From 2880189713ccbe60be8b0ee846866d21bdbb9739 Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Fri, 5 Jun 2026 18:31:50 -0400
Subject: [PATCH] BigUI WIP: Pushpop Wires

---
 selfdrive/ui/layouts/onboarding.py            |  4 +-
 selfdrive/ui/layouts/settings/device.py       | 38 +++++++++----------
 selfdrive/ui/layouts/settings/software.py     | 18 ++++-----
 .../ui/layouts/settings/starpilot/lateral.py  |  2 +-
 selfdrive/ui/layouts/settings/toggles.py      |  4 +-
 selfdrive/ui/widgets/pairing_dialog.py        |  4 +-
 selfdrive/ui/widgets/setup.py                 |  4 +-
 selfdrive/ui/widgets/ssh_key.py               |  6 +--
 8 files changed, 40 insertions(+), 40 deletions(-)

diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 5d61c1c95..439f8fb3e 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -194,11 +194,11 @@ class OnboardingWindow(Widget):
     ui_state.params.put("HasAcceptedTerms", terms_version)
     self._state = OnboardingState.ONBOARDING
     if self._training_done:
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
-    gui_app.set_modal_overlay(None)
+    gui_app.pop_widget()
 
   def _render(self, _):
     if self._training_guide is None:
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index f03e03c69..3cf39d2fd 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -92,18 +92,18 @@ class DeviceLayout(Widget):
       self._select_language_dialog = None
 
     self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language],
-                                                     option_font_weight=FontWeight.UNIFONT)
-    gui_app.set_modal_overlay(self._select_language_dialog, callback=handle_language_selection)
+                                                      option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection)
+    gui_app.push_widget(self._select_language_dialog)
 
   def _show_driver_camera(self):
     if not self._driver_camera:
       self._driver_camera = DriverCameraDialog()
 
-    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+    gui_app.push_widget(self._driver_camera)
 
   def _reset_calibration_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reset Calibration")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration")))
       return
 
     def reset_calibration(result: int):
@@ -119,12 +119,12 @@ class DeviceLayout(Widget):
       self._params.put_bool("OnroadCycleRequested", True)
       self._update_calib_description()
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"))
-    gui_app.set_modal_overlay(dialog, callback=reset_calibration)
+    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
+    gui_app.push_widget(dialog)
 
   def _reset_driver_monitoring_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reset Driver Monitoring")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reset Driver Monitoring")))
       return
 
     def reset_driver_monitoring(result: int):
@@ -136,8 +136,8 @@ class DeviceLayout(Widget):
       self._params.remove("IsRHDOverride")
       self._params.put_bool("OnroadCycleRequested", True)
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reset driver monitoring calibration?"), tr("Reset"))
-    gui_app.set_modal_overlay(dialog, callback=reset_driver_monitoring)
+    dialog = ConfirmDialog(tr("Are you sure you want to reset driver monitoring calibration?"), tr("Reset"), callback=reset_driver_monitoring)
+    gui_app.push_widget(dialog)
 
   def _update_calib_description(self):
     desc = tr(DESCRIPTIONS['reset_calibration'])
@@ -189,11 +189,11 @@ class DeviceLayout(Widget):
 
   def _reboot_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reboot")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reboot")))
       return
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._perform_reboot)
+    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=self._perform_reboot)
+    gui_app.push_widget(dialog)
 
   def _perform_reboot(self, result: int):
     if not ui_state.engaged and result == DialogResult.CONFIRM:
@@ -201,11 +201,11 @@ class DeviceLayout(Widget):
 
   def _power_off_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Power Off")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Power Off")))
       return
 
-    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"))
-    gui_app.set_modal_overlay(dialog, callback=self._perform_power_off)
+    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=self._perform_power_off)
+    gui_app.push_widget(dialog)
 
   def _perform_power_off(self, result: int):
     if not ui_state.engaged and result == DialogResult.CONFIRM:
@@ -214,17 +214,17 @@ class DeviceLayout(Widget):
   def _pair_device(self):
     if not self._pair_device_dialog:
       self._pair_device_dialog = PairingDialog()
-    gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None))
+    gui_app.push_widget(self._pair_device_dialog)
 
   def _on_regulatory(self):
     if not self._fcc_dialog:
       self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
-    gui_app.set_modal_overlay(self._fcc_dialog)
+    gui_app.push_widget(self._fcc_dialog)
 
   def _on_review_training_guide(self):
     if not self._training_guide:
       def completed_callback():
-        gui_app.set_modal_overlay(None)
+        gui_app.pop_widget()
 
       self._training_guide = TrainingGuide(completed_callback=completed_callback)
-    gui_app.set_modal_overlay(self._training_guide)
+    gui_app.push_widget(self._training_guide)
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index 4251f2f59..d00a5038f 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -194,25 +194,25 @@ class SoftwareLayout(Widget):
                 ui_state.params.clear_all()
               ui_state.params.put_bool("DoUninstall", True)
 
-            dialog = ConfirmDialog(tr("This is a complete factory reset and cannot be undone. Are you absolutely sure?"), tr("Reset"))
-            gui_app.set_modal_overlay(dialog, callback=handle_step3)
+            dialog = ConfirmDialog(tr("This is a complete factory reset and cannot be undone. Are you absolutely sure?"), tr("Reset"), callback=handle_step3)
+            gui_app.push_widget(dialog)
           else:
             ui_state.params.put_bool("DoUninstall", True)
 
         dialog = ConfirmDialog(
-          tr("Do you want to perform a full factory reset? All saved assets and settings will be permanently deleted!"), tr("Factory Reset"), tr("Skip")
+          tr("Do you want to perform a full factory reset? All saved assets and settings will be permanently deleted!"), tr("Factory Reset"), tr("Skip"), callback=handle_step2
         )
-        gui_app.set_modal_overlay(dialog, callback=handle_step2)
+        gui_app.push_widget(dialog)
 
-    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"))
-    gui_app.set_modal_overlay(dialog, callback=handle_step1)
+    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_step1)
+    gui_app.push_widget(dialog)
 
   def _on_error_log(self):
     try:
       txt = Path("/data/error_logs/error.txt").read_text(encoding='utf-8', errors='replace')
     except Exception:
       txt = tr("No error log found.")
-    gui_app.set_modal_overlay(ConfirmDialog(txt, tr("OK"), on_close=lambda r: None, rich=True))
+    gui_app.push_widget(ConfirmDialog(txt, tr("OK"), rich=True))
 
   def _on_install_update(self):
     # Trigger reboot to install update
@@ -231,7 +231,6 @@ class SoftwareLayout(Widget):
         branches.insert(0, b)
 
     current_target = ui_state.params.get("UpdaterTargetBranch") or ""
-    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target)
 
     def handle_selection(result):
       # Confirmed selection
@@ -242,4 +241,5 @@ class SoftwareLayout(Widget):
         os.system("pkill -SIGUSR1 -f system.updated.updated")
       self._branch_dialog = None
 
-    gui_app.set_modal_overlay(self._branch_dialog, callback=handle_selection)
+    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
+    gui_app.push_widget(self._branch_dialog)
diff --git a/selfdrive/ui/layouts/settings/starpilot/lateral.py b/selfdrive/ui/layouts/settings/starpilot/lateral.py
index de1d15199..6e38e206b 100644
--- a/selfdrive/ui/layouts/settings/starpilot/lateral.py
+++ b/selfdrive/ui/layouts/settings/starpilot/lateral.py
@@ -269,4 +269,4 @@ class StarPilotLateralLayout(_SettingsPage):
       if res == DialogResult.CONFIRM:
         self._params.put_int("LaneChangeSmoothing", int(val))
     current = self._params.get_int("LaneChangeSmoothing") if self._params.get_int("LaneChangeSmoothing") > 0 else 10
-    gui_app.set_modal_overlay(AetherSliderDialog(tr("Lane Change Smoothing"), 1, 10, 1, current, on_close, color=PANEL_STYLE.accent))
+    gui_app.push_widget(AetherSliderDialog(tr("Lane Change Smoothing"), 1, 10, 1, current, on_close, color=PANEL_STYLE.accent))
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index d543634bf..08800c698 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -243,8 +243,8 @@ class TogglesLayout(Widget):
       # show confirmation dialog
       content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
                  f"<p>{self._toggles['ExperimentalMode'].description}</p>")
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
     else:
       self._update_experimental_mode_icon()
       self._params.put_bool("ExperimentalMode", state)
diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/selfdrive/ui/widgets/pairing_dialog.py
index f960cf723..7077c09c4 100644
--- a/selfdrive/ui/widgets/pairing_dialog.py
+++ b/selfdrive/ui/widgets/pairing_dialog.py
@@ -26,7 +26,7 @@ class PairingDialog(Widget):
     self.qr_texture: rl.Texture | None = None
     self.last_qr_generation = float('-inf')
     self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80))
-    self._close_btn.set_click_callback(lambda: gui_app.set_modal_overlay(None))
+    self._close_btn.set_click_callback(lambda: gui_app.pop_widget())
 
   def _get_pairing_url(self) -> str:
     try:
@@ -69,7 +69,7 @@ class PairingDialog(Widget):
 
   def _update_state(self):
     if ui_state.prime_state.is_paired():
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _render(self, rect: rl.Rectangle) -> int:
     rl.clear_background(rl.Color(224, 224, 224, 255))
diff --git a/selfdrive/ui/widgets/setup.py b/selfdrive/ui/widgets/setup.py
index 42565bd61..31af5074f 100644
--- a/selfdrive/ui/widgets/setup.py
+++ b/selfdrive/ui/widgets/setup.py
@@ -62,12 +62,12 @@ class SetupWidget(Widget):
   def _show_pairing(self):
     if not system_time_valid():
       dlg = alert_dialog(tr("Please connect to Wi-Fi to complete initial pairing"))
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
       return
 
     if not self._pairing_dialog:
       self._pairing_dialog = PairingDialog()
-    gui_app.set_modal_overlay(self._pairing_dialog, lambda result: setattr(self, '_pairing_dialog', None))
+    gui_app.push_widget(self._pairing_dialog)
 
   def __del__(self):
     if self._pairing_dialog:
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
index 29af2ee02..344d0db97 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -84,7 +84,7 @@ class SshKeyAction(ItemAction):
   def __init__(self):
     super().__init__(self.MAX_WIDTH, True)
 
-    self._keyboard = Keyboard(min_text_size=1)
+    self._keyboard = Keyboard(min_text_size=1, callback=self._on_username_submit)
     self._params = Params()
     self._error_message: str = ""
     self._text_font = gui_app.font(FontWeight.NORMAL)
@@ -105,7 +105,7 @@ class SshKeyAction(ItemAction):
     # Show error dialog if there's an error
     if self._error_message:
       message = copy.copy(self._error_message)
-      gui_app.set_modal_overlay(alert_dialog(message))
+      gui_app.push_widget(alert_dialog(message))
       self._username = ""
       self._error_message = ""
 
@@ -133,7 +133,7 @@ class SshKeyAction(ItemAction):
     if self._state == SshKeyActionState.ADD:
       self._keyboard.reset()
       self._keyboard.set_title(tr("Enter your GitHub username"))
-      gui_app.set_modal_overlay(self._keyboard, callback=self._on_username_submit)
+      gui_app.push_widget(self._keyboard)
     elif self._state == SshKeyActionState.REMOVE:
       self._params.remove("GithubUsername")
       self._params.remove("GithubSshKeys")