IQ.Pilot Release Commit @ ba009d5

iqpilot/selfdrive/ui/mici/layouts/settings/models.py

@@ -552,7 +552,8 @@ class ModelsLayoutMici(NavScroller):
   def _update_steer_delay_subtext(self):
     if self._steer_delay._checked:
       try:
-        self._steer_delay.set_value(f"measured {ui_state.sm['lateralDelay'].lateralDelay:.3f} s")
+        measured = ui_state.measured_steer_delay()
+        self._steer_delay.set_value("calibrating" if measured is None else f"measured {measured:.3f} s")
       except Exception:
         self._steer_delay.set_value("")
       return

iqpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -54,7 +54,9 @@ MICI_BORDER_THICKNESS = 50
 MICI_BORDER_ROUNDNESS = 0.2 * 1.02
 MICI_BORDER_BOTTOM_ONLY_HEIGHT = 95
 MICI_EXPERIMENTAL_ICON_SIZE = 28
-MICI_EXPERIMENTAL_ICON_SPACING = 8
+MICI_EXPERIMENTAL_ICON_SLOT = 60
+MICI_EXPERIMENTAL_ICON_MARGIN_X = 16
+MICI_EXPERIMENTAL_ICON_MARGIN_Y = 10
 
 
 class BookmarkIcon(Widget):
@@ -274,7 +276,7 @@ class AugmentedRoadView(CameraView):
     # don't draw the experimental/IQ.Dynamic icon over alert text (it falls back to the
     # top-left alert anchor when the DMoji is hidden while disengaged)
     if alert_to_render is None:
-      self._draw_experimental_icon(should_draw_dmoji)
+      self._draw_experimental_icon()
 
     # End clipping region
     rl.end_scissor_mode()
@@ -304,7 +306,7 @@ class AugmentedRoadView(CameraView):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
-  def _draw_experimental_icon(self, draw_below_driver_state: bool) -> None:
+  def _draw_experimental_icon(self) -> None:
     if not ui_state.started:
       return
 
@@ -316,13 +318,10 @@ class AugmentedRoadView(CameraView):
     else:
       icon = self._iqstandard_txt
 
-    if draw_below_driver_state:
-      pos_x = self._rect.x + 16 + (self._driver_state_renderer.rect.width - icon.width) / 2
-      pos_y = self._rect.y + 10 + self._driver_state_renderer.rect.height + MICI_EXPERIMENTAL_ICON_SPACING
-    else:
-      pos_x = self._rect.x + 18
-      pos_y = self._rect.y + 18
-
+    slot_x = self._content_rect.x + self._content_rect.width - MICI_EXPERIMENTAL_ICON_MARGIN_X - MICI_EXPERIMENTAL_ICON_SLOT
+    slot_y = self._content_rect.y + MICI_EXPERIMENTAL_ICON_MARGIN_Y
+    pos_x = slot_x + (MICI_EXPERIMENTAL_ICON_SLOT - icon.width) / 2
+    pos_y = slot_y + (MICI_EXPERIMENTAL_ICON_SLOT - icon.height) / 2
     rl.draw_texture(icon, int(pos_x), int(pos_y), rl.WHITE)
 
   def _draw_border(self):

iqpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -14,6 +14,7 @@ from iqpilot.selfdrive.ui.mici.onroad import blend_colors
 from iqpilot.system.ui.lib.application import gui_app
 from iqpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from iqpilot.system.ui.widgets import Widget
+from iqpilot.ui.theme import NeonTheme
 
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
@@ -297,7 +298,10 @@ class ModelRenderer(Widget):
   def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
     alpha = np.clip(prob, 0.0, 0.7)
     if adjacent:
-      _base_color = LANE_LINE_COLORS.get(ui_state.status, LANE_LINE_COLORS[UIStatus.DISENGAGED])
+      if gui_app.iqpilot_ui() and ui_state.status == UIStatus.ENGAGED:
+        _base_color = NeonTheme.glow()
+      else:
+        _base_color = LANE_LINE_COLORS.get(ui_state.status, LANE_LINE_COLORS[UIStatus.DISENGAGED])
       color = rl.Color(_base_color.r, _base_color.g, _base_color.b, int(alpha * 255))
 
       # turn adjacent lls orange if torque is high

iqpilot/selfdrive/ui/ui_state.py

@@ -424,6 +424,13 @@ class UIState(IQUIState):
 
       self._started_prev = self.started
 
+  def measured_steer_delay(self) -> float | None:
+    # estimatord is onroad-only, so offroad the lateralDelay socket reads back a default 0.0
+    if self.sm.alive['lateralDelay']:
+      return float(self.sm['lateralDelay'].lateralDelay)
+    lag = log_param_from_bytes(self.params, "LiveDelay", log.Event)
+    return float(lag.lateralDelay.lateralDelay) if lag is not None else None
+
   def update_params(self) -> None:
     CP = log_param_from_bytes(self.params, "CarParamsPersistent", car.CarParams)
     if CP is not None: