ui: UIStateSP (#1489)

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* add cp_sp to ui_state_sp

* fix ui crash

* update params

* more

* slightly more

* add directly to the list

* nah

* move around

* rename

* call before param time tracker is updated

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/ui/sunnypilot/ui_state.py

@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import messaging, custom
+from openpilot.common.params import Params
+
+
+class UIStateSP:
+  def __init__(self):
+    self.params = Params()
+    self.sm_services_ext = [
+      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP"
+    ]
+
+  def update(self) -> None:
+    pass
+
+  def update_params(self) -> None:
+    CP_SP_bytes = self.params.get("CarParamsSPPersistent")
+    if CP_SP_bytes is not None:
+      self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")

selfdrive/ui/ui_state.py

@@ -12,6 +12,8 @@ from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP
+
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 
 
@@ -21,7 +23,7 @@ class UIStatus(Enum):
   OVERRIDE = "override"
 
 
-class UIState:
+class UIState(UIStateSP):
   _instance: 'UIState | None' = None
 
   def __new__(cls):
@@ -31,6 +33,7 @@ class UIState:
     return cls._instance
 
   def _initialize(self):
+    UIStateSP.__init__(self)
     self.params = Params()
     self.sm = messaging.SubMaster(
       [
@@ -55,7 +58,7 @@ class UIState:
         "carControl",
         "liveParameters",
         "rawAudioData",
-      ]
+      ] + self.sm_services_ext
     )
 
     self.prime_state = PrimeState()
@@ -111,6 +114,7 @@ class UIState:
     if time.monotonic() - self._param_update_time > 5.0:
       self.update_params()
     device.update()
+    UIStateSP.update(self)
 
   def _update_state(self) -> None:
     # Handle panda states updates
@@ -180,6 +184,7 @@ class UIState:
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+    UIStateSP.update_params(self)
     self._param_update_time = time.monotonic()