Merge branch 'master-new' of https://github.com/sunnypilot/sunnypilot into master-new

common/params_keys.h

@@ -170,7 +170,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
     {"HyundaiRadarTracks", PERSISTENT},
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},

selfdrive/controls/lib/longitudinal_planner.py

@@ -187,6 +187,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       output_a_target = min(output_a_target_mpc, output_a_target_e2e)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
+    if not self.is_stock:
+      # To support non Tomb Raider models
+      output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
+
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])

selfdrive/ui/sunnypilot/SConscript

@@ -50,12 +50,28 @@ network_src = [
 ]
 
 vehicle_panel_qt_src = [
-  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
+brand_settings_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
+]
+
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -112,9 +112,18 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   addItem(power_group_layout);
 
+  std::vector always_enabled_btns = {
+    rebootBtn,
+    poweroffBtn,
+    offroadBtn,
+    buttons["quietModeBtn"],
+  };
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<PushButtonSP*>()) {
-      if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
+      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+      if (!always_enabled) {
         btn->setEnabled(offroad);
       }
     }

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc

@@ -0,0 +1,62 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
+
+static const QStringList supportedBrands = {
+  "chrysler",
+  "ford",
+  "gm",
+  "honda",
+  "hyundai",
+  "mazda",
+  "nissan",
+  "rivian",
+  "subaru"
+  "tesla",
+  "toyota",
+  "volkswagen",
+};
+
+BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) {
+  if (brand == "chrysler")
+    return new ChryslerSettings(parent);
+  if (brand == "ford")
+    return new FordSettings(parent);
+  if (brand == "gm")
+    return new GMSettings(parent);
+  if (brand == "honda")
+    return new HondaSettings(parent);
+  if (brand == "hyundai")
+    return new HyundaiSettings(parent);
+  if (brand == "mazda")
+    return new MazdaSettings(parent);
+  if (brand == "nissan")
+    return new NissanSettings(parent);
+  if (brand == "rivian")
+    return new RivianSettings(parent);
+  if (brand == "subaru")
+    return new SubaruSettings(parent);
+  if (brand == "tesla")
+    return new TeslaSettings(parent);
+  if (brand == "toyota")
+    return new ToyotaSettings(parent);
+  if (brand == "volkswagen")
+    return new VolkswagenSettings(parent);
+
+  // Default empty settings if brand not supported
+  return nullptr;
+}
+
+bool BrandSettingsFactory::isBrandSupported(const QString& brand) {
+  return supportedBrands.contains(brand);
+}
+
+QStringList BrandSettingsFactory::getSupportedBrands() {
+  return supportedBrands;
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h

@@ -0,0 +1,18 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+class BrandSettingsFactory {
+
+public:
+  static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr);
+  static bool isBrandSupported(const QString& brand);
+  static QStringList getSupportedBrands();
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc

@@ -0,0 +1,8 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h

@@ -0,0 +1,21 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include <QWidget>
+
+class BrandSettingsInterface : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit BrandSettingsInterface(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual ~BrandSettingsInterface() = default;
+
+  virtual void updatePanel(bool offroad) = 0;
+  virtual void updateSettings() = 0;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h

@@ -0,0 +1,21 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void ChryslerSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void ChryslerSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ChryslerSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ChryslerSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void FordSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void FordSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class FordSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit FordSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void GMSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void GMSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class GMSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit GMSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void HondaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void HondaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HondaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HondaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc

@@ -9,76 +9,23 @@
 
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
-HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) {
+HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
 
   ListWidget *list = new ListWidget(this, false);
 
-  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
-  longitudinalTuningToggle = new ButtonParamControlSP(
-    "HyundaiLongitudinalTuning",
-    tr("Custom Longitudinal Tuning"),
-    tr("Select a tuning mode.\n"
-       "Off: no custom tuning applied.\n"
-       "Dynamic: on-the-spot adjustments using dynamic calculations.\n"
-       "Predictive: adjusts based on anticipated ACC variation."),
-    "",
-    tuning_texts,
-    500
-  );
-  longitudinalTuningToggle->showDescription();
-  longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription());
-  list->addItem(longitudinalTuningToggle);
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings);
-
   main_layout->addWidget(new ScrollViewSP(list, this));
 }
 
-QString HyundaiSettings::toggleDisableMsg() const {
-  if (!has_longitudinal_control) {
-    return tr("This feature can only be used with openpilot longitudinal control enabled.");
-  }
-
-  if (!offroad) {
-    return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
-  }
-
-  return QString();
-}
-
-void HyundaiSettings::showEvent(QShowEvent *event) {
-  updateSettings(offroad);
-}
-
-void HyundaiSettings::updateSettings(bool _offroad) {
-  if (!isVisible()) {
-    return;
-  }
-
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    has_longitudinal_control = hasLongitudinalControl(CP);
-
-    QString longitudinal_tuning_disabled_msg = toggleDisableMsg();
-    if (!longitudinal_tuning_disabled_msg.isEmpty()) {
-      longitudinalTuningToggle->setEnabled(false);
-      longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg);
-    } else {
-      longitudinalTuningToggle->setEnabled(true);
-      longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString());
-    }
-
-    longitudinalTuningToggle->showDescription();
-  } else {
-    has_longitudinal_control = false;
-    longitudinalTuningToggle->setEnabled(false);
-  }
+void HyundaiSettings::updatePanel(bool _offroad) {
+  updateSettings();
 
   offroad = _offroad;
 }
+
+void HyundaiSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h

@@ -7,26 +7,21 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-class HyundaiSettings : public QWidget {
+class HyundaiSettings : public BrandSettingsInterface {
   Q_OBJECT
 
 public:
   explicit HyundaiSettings(QWidget *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-
-public slots:
-  void updateSettings(bool _offroad);
+  void updatePanel(bool _offroad);
+  void updateSettings();
 
 private:
-  Params params;
   bool offroad = false;
-  bool has_longitudinal_control = false;
-
-  ButtonParamControlSP *longitudinalTuningToggle = nullptr;
-  QString toggleDisableMsg() const;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void MazdaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void MazdaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MazdaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit MazdaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void NissanSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void NissanSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class NissanSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit NissanSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc

@@ -43,37 +43,74 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
     }
   });
 
+  main_layout->addStretch(0);
   refresh(offroad);
 }
 
 void PlatformSelector::refresh(bool _offroad) {
   QString name = getPlatformBundle("name").toString();
+  platform = unrecognized_str;
+  QString platform_color = YELLOW_PLATFORM;
+
   if (!name.isEmpty()) {
-    setValue(name);
+    platform = name;
+    platform_color = BLUE_PLATFORM;
+    brand = getPlatformBundle("brand").toString();
     setText(tr("REMOVE"));
   } else {
     setText(tr("SEARCH"));
+
+    platform = unrecognized_str;
+    brand = "";
     auto cp_bytes = params.get("CarParamsPersistent");
     if (!cp_bytes.empty()) {
       AlignedBuffer aligned_buf;
       capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
       cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-      setValue(QString::fromStdString(CP.getCarFingerprint().cStr()));
+
+      platform = QString::fromStdString(CP.getCarFingerprint().cStr());
+
+      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
+        if (it.value()["platform"].toString() == platform) {
+          platform = it.key();
+          brand = it.value()["brand"].toString();
+          break;
+        }
+      }
+
+      if (platform == "MOCK") {
+        platform = unrecognized_str;
+      } else {
+        platform_color = GREEN_PLATFORM;
+      }
     }
   }
+  setValue(platform, platform_color);
   setEnabled(true);
   emit refreshPanel();
 
   offroad = _offroad;
+
+  FingerprintStatus cur_status;
+  if (platform_color == GREEN_PLATFORM) {
+    cur_status = FingerprintStatus::AUTO_FINGERPRINT;
+  } else if (platform_color == BLUE_PLATFORM) {
+    cur_status = FingerprintStatus::MANUAL_FINGERPRINT;
+  } else {
+    cur_status = FingerprintStatus::UNRECOGNIZED;
+  }
+
+  setDescription(platformDescription(cur_status));
+  showDescription();
 }
 
-void PlatformSelector::setPlatform(const QString &platform) {
-  QVariantMap platform_data = platforms[platform];
+void PlatformSelector::setPlatform(const QString &_platform) {
+  QVariantMap platform_data = platforms[_platform];
 
   const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
                                         tr("This setting will take effect once the device enters offroad state.");
   const QString msg = QString("<b>%1</b><br><br>%2")
-                      .arg(platform, offroad_msg);
+                      .arg(_platform, offroad_msg);
 
   QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
                   "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
@@ -81,7 +118,7 @@ void PlatformSelector::setPlatform(const QString &platform) {
   if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
     QJsonObject json_bundle;
     json_bundle["platform"] = platform_data["platform"].toString();
-    json_bundle["name"] = platform;
+    json_bundle["name"] = _platform;
     json_bundle["make"] = platform_data["make"].toString();
     json_bundle["brand"] = platform_data["brand"].toString();
     json_bundle["model"] = platform_data["model"].toString();

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h

@@ -9,6 +9,16 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
+static const QString GREEN_PLATFORM = "#00F100";
+static const QString BLUE_PLATFORM = "#0086E9";
+static const QString YELLOW_PLATFORM = "#FFD500";
+
+enum class FingerprintStatus {
+  AUTO_FINGERPRINT,
+  MANUAL_FINGERPRINT,
+  UNRECOGNIZED,
+};
+
 class PlatformSelector : public ButtonControl {
   Q_OBJECT
 
