From 20ea43f317013e4edb09d8d22e2e542444760399 Mon Sep 17 00:00:00 2001
From: Brian Hanson <brian@hanson.xyz>
Date: Mon, 4 May 2026 19:07:54 -0500
Subject: [PATCH] nightrider: render lane-change UI (was hidden by
 disengaged-skip)
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During a lane change controlsd writes no_lat_lane_change=true; OnroadWindow
forces edgeColor to STATUS_DISENGAGED so the bg color flips to the disengaged
hue. drawLaneLines's nightrider early-return ("hide all when disengaged")
was matching that and skipping the entire frame, so nightrider showed nothing
during the lane change.

Fixes:
- Hoist is_no_lat_lane_change above the early-return.
- Skip the early-return during lane change, so lane lines + road edges +
  blind-spot path still render in nightrider while the maneuver is active
  (matching how nightrider looks when normally engaged).
- In the outline-only track-polygon branch: when in lane change, draw the
  track as a 4 px outline of CHANGE_LANE_PATH_COLOR (the same yellow used
  to fill the polygon in normal mode) instead of the usual 3 px light-blue
  guide. Hollow shape, thicker stroke — matches Brian's spec.

Normal-mode rendering is unchanged.
---
 selfdrive/ui/qt/onroad.cc | 30 +++++++++++++++++++++---------
 1 file changed, 21 insertions(+), 9 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 558d02e..9de2b6d 100755
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -851,8 +851,15 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // CLEARPILOT: nightrider mode — outline only, no fill
   bool outlineOnly = nightriderMode;
 
-  // CLEARPILOT: in nightrider mode, hide all lines when not engaged
-  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
+  // CLEARPILOT: read here so the nightrider hide-when-disengaged check below
+  // can let lane-change frames through (controlsd forces edgeColor to
+  // STATUS_DISENGAGED while no_lat_lane_change is true).
+  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+
+  // CLEARPILOT: in nightrider mode, hide all lines when not engaged — except
+  // during a lane change, where we still want lane lines + road edges drawn
+  // alongside the yellow lane-change outline.
+  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED] && !is_no_lat_lane_change) {
     painter.restore();
     return;
   }
@@ -893,8 +900,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // paint center lane path
   // QColor bg_colors[CHANGE_LANE_PATH_COLOR];
 
-  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change".
-  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+  // is_no_lat_lane_change was read at the top of this function.
 
   QColor center_lane_color;
   
@@ -955,11 +961,17 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     }
 
     if (outlineOnly) {
-      // CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
-      // Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
-      // the path reads as a neutral guide, not as engagement/status feedback.
-      QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
-      painter.setPen(QPen(lightBlue, 3));
+      // CLEARPILOT: in nightrider, the tire path is rendered as an outline.
+      // - Normal: light blue 3px (status-neutral guide)
+      // - Lane change: 4px outline of CHANGE_LANE_PATH_COLOR (the same yellow
+      //   used to fill the polygon in normal mode), so the nightrider lane
+      //   change reads as the same visual cue, just hollow.
+      if (is_no_lat_lane_change) {
+        painter.setPen(QPen(bg_colors[CHANGE_LANE_PATH_COLOR], 4));
+      } else {
+        QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
+        painter.setPen(QPen(lightBlue, 3));
+      }
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);