From aec4fa3814c604570c94a246bd07f08772c87aee Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 27 May 2025 20:02:56 +0800
Subject: [PATCH] Border Indicator - 2025-05-27

---
 selfdrive/ui/qt/onroad/onroad_home.cc | 38 +++++++++++++++++++++++++--
 selfdrive/ui/qt/onroad/onroad_home.h  | 20 ++++++++++++++
 2 files changed, 56 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 080f9bd50..f8faf2787 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -39,16 +39,48 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
 }
 
+void OnroadWindow::updateDpIndicatorSideState(bool blinker_state, bool bsm_state, bool &show, bool &show_prev, int &count, QColor &color) {
+  if (!blinker_state && !bsm_state) {
+    show = false;
+    count = 0;
+  } else {
+    count += 1;
+  }
+  if (bsm_state && blinker_state) {
+    show = count % DP_INDICATOR_BLINK_RATE_FAST == 0? !show : show;
+    color = DP_INDICATOR_COLOR_BSM;
+  } else if (blinker_state) {
+    show = count % DP_INDICATOR_BLINK_RATE_STD == 0? !show : show;
+    color = DP_INDICATOR_COLOR_BLINKER;
+  } else if (bsm_state) {
+    show = true;
+    color = DP_INDICATOR_COLOR_BSM;
+  } else {
+    show = false;
+  }
+}
+
+void OnroadWindow::updateDpIndicatorStates(const UIState &s) {
+  const auto cs = (*s.sm)["carState"].getCarState();
+  updateDpIndicatorSideState(cs.getLeftBlinker(), cs.getLeftBlindspot(), dp_indicator_show_left, dp_indicator_show_left_prev, dp_indicator_count_left, dp_indicator_color_left);
+  updateDpIndicatorSideState(cs.getRightBlinker(), cs.getRightBlindspot(), dp_indicator_show_right, dp_indicator_show_right_prev, dp_indicator_count_right, dp_indicator_color_right);
+}
+
 void OnroadWindow::updateState(const UIState &s) {
   if (!s.scene.started) {
     return;
   }
 
+  dp_indicator_show_left_prev = dp_indicator_show_left;
+  dp_indicator_show_right_prev = dp_indicator_show_right;
+  updateDpIndicatorStates(s);
+  bool indicator_states_changed = dp_indicator_show_left != dp_indicator_show_left_prev || dp_indicator_show_right != dp_indicator_show_right_prev;
+
   alerts->updateState(s);
   nvg->updateState(s);
 
   QColor bgColor = bg_colors[s.status];
-  if (bg != bgColor) {
+  if (bg != bgColor || indicator_states_changed) {
     // repaint border
     bg = bgColor;
     update();
@@ -61,5 +93,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 180));
+  if (dp_indicator_show_left) p.fillRect(QRect(0, 0, width() * 0.2, height()), dp_indicator_color_left);
+  if (dp_indicator_show_right) p.fillRect(QRect(width() * 0.8, 0, width() * 0.2, height()), dp_indicator_color_right);
 }
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index c321d2d44..dc4eb81b3 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -1,11 +1,18 @@
 #pragma once
 
+#include <QColor>
+
 #include "selfdrive/ui/qt/onroad/alerts.h"
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
 class OnroadWindow : public QWidget {
   Q_OBJECT
 
+  const int DP_INDICATOR_BLINK_RATE_STD = 8;
+  const int DP_INDICATOR_BLINK_RATE_FAST = 4;
+  const QColor DP_INDICATOR_COLOR_BLINKER = QColor(0, 0xff, 0, 255);
+  const QColor DP_INDICATOR_COLOR_BSM = QColor(0xff, 0xff, 0, 255);
+
 public:
   OnroadWindow(QWidget* parent = 0);
 
@@ -16,6 +23,19 @@ private:
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QHBoxLayout* split;
 
+  void updateDpIndicatorSideState(bool blinker_state, bool bsm_state, bool &show, bool &show_prev, int &count, QColor &color);
+  void updateDpIndicatorStates(const UIState &s);
+  // left
+  int dp_indicator_count_left = 0;
+  QColor dp_indicator_color_left = DP_INDICATOR_COLOR_BLINKER;
+  bool dp_indicator_show_left = false;
+  bool dp_indicator_show_left_prev = false;
+  // right
+  int dp_indicator_count_right = 0;
+  QColor dp_indicator_color_right = DP_INDICATOR_COLOR_BLINKER;
+  bool dp_indicator_show_right = false;
+  bool dp_indicator_show_right_prev = false;
+
 private slots:
   void offroadTransition(bool offroad);
   void updateState(const UIState &s);