@@ -16,6 +26,9 @@ public:
   PlatformSelector();
   QVariant getPlatformBundle(const QString &key);
 
+  QString platform;
+  QString brand;
+
 public slots:
   void refresh(bool _offroad);
 
@@ -29,4 +42,27 @@ private:
 
   Params params;
   bool offroad;
+
+  QString unrecognized_str = tr("Unrecognized Vehicle");
+
+  static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) {
+    QString auto_str = "🟢 - " + tr("Fingerprinted automatically");
+    QString manual_str = "🔵 - " + tr("Manually selected");
+    QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected");
+
+    if (status == FingerprintStatus::AUTO_FINGERPRINT) {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    } else if (status == FingerprintStatus::MANUAL_FINGERPRINT) {
+      manual_str = "<font color='white'><b>" + manual_str + "</b></font>";
+    } else {
+      unrecognized_str = "<font color='white'><b>" + unrecognized_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br><br>%3<br>%4<br>%5")
+             .arg(tr("Select vehicle to force fingerprint manually."))
+             .arg(tr("Colors represent fingerprint status:"))
+             .arg(auto_str)
+             .arg(manual_str)
+             .arg(unrecognized_str);
+  }
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void RivianSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void RivianSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class RivianSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit RivianSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void SubaruSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void SubaruSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SubaruSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit SubaruSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void TeslaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void TeslaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class TeslaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit TeslaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void ToyotaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void ToyotaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ToyotaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ToyotaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void VolkswagenSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void VolkswagenSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h

@@ -0,0 +1,27 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class VolkswagenSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit VolkswagenSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc

@@ -7,7 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
@@ -25,9 +26,7 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   vlayout->addWidget(scroller);
 
-  hyundaiSettings = new HyundaiSettings(this);
-  vlayout->addWidget(hyundaiSettings);
-  hyundaiSettings->setVisible(false);
+  currentBrandSettings = nullptr;
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
 
@@ -41,9 +40,7 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 
 void VehiclePanel::updatePanel(bool _offroad) {
   platformSelector->refresh(_offroad);
-
   updateBrandSettings();
-
   offroad = _offroad;
 }
 
@@ -52,14 +49,17 @@ void VehiclePanel::updateBrandSettings() {
     return;
   }
 
-  resetBrandSettings();
+  if (currentBrandSettings) {
+    vehicleScreen->layout()->removeWidget(currentBrandSettings);
+    delete currentBrandSettings;
+    currentBrandSettings = nullptr;
+  }
 
-  QString brand = platformSelector->getPlatformBundle("brand").toString();
-  if (brand == "hyundai") {
-    hyundaiSettings->setVisible(true);
+  if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
+    currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
+    if (currentBrandSettings) {
+      vehicleScreen->layout()->addWidget(currentBrandSettings);
+      currentBrandSettings->updatePanel(offroad);
+    }
   }
 }
-
-void VehiclePanel::resetBrandSettings() {
-  hyundaiSettings->setVisible(false);
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h

@@ -9,7 +9,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
 
 class VehiclePanel : public QFrame {
@@ -23,15 +23,10 @@ public slots:
   void updatePanel(bool _offroad);
 
 private:
-  void resetBrandSettings();
-
   QStackedLayout* main_layout = nullptr;
   QWidget* vehicleScreen = nullptr;
   PlatformSelector* platformSelector = nullptr;
-
-  // brand panels
-  HyundaiSettings* hyundaiSettings = nullptr;
-
+  BrandSettingsInterface* currentBrandSettings = nullptr;
   bool offroad = false;
 
 private slots:

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -219,7 +219,7 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
 
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
+                       const std::vector<QString> &button_texts, const int minimum_button_width = 300, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -246,6 +246,19 @@ public:
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());
 
+    if (inline_layout) {
+      button_param_layout->setMargin(0);
+      button_param_layout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
     for (int i = 0; i < button_texts.size(); i++) {
@@ -254,12 +267,18 @@ public:
       button->setChecked(i == value);
       button->setStyleSheet(style);
       button->setMinimumWidth(minimum_button_width);
-      if (i == 0) hlayout->addSpacing(2);
-      hlayout->addWidget(button);
+      if (i == 0) button_param_layout->addSpacing(2);
+      button_param_layout->addWidget(button);
       button_group->addButton(button, i);
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    button_param_layout->setAlignment(Qt::AlignLeft);
+    if (is_inline_layout) {
+      QFrame *container = new QFrame;
+      container->setLayout(button_param_layout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
 
     QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
       params.put(key, std::to_string(id));
@@ -314,6 +333,10 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (is_inline_layout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -348,6 +371,8 @@ private:
   std::vector<QString> button_texts;
 
   bool button_group_enabled = true;
+  bool is_inline_layout;
+  QHBoxLayout *button_param_layout = is_inline_layout ? new QHBoxLayout() : hlayout;
 };
 
 class ListWidgetSP : public QWidget {
@@ -360,7 +385,7 @@ public:
     outer_layout.addLayout(&inner_layout);
     inner_layout.setMargin(0);
     inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
+    outer_layout.addStretch(1);
   }
   inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
   inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
@@ -416,8 +441,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
-  bool isInlineLayout;
-  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+  bool is_inline_layout;
+  QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout;
 
   struct MinMaxValue {
     int min_value;
@@ -438,7 +463,7 @@ private:
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -513,7 +538,7 @@ public:
     }
 
     optionSelectorLayout->setAlignment(Qt::AlignLeft);
-    if (isInlineLayout) {
+    if (is_inline_layout) {
       QFrame *container = new QFrame;
       container->setLayout(optionSelectorLayout);
       container->setStyleSheet("background-color: #393939; border-radius: 20px;");
@@ -540,7 +565,7 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
-    if (isInlineLayout) {
+    if (is_inline_layout) {
       return;
     }
 
@@ -633,16 +658,6 @@ public:
     }
   }
 
-protected:
-  // Override mouse release event to handle style updates smoothly
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (!key.empty()) {
-      bool next_state = !params.getBool(key);
-      updateStyle(next_state);
-    }
-    QPushButton::mouseReleaseEvent(event);
-  }
-
 private:
   std::string key = "";
   Params params;
@@ -651,13 +666,14 @@ private:
 
   QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
   QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
-  QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
-  QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
+  QString btn_off_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
+  QString btn_on_pressed_style = "QPushButton:pressed { background-color: #1E8FFF; }";
+  QString btn_disabled_style = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
 
   void updateStyle(bool enabled) {
     QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
-
-    setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype);
+    QString pressed_style = enabled ? btn_on_pressed_style : btn_off_pressed_style;
+    setStyleSheet(buttonStyle + enabled_style + pressed_style + btn_disabled_style);
   }
 };
 

selfdrive/ui/tests/test_ui/run.py

@@ -37,7 +37,7 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
 def setup_homescreen(click, pm: PubMaster, scroll=None):
-  pass
+  time.sleep(UI_DELAY)
 
 def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
@@ -61,6 +61,7 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
   time.sleep(UI_DELAY)
 
 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
   scroll(-400, 278, 962)
   click(278, 862)
 
@@ -151,7 +152,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(1720, 620)
+  click(1720, 825)
   DATA['deviceState'].deviceState.started = False
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True

sunnypilot/modeld_v2/modeld.py

@@ -53,8 +53,8 @@ class ModelState:
     self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     if self.model_runner.is_20hz:
-      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+      self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
@@ -66,7 +66,7 @@ class ModelState:
     if self.model_runner.is_20hz:
       num_elements = self.numpy_inputs['features_buffer'].shape[1]
       step_size = int(-100 / num_elements)
-      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.full_features_buffer_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
@@ -77,9 +77,9 @@ class ModelState:
     self.prev_desire[:] = inputs['desire']
 
     if self.model_runner.is_20hz:
-      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-      self.desire_20Hz[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+      self.full_desire[:-1] = self.full_desire[1:]
+      self.full_desire[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
     else:
       length = inputs['desire'].shape[0]
       self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
@@ -102,9 +102,9 @@ class ModelState:
     outputs = self.model_runner.run_model()
 
     if self.model_runner.is_20hz:
-      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
+      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.full_features_buffer_idxs]
     else:
       feature_len = outputs['hidden_state'].shape[1]
       self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 2
+CURRENT_SELECTOR_VERSION = 3
 REQUIRED_MIN_SELECTOR_VERSION = 2
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/selfdrive/car/interfaces.py

@@ -11,7 +11,6 @@ from opendbc.car.car_helpers import can_fingerprint
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
-from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -26,21 +25,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
-def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                           params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  # Hyundai Custom Longitudinal Tuning
-  if CP.brand == 'hyundai':
-    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
-
-  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
-
 
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
@@ -77,11 +61,10 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
           CP.radarUnavailable = False
 
 
-def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
   CP = CI.CP
   CP_SP = CI.CP_SP
 
-  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
 

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,6 +16,7 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():

system/manager/manager.py

@@ -45,7 +45,6 @@ def manager_init() -> None:
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
-    ("HyundaiLongitudinalTuning", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),