From d4e29ec945377b98266fe217983b05c2aa4b1ba0 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 31 Jul 2026 11:26:03 -0700
Subject: [PATCH] fade out eGPU icon (#38506)

Fade GPU logo on engagement
---
 .../selfdrive/ui/mici/onroad/hud_renderer.py  | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
index 02f3fa1d98..2ea3f0c087 100644
--- a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -108,6 +108,7 @@ class HudRenderer(Widget):
     self.v_ego_cluster_seen: bool = False
     self._engaged: bool = False
     self._small_model_engaged: bool = False
+    self._egpu_fade_time: float = 0
 
     self._can_draw_top_icons = True
     self._show_wheel_critical = False
@@ -127,11 +128,13 @@ class HudRenderer(Widget):
     self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44)
     self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44)
     self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52)
+    self._egpu_icon: rl.Texture | None = None
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
   def set_wheel_critical_icon(self, critical: bool):
     """Set the wheel icon to critical or normal state."""
@@ -165,6 +168,8 @@ class HudRenderer(Widget):
     if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
         ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
       self._small_model_engaged = True
+    if engaged and not self._engaged:
+      self._egpu_fade_time = rl.get_time()
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
       self._set_speed_changed_time = rl.get_time()
     self._engaged = engaged
@@ -200,7 +205,8 @@ class HudRenderer(Widget):
                    not ui_state.sm.alive['modelV2']) or
                   (ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
     self._small_model_engaged &= big_failed
-    if ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed):
+    loading = ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed)
+    if loading:
       pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
       icon = self._txt_egpu
       opacity = 0.35 + 0.65 * pulse
@@ -214,9 +220,16 @@ class HudRenderer(Widget):
       icon = self._txt_egpu_green
       opacity = 1.0
 
+    if icon is not self._egpu_icon:
+      self._egpu_fade_time = rl.get_time()
+      self._egpu_icon = icon
+    alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
+    if alpha < 1e-2:
+      return
+
     pos = rl.Vector2(rect.x + rect.width - 10 - icon.width,
-                     rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2)
-    rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity)))
+                     rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2 + (1 - alpha) * icon.height / 2)
+    rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity * alpha)))
 
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel