Merge branch 'upstream/openpilot/master' into sync-20250731

# Conflicts:
#	.github/workflows/selfdrive_tests.yaml
#	common/params.h
#	common/params_keys.h
#	common/params_pyx.pyx
#	docs/CARS.md
#	opendbc_repo
#	panda
#	selfdrive/car/tests/test_models.py
#	selfdrive/pandad/pandad.cc
#	selfdrive/pandad/pandad.h
#	selfdrive/selfdrived/selfdrived.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	system/athena/athenad.py
#	system/athena/manage_athenad.py
#	system/manager/manager.py
#	system/sentry.py
#	uv.lock
Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master`

Sync: `commaai/panda:master` into `sunnypilot/panda:master`

system/ui/README.md

@@ -8,3 +8,8 @@ Quick start:
 * set `SCALE=1.5` to scale the entire UI by 1.5x
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
+
+Style guide:
+* All graphical elements should subclass [`Widget`](/system/ui/widgets/__init__.py).
+  * Prefer a stateful widget over a function for easy migration from QT
+* All internal class variables and functions should be prefixed with `_`

system/ui/lib/application.py

@@ -7,7 +7,7 @@ import threading
 from collections.abc import Callable
 from collections import deque
 from dataclasses import dataclass
-from enum import IntEnum
+from enum import StrEnum
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
@@ -33,16 +33,16 @@ ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
 FONT_DIR = ASSETS_DIR.joinpath("fonts")
 
 
-class FontWeight(IntEnum):
-  THIN = 0
-  EXTRA_LIGHT = 1
-  LIGHT = 2
-  NORMAL = 3
-  MEDIUM = 4
-  SEMI_BOLD = 5
-  BOLD = 6
-  EXTRA_BOLD = 7
-  BLACK = 8
+class FontWeight(StrEnum):
+  THIN = "Inter-Thin.ttf"
+  EXTRA_LIGHT = "Inter-ExtraLight.ttf"
+  LIGHT = "Inter-Light.ttf"
+  NORMAL = "Inter-Regular.ttf"
+  MEDIUM = "Inter-Medium.ttf"
+  SEMI_BOLD = "Inter-SemiBold.ttf"
+  BOLD = "Inter-Bold.ttf"
+  EXTRA_BOLD = "Inter-ExtraBold.ttf"
+  BLACK = "Inter-Black.ttf"
 
 
 @dataclass
@@ -312,34 +312,23 @@ class GuiApplication:
     return self._height
 
   def _load_fonts(self):
-    font_files = (
-      "Inter-Thin.ttf",
-      "Inter-ExtraLight.ttf",
-      "Inter-Light.ttf",
-      "Inter-Regular.ttf",
-      "Inter-Medium.ttf",
-      "Inter-SemiBold.ttf",
-      "Inter-Bold.ttf",
-      "Inter-ExtraBold.ttf",
-      "Inter-Black.ttf",
-    )
-
     # Create a character set from our keyboard layouts
     from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS
+
     all_chars = set()
     for layout in KEYBOARD_LAYOUTS.values():
       all_chars.update(key for row in layout for key in row)
     all_chars = "".join(all_chars)
-    all_chars += "–✓°"
+    all_chars += "–✓×°"
 
     codepoint_count = rl.ffi.new("int *", 1)
     codepoints = rl.load_codepoints(all_chars, codepoint_count)
 
-    for index, font_file in enumerate(font_files):
-      with as_file(FONT_DIR.joinpath(font_file)) as fspath:
+    for font_weight_file in FontWeight:
+      with as_file(FONT_DIR.joinpath(font_weight_file)) as fspath:
         font = rl.load_font_ex(fspath.as_posix(), 200, codepoints, codepoint_count[0])
         rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
-        self._fonts[index] = font
+        self._fonts[font_weight_file] = font
 
     rl.unload_codepoints(codepoints)
     rl.gui_set_font(self._fonts[FontWeight.NORMAL])

system/ui/lib/wifi_manager.py

@@ -91,7 +91,7 @@ class WifiManager:
     # Set tethering ssid as "weedle" + first 4 characters of a dongle id
     self._tethering_ssid = "weedle"
     if Params is not None:
-      dongle_id = Params().get("DongleId", encoding="utf-8")
+      dongle_id = Params().get("DongleId")
       if dongle_id:
         self._tethering_ssid += "-" + dongle_id[:4]
     self.running: bool = True

system/ui/reset.py

@@ -1,18 +1,21 @@
 #!/usr/bin/env python3
 import os
-import pyray as rl
 import sys
 import threading
+import time
 from enum import IntEnum
 
+import pyray as rl
+
 from openpilot.system.hardware import PC
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.label import gui_label, gui_text_box
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_label, gui_text_box
 
 NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60
 
 
 class ResetMode(IntEnum):
@@ -31,8 +34,16 @@ class ResetState(IntEnum):
 class Reset(Widget):
   def __init__(self, mode):
     super().__init__()
-    self.mode = mode
-    self.reset_state = ResetState.NONE
+    self._mode = mode
+    self._previous_reset_state = None
+    self._reset_state = ResetState.NONE
+    self._cancel_button = Button("Cancel", self._cancel_callback)
+    self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
+    self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
+    self._render_status = True
+
+  def _cancel_callback(self):
+    self._render_status = False
 
   def _do_erase(self):
     if PC:
@@ -50,53 +61,56 @@ class Reset(Widget):
     if rm == 0 or fmt == 0:
       os.system("sudo reboot")
     else:
-      self.reset_state = ResetState.FAILED
+      self._reset_state = ResetState.FAILED
 
   def start_reset(self):
-    self.reset_state = ResetState.RESETTING
+    self._reset_state = ResetState.RESETTING
     threading.Timer(0.1, self._do_erase).start()
 
+  def _update_state(self):
+    if self._reset_state != self._previous_reset_state:
+      self._previous_reset_state = self._reset_state
+      self._timeout_st = time.monotonic()
+    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
   def _render(self, rect: rl.Rectangle):
     label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100)
     gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
 
     text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100)
-    gui_text_box(text_rect, self.get_body_text(), 90)
+    gui_text_box(text_rect, self._get_body_text(), 90)
 
     button_height = 160
     button_spacing = 50
     button_top = rect.y + rect.height - button_height
     button_width = (rect.width - button_spacing) / 2.0
 
-    if self.reset_state != ResetState.RESETTING:
-      if self.mode == ResetMode.RECOVER or self.reset_state == ResetState.FAILED:
-        if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Reboot"):
-          os.system("sudo reboot")
-      elif self.mode == ResetMode.USER_RESET:
-        if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Cancel"):
-          return False
+    if self._reset_state != ResetState.RESETTING:
+      if self._mode == ResetMode.RECOVER or self._reset_state == ResetState.FAILED:
+        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))
+      elif self._mode == ResetMode.USER_RESET:
+        self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
 
-      if self.reset_state != ResetState.FAILED:
-        if gui_button(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height),
-                      "Confirm", button_style=ButtonStyle.PRIMARY):
-          self.confirm()
+      if self._reset_state != ResetState.FAILED:
+        self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height))
 
-    return True
+    return self._render_status
 
-  def confirm(self):
-    if self.reset_state == ResetState.CONFIRM:
+  def _confirm(self):
+    if self._reset_state == ResetState.CONFIRM:
       self.start_reset()
     else:
-      self.reset_state = ResetState.CONFIRM
+      self._reset_state = ResetState.CONFIRM
 
-  def get_body_text(self):
-    if self.reset_state == ResetState.CONFIRM:
+  def _get_body_text(self):
+    if self._reset_state == ResetState.CONFIRM:
       return "Are you sure you want to reset your device?"
-    if self.reset_state == ResetState.RESETTING:
+    if self._reset_state == ResetState.RESETTING:
       return "Resetting device...\nThis may take up to a minute."
-    if self.reset_state == ResetState.FAILED:
+    if self._reset_state == ResetState.FAILED:
       return "Reset failed. Reboot to try again."
-    if self.mode == ResetMode.RECOVER:
+    if self._mode == ResetMode.RECOVER:
       return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."
     return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."
 

system/ui/setup.py

@@ -10,11 +10,11 @@ import pyray as rl
 from cereal import log
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.label import gui_label, gui_text_box
-from openpilot.system.ui.lib.widget import Widget
-from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
 from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
 
 NetworkType = log.DeviceState.NetworkType
 

system/ui/spinner.py

@@ -5,8 +5,8 @@ import sys
 
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.widget import Widget
 from openpilot.system.ui.text import wrap_text
+from openpilot.system.ui.widgets import Widget
 
 from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
 

system/ui/text.py

@@ -3,11 +3,11 @@ import re
 import sys
 import pyray as rl
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
 
 MARGIN = 50
 SPACING = 40

system/ui/updater.py

@@ -7,10 +7,10 @@ from enum import IntEnum
 
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.label import gui_text_box, gui_label
 from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_text_box, gui_label
 from openpilot.system.ui.widgets.network import WifiManagerUI
 
