better tracks

selfdrive/ui/mici/onroad/model_renderer.py

@@ -154,7 +154,7 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_path(sm)
 
     if sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=5,
+      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z,
                                           screen_offset=(self._rect.x, self._rect.y), v_ego=sm['carState'].vEgo)
 
     # if render_lead_indicator and radar_state:

selfdrive/ui/sunnypilot/onroad/radar_tracks.py

@@ -18,13 +18,17 @@ RECEDING_COLOR = (255, 45, 45)
 
 def radar_track_color(v_rel: float, v_ego: float = 0.0) -> rl.Color:
   """Classify tracks as stationary, approaching, or receding with discrete colors."""
-  if abs(v_ego + v_rel) <= STATIONARY_SPEED_THRESHOLD or abs(v_rel) <= RELATIVE_SPEED_MOVING_THRESHOLD:
+  if radar_track_is_stationary(v_rel, v_ego) or abs(v_rel) <= RELATIVE_SPEED_MOVING_THRESHOLD:
     return rl.Color(*NEUTRAL_COLOR, 255)
 
   color = APPROACHING_COLOR if v_rel < 0.0 else RECEDING_COLOR
   return rl.Color(*color, 255)
 
 
+def radar_track_is_stationary(v_rel: float, v_ego: float = 0.0) -> bool:
+  return abs(v_ego + v_rel) <= STATIONARY_SPEED_THRESHOLD
+
+
 def format_radar_tracks_onroad_columns(live_tracks) -> tuple[str, str]:
   sources = sorted(live_tracks.trackSources, key=lambda source: (source.startAddress, source.endAddress, source.bus))
   if not sources:
@@ -128,7 +132,7 @@ class RadarTracksStatus:
 
 
 class RadarTracks:
-  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6, screen_offset=(0, 0), v_ego=0.0):
+  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=7, screen_offset=(0, 0), v_ego=0.0):
     for track in live_tracks.points:
       d_rel, y_rel, v_rel = track.dRel, track.yRel, track.vRel
       if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel)):
@@ -140,5 +144,5 @@ class RadarTracks:
 
       x, y = pt[0] + screen_offset[0], pt[1] + screen_offset[1]
       color = radar_track_color(v_rel, v_ego)
-      neutral = (color.r, color.g, color.b) == NEUTRAL_COLOR
-      rl.draw_circle(int(x), int(y), max(1, track_size - 3) if neutral else track_size, color)
+      stationary = radar_track_is_stationary(v_rel, v_ego)
+      rl.draw_circle(int(x), int(y), max(1, track_size - 4) if stationary else track_size, color)

selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py

@@ -94,7 +94,7 @@ def test_draw_radar_tracks_allows_unknown_acceleration(monkeypatch):
   assert drawn_colors == [color_tuple(radar_track_color(-5))]
 
 
-def test_draw_radar_tracks_shrinks_neutral_dots(monkeypatch):
+def test_draw_radar_tracks_shrinks_stationary_dots(monkeypatch):
   live_tracks = car.RadarData.new_message()
   point = live_tracks.init("points", 1)[0]
   point.dRel = 10
@@ -105,7 +105,24 @@ def test_draw_radar_tracks_shrinks_neutral_dots(monkeypatch):
   monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_sizes.append(size))
 
   radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=5, v_ego=20,
+    live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=6, v_ego=20,
   )
 
   assert drawn_sizes == [2]
+
+
+def test_draw_radar_tracks_keeps_moving_white_dots_large(monkeypatch):
+  live_tracks = car.RadarData.new_message()
+  point = live_tracks.init("points", 1)[0]
+  point.dRel = 10
+  point.yRel = 1
+  point.vRel = 0.5
+  point.aRel = 0
+  drawn_sizes = []
+  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_sizes.append(size))
+
+  radar_tracks.RadarTracks().draw_radar_tracks(
+    live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=6, v_ego=20,
+  )
+
+  assert drawn_sizes == [6]