diff --git a/selfdrive/ui/mici/onroad/starpilot_status.py b/selfdrive/ui/mici/onroad/starpilot_status.py index 28cfaa0f..02d27250 100644 --- a/selfdrive/ui/mici/onroad/starpilot_status.py +++ b/selfdrive/ui/mici/onroad/starpilot_status.py @@ -15,16 +15,17 @@ TRAFFIC_COLOR = rl.Color(201, 34, 49, 255) def get_border_color(state: UIState): + enabled = state.sm["selfdriveState"].enabled if state.status == UIStatus.OVERRIDE: return OVERRIDE_COLOR - if state.traffic_mode_enabled and state.sm["selfdriveState"].enabled: + if state.traffic_mode_enabled and enabled: return TRAFFIC_COLOR if state.always_on_lateral_active: return AOL_COLOR - # Match Qt behavior: only USER_DISABLED (1) gets the CEM override color. - if state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES: + # 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 state.sm["selfdriveState"].experimentalMode: + if enabled and state.sm["selfdriveState"].experimentalMode: return EXPERIMENTAL_COLOR if state.status == UIStatus.ENGAGED: return ENGAGED_COLOR