 # Constants

system/ui/widgets/button.py

@@ -1,7 +1,11 @@
-import pyray as rl
+from collections.abc import Callable
 from enum import IntEnum
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
 
 
 class ButtonStyle(IntEnum):
@@ -54,6 +58,8 @@ BUTTON_PRESSED_BACKGROUND_COLORS = {
 _pressed_buttons: set[str] = set()  # Track mouse press state globally
 
 
+# TODO: This should be a Widget class
+
 def gui_button(
   rect: rl.Rectangle,
   text: str,
@@ -146,3 +152,44 @@ def gui_button(
     rl.draw_text_ex(font, text, text_pos, font_size, 0, color)
 
   return result
+
+
+class Button(Widget):
+  def __init__(self,
+               text: str,
+               click_callback: Callable[[], None] = None,
+               font_size: int = DEFAULT_BUTTON_FONT_SIZE,
+               font_weight: FontWeight = FontWeight.MEDIUM,
+               button_style: ButtonStyle = ButtonStyle.NORMAL,
+               border_radius: int = 10,
+               ):
+
+    super().__init__()
+    self._text = text
+    self._click_callback = click_callback
+    self._label_font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._button_style = button_style
+    self._font_size = font_size
+    self._border_radius = border_radius
+    self._font_size = font_size
+    self._text_color = BUTTON_TEXT_COLOR[button_style]
+    self._text_size = measure_text_cached(gui_app.font(font_weight), text, font_size)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._click_callback:
+      print(f"Button clicked: {self._text}")
+      self._click_callback()
+
+  def _get_background_color(self) -> rl.Color:
+    if self._is_pressed:
+      return BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
+    else:
+      return BUTTON_BACKGROUND_COLORS[self._button_style]
+
+  def _render(self, _):
+    roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, self._get_background_color())
+
+    text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2)
+    text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2
+    rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color)

system/ui/widgets/confirm_dialog.py

@@ -1,8 +1,8 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.label import gui_text_box
-from openpilot.system.ui.lib.widget import DialogResult
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_text_box
 
 DIALOG_WIDTH = 1520
 DIALOG_HEIGHT = 600

system/ui/widgets/html_render.py

@@ -4,10 +4,10 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Any
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.widget import Widget, DialogResult
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
 
 
 class ElementType(Enum):

system/ui/widgets/inputbox.py

@@ -2,7 +2,7 @@ import pyray as rl
 import time
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
 
 PASSWORD_MASK_CHAR = "•"
 PASSWORD_MASK_DELAY = 1.5  # Seconds to show character before masking

system/ui/widgets/keyboard.py

@@ -2,10 +2,10 @@ import time
 from typing import Literal
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.button import ButtonStyle, gui_button
-from openpilot.system.ui.lib.inputbox import InputBox
-from openpilot.system.ui.lib.label import gui_label
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import ButtonStyle, gui_button
+from openpilot.system.ui.widgets.inputbox import InputBox
+from openpilot.system.ui.widgets.label import gui_label
 
 KEY_FONT_SIZE = 96
 DOUBLE_CLICK_THRESHOLD = 0.5  # seconds

system/ui/widgets/label.py

@@ -4,6 +4,8 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
 
 
+# TODO: This should be a Widget class
+
 def gui_label(
   rect: rl.Rectangle,
   text: str,

system/ui/widgets/list_view.py

@@ -5,9 +5,9 @@ from abc import ABC
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.toggle import Toggle, WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
+from openpilot.system.ui.widgets.toggle import Toggle, WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT
 
 ITEM_BASE_WIDTH = 600
 ITEM_BASE_HEIGHT = 170

system/ui/widgets/network.py

@@ -4,13 +4,13 @@ from typing import Literal
 
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.button import ButtonStyle, gui_button
-from openpilot.system.ui.lib.label import gui_label
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
-from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import ButtonStyle, gui_button
 from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.label import gui_label
 
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8

system/ui/widgets/option_dialog.py

@@ -1,9 +1,9 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle, TextAlignment
-from openpilot.system.ui.lib.label import gui_label
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle, TextAlignment
+from openpilot.system.ui.widgets.label import gui_label
 
 # Constants
 MARGIN = 50

system/ui/widgets/scroller.py

@@ -1,6 +1,6 @@
 import pyray as rl
-from openpilot.system.ui.lib.widget import Widget
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.widgets import Widget
 
 ITEM_SPACING = 40
 LINE_COLOR = rl.GRAY

system/ui/widgets/toggle.py

@@ -1,6 +1,6 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import MousePos
-from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.widgets import Widget
 
 ON_COLOR = rl.Color(51, 171, 76, 255)
 OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)