From e1904c5a3fbce70542c71c155c13f231be893af4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 16 Nov 2024 18:54:18 -0500
Subject: [PATCH] UI border update

---
 selfdrive/ui/ui.cc | 19 ++++++++++++++++---
 selfdrive/ui/ui.h  |  4 ++++
 2 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ec3d40961d..4d8dd4ec07 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -68,13 +68,25 @@ void ui_update_params(UIState *s) {
 }
 
 void UIState::updateStatus() {
-  if (scene.started && sm->updated("selfdriveState")) {
+  if (scene.started && (sm->updated("selfdriveState") || sm->updated("selfdriveStateSP"))) {
     auto ss = (*sm)["selfdriveState"].getSelfdriveState();
+    auto ss_sp = (*sm)["selfdriveStateSP"].getSelfdriveStateSP();
+    auto mads = ss_sp.getMads();
     auto state = ss.getState();
-    if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) {
+    auto state_mads = mads.getState();
+    if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING ||
+        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED) {
       status = STATUS_OVERRIDE;
     } else {
-      status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      if (mads.getAvailable()) {
+        if (mads.getActive()) {
+          status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY;
+        } else {
+          status = STATUS_DISENGAGED;
+        }
+      } else {
+        status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      }
     }
   }
 
@@ -94,6 +106,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
+    "selfdriveStateSP",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ff67cacde..52f76dc611 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -42,12 +42,16 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
+  STATUS_LAT_ONLY,
+  STATUS_LONG_ONLY,
 } UIStatus;
 
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
+  [STATUS_LAT_ONLY] = QColor(0x00, 0xc8, 0xc8, 0xf1),
+  [STATUS_LONG_ONLY] = QColor(0x96, 0x1C, 0xA8, 0xf1),
 };
 
 typedef struct UIScene {