Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

common/params_keys.h

@@ -249,7 +249,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT, STRING}},
+    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // Speed Limit
     {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},

selfdrive/ui/sunnypilot/layouts/settings/visuals.py

@@ -5,9 +5,18 @@ 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 openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, multiple_button_item_sp
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets import Widget
 
+CHEVRON_INFO_DESCRIPTION = {
+  "enabled": tr_noop("Display useful metrics below the chevron that tracks the lead car " +
+                     "only applicable to cars with sunnypilot longitudinal control."),
+  "disabled": tr_noop("This feature requires sunnypilot longitudinal control to be available.")
+}
+
 
 class VisualsLayout(Widget):
   def __init__(self):
@@ -18,13 +27,128 @@ class VisualsLayout(Widget):
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._toggle_defs = {
+      "BlindSpot": (
+        lambda: tr("Show Blind Spot Warnings"),
+        tr("Enabling this will display warnings when a vehicle is detected in your " +
+           "blind spot as long as your car has BSM supported."),
+        None,
+      ),
+      "TorqueBar": (
+        lambda: tr("Steering Arc"),
+        tr("Display steering arc on the driving screen when lateral control is enabled."),
+        None,
+      ),
+      "RainbowMode": (
+        lambda: tr("Enable Tesla Rainbow Mode"),
+        tr("A beautiful rainbow effect on the path the model wants to take. " +
+           "It does not affect driving in any way."),
+        None,
+      ),
+      "StandstillTimer": (
+        lambda: tr("Enable Standstill Timer"),
+        tr("Show a timer on the HUD when the car is at a standstill."),
+        None,
+      ),
+      "RoadNameToggle": (
+        lambda: tr("Display Road Name"),
+        tr("Displays the name of the road the car is traveling on." +
+           "<br>The OpenStreetMap database of the location must be downloaded from " +
+           "the OSM panel to fetch the road name."),
+        None,
+      ),
+      "GreenLightAlert": (
+        lambda: tr("Green Traffic Light Alert (Beta)"),
+        tr("A chime and on-screen alert will play when the traffic light you are waiting for " +
+           "turns green and you have no vehicle in front of you." +
+           "<br>Note: This chime is only designed as a notification. " +
+           "It is the driver's responsibility to observe their environment and make decisions accordingly."),
+        None,
+      ),
+      "LeadDepartAlert": (
+        lambda: tr("Lead Departure Alert (Beta)"),
+        tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving." +
+           "<br>Note: This chime is only designed as a notification. " +
+           "It is the driver's responsibility to observe their environment and make decisions accordingly."),
+        None,
+      ),
+      "TrueVEgoUI": (
+        lambda: tr("Speedometer: Always Display True Speed"),
+        tr("For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."),
+        None,
+      ),
+      "HideVEgoUI": (
+        lambda: tr("Speedometer: Hide from Onroad Screen"),
+        tr("When enabled, the speedometer on the onroad screen is not displayed."),
+        None,
+      ),
+      "ShowTurnSignals": (
+        lambda: tr("Display Turn Signals"),
+        tr("When enabled, visual turn indicators are drawn on the HUD."),
+        None,
+      ),
+      "RocketFuel": (
+        lambda: tr("Real-time Acceleration Bar"),
+        tr("Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. " +
+           "This displays what the car is currently doing, not what the planner is requesting."),
+        None,
+      ),
+    }
+    self._toggles = {}
+    for param, (title, desc, callback) in self._toggle_defs.items():
+      toggle = toggle_item_sp(
+        title=title,
+        description=desc,
+        param=param,
+        initial_state=ui_state.params.get_bool(param),
+        callback=callback,
+      )
+      self._toggles[param] = toggle
 
+    self._chevron_info = multiple_button_item_sp(
+      title=lambda: tr("Display Metrics Below Chevron"),
+      description="",
+      buttons=[lambda: tr("Off"), lambda: tr("Distance"), lambda: tr("Speed"), lambda: tr("Time"), lambda: tr("All")],
+      param="ChevronInfo",
+      inline=False
+    )
+    self._dev_ui_info = multiple_button_item_sp(
+      title=lambda: tr("Developer UI"),
+      description=lambda: tr("Display real-time parameters and metrics from various sources."),
+      buttons=[lambda: tr("Off"), lambda: tr("Bottom"), lambda: tr("Right"), lambda: tr("Right & Bottom")],
+      param="DevUIInfo",
+      button_width=350,
+      inline=False
+    )
+
+    items = list(self._toggles.values()) + [
+      self._chevron_info,
+      self._dev_ui_info,
     ]
     return items
 
