ui: use correct signals while using PID with Developer UI (#1674)

* only if angleState

* pidState element

selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
   UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
   DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
   AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
-  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement
+  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement
 )
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -36,6 +36,7 @@ class DeveloperUiRenderer(Widget):
     self.desired_lat_accel_elem = DesiredLateralAccelElement()
     self.actual_lat_accel_elem = ActualLateralAccelElement()
     self.desired_steer_elem = DesiredSteeringAngleElement()
+    self.desired_pid_steer_elem = DesiredSteeringPIDElement()
     self.a_ego_elem = AEgoElement()
     self.lead_speed_elem = LeadSpeedElement()
     self.friction_elem = FrictionCoefficientElement()
@@ -85,8 +86,10 @@ class DeveloperUiRenderer(Widget):
     ]
     if controls_state.lateralControlState.which() == 'torqueState':
       elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
-    else:
+    elif controls_state.lateralControlState.which() == 'angleState':
       elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
+    elif controls_state.lateralControlState.which() == 'pidState':
+      elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric))
 
     elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
 

selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py

@@ -191,6 +191,31 @@ class DesiredLateralAccelElement(LateralControlElement):
     return UiElement(value, "DESIRED L.A.", self.unit, color)
 
 
+class DesiredSteeringPIDElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    controls_state = sm['controlsState']
+    lat_active = sm['carControl'].latActive
+    angle_steers = car_state.steeringAngleDeg
+    steer_angle_desired = controls_state.lateralControlState.pidState.steeringAngleDesiredDeg
+
+    value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
+
+    color = rl.WHITE
+    if lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        color = rl.Color(0, 255, 0, 255)
+
+    return UiElement(value, "DESIRED STEER", self.unit, color)
+
+
 class AEgoElement:
   def __init__(self):
     self.unit = "m/s^2"