return SWITCHBACK_COLOR
  if state.traffic_mode_enabled and enabled:
    return TRAFFIC_COLOR
  if state.always_on_lateral_active:
    return AOL_COLOR
  # Only color the border for CEM/experimental while actually enabled.
  if enabled and state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES:
    return CEM_OVERRIDE_COLOR
  if enabled and state.sm["selfdriveState"].experimentalMode:
    return EXPERIMENTAL_COLOR
  if state.status == UIStatus.ENGAGED:
    return ENGAGED_COLOR
  return DISENGAGED_COLOR


def get_path_edge_color(state: UIState):
  if state.conditional_status in CEM_ACTIVE_STATUSES:
    return EXPERIMENTAL_COLOR
  return get_border_color(state)


def get_screen_edge_color(state: UIState):
  enabled = state.sm["selfdriveState"].enabled
  lateral_active = enabled or state.always_on_lateral_active
  if _override_color_applies(state):
    return OVERRIDE_COLOR
  if is_longitudinal_only_active(state):
    return LONGITUDINAL_ONLY_COLOR
  if state.switchback_mode_enabled and lateral_active:
    return SWITCHBACK_COLOR
  if state.always_on_lateral_active:
    return AOL_COLOR
  # Keep the screen edge disengaged-blue when experimental mode is only the
  # requested longitudinal mode, not the active driving state.
  if enabled and state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES:
    return CEM_OVERRIDE_COLOR
  if enabled and state.sm["selfdriveState"].experimentalMode:
    return EXPERIMENTAL_COLOR
  if state.traffic_mode_enabled and enabled:
    return TRAFFIC_COLOR
  return get_border_color(state)


def get_experimental_mode_banner_text(state: UIState):
  conditional_enabled = state.params.get_bool("ConditionalExperimental")

  # With CEM enabled, only surface banner text for explicit manual override states.
  # Automatic CEM transitions should only be reflected by path/border coloring.
  if conditional_enabled:
    if state.conditional_status in CEM_MANUAL_OVERRIDE_STATUSES:
      return "OVERRIDDEN"
    return None

  if state.sm["selfdriveState"].experimentalMode:
    return "EXPERIMENTAL"
  return "CHILL"


def get_mode_transition_banner_text(state: UIState):
  enabled = state.sm["selfdriveState"].enabled
  lateral_active = enabled or state.always_on_lateral_active
  conditional_enabled = state.params.get_bool("ConditionalExperimental")

  if state.status == UIStatus.OVERRIDE:
    return "OVERRIDE"
  if state.switchback_mode_enabled and lateral_active:
    return "SWITCHBACK"
  if conditional_enabled and enabled and state.conditional_status in CEM_MANUAL_OVERRIDE_STATUSES:
    return "OVERRIDDEN"
  if enabled and state.sm["selfdriveState"].experimentalMode:
    return "EXPERIMENTAL"
  if enabled:
    return "CHILL"
  return None