+  def _update_state(self):
+    super()._update_state()
+
+    for param in self._toggle_defs:
+      self._toggles[param].action_item.set_state(self._params.get_bool(param))
+
+    self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True))
+
+    if ui_state.has_longitudinal_control:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"]))
+      self._chevron_info.action_item.set_selected_button(ui_state.params.get("ChevronInfo", return_default=True))
+      self._chevron_info.action_item.set_enabled(True)
+    else:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"]))
+      self._chevron_info.action_item.set_enabled(False)
+      ui_state.params.put("ChevronInfo", 0)
+
   def _render(self, rect):
     self._scroller.render(rect)
 
   def show_event(self):
     self._scroller.show_event()
+    if not ui_state.has_longitudinal_control:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"]))
+      self._chevron_info.show_description(True)

selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py

@@ -31,6 +31,9 @@ class BlindSpotIndicators:
     return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01
 
   def render(self, rect: rl.Rectangle) -> None:
+    if not ui_state.blindspot:
+      return
+
     BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
     BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
 

selfdrive/ui/sunnypilot/onroad/circular_alerts.py

@@ -23,7 +23,6 @@ class CircularAlertsRenderer:
     self._e2e_alert_frame = 0
     self._green_light_alert = False
     self._lead_depart_alert = False
-    self._standstill_timer = False
     self._standstill_elapsed_time = 0.0
     self._is_standstill = False
     self._alert_text = ""
@@ -36,7 +35,6 @@ class CircularAlertsRenderer:
     car_state = sm['carState']
     self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
     self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
-    self._standstill_timer = ui_state.standstill_timer
     self._is_standstill = car_state.standstill
 
     if not ui_state.started:
@@ -61,7 +59,7 @@ class CircularAlertsRenderer:
         self._alert_text = "LEAD VEHICLE\nDEPARTING"
         self._alert_img = self._lead_depart_alert_img
 
-    elif self._standstill_timer and self._is_standstill:
+    elif ui_state.standstill_timer and self._is_standstill:
       self._alert_img = None
       self._standstill_elapsed_time += 1.0 / gui_app.target_fps
       minute = int(self._standstill_elapsed_time / 60)
@@ -75,7 +73,7 @@ class CircularAlertsRenderer:
         self._standstill_elapsed_time = 0.0
 
   def render(self, rect: rl.Rectangle) -> None:
-    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (self._standstill_timer and self._is_standstill)):
+    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (ui_state.standstill_timer and self._is_standstill)):
       return
 
     e2e_alert_size = 250
@@ -91,7 +89,7 @@ class CircularAlertsRenderer:
     is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)
 
     # Standstill Timer (STOPPED) should be static white
-    if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill:
+    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
       frame_color = rl.Color(255, 255, 255, 75)
     else:
       frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
@@ -121,7 +119,7 @@ class CircularAlertsRenderer:
     # Draw lines upwards from bottom
     current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)
 
-    if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill:
+    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
       # Standstill Timer Text
       alert_alt_text = "STOPPED"
       top_text_size = 80

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -16,6 +16,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRende
 from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_renderer import SpeedRenderer
 
 
 class HudRendererSP(HudRenderer):
@@ -28,6 +29,7 @@ class HudRendererSP(HudRenderer):
     self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
     self.circular_alerts_renderer = CircularAlertsRenderer()
+    self.speed_renderer = SpeedRenderer()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
@@ -37,6 +39,10 @@ class HudRendererSP(HudRenderer):
     self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
     self.circular_alerts_renderer.update()
+    self.speed_renderer.update()
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    self.speed_renderer.render(rect)
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
@@ -53,6 +59,4 @@ class HudRendererSP(HudRenderer):
     self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
     self.circular_alerts_renderer.render(rect)
-
-    if ui_state.rocket_fuel:
-      self.rocket_fuel.render(rect, ui_state.sm)
+    self.rocket_fuel.render(rect, ui_state.sm)

selfdrive/ui/sunnypilot/onroad/road_name.py

@@ -31,7 +31,7 @@ class RoadNameRenderer(Widget):
       self.road_name = lmd.roadName
 
   def _render(self, rect: rl.Rectangle):
-    if not self.road_name:
+    if not self.road_name or not ui_state.road_name_toggle:
       return
 
     text = self.road_name

selfdrive/ui/sunnypilot/onroad/rocket_fuel.py

@@ -6,12 +6,17 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 
+from openpilot.selfdrive.ui.ui_state import ui_state
+
 
 class RocketFuel:
   def __init__(self):
     self.vc_accel = 0.0
 
   def render(self, rect: rl.Rectangle, sm) -> None:
+    if not ui_state.rocket_fuel:
+      return
+
     vc_accel0 = sm['carState'].aEgo
 
     # Smooth the acceleration

selfdrive/ui/sunnypilot/onroad/speed_renderer.py

@@ -0,0 +1,46 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.onroad.hud_renderer import FONT_SIZES, COLORS
+
+
+class SpeedRenderer:
+  def __init__(self):
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def update(self) -> None:
+    car_state = ui_state.sm['carState']
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen and not ui_state.true_v_ego_ui else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if ui_state.hide_v_ego_ui:
+      return
+
+    # Draw current speed and unit
+    speed_text = str(round(self.speed))
+    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+
+    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
+    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)

selfdrive/ui/sunnypilot/onroad/turn_signal.py

@@ -137,6 +137,9 @@ class TurnSignalController:
         self._right_signal.deactivate()
 
   def render(self, rect: rl.Rectangle):
+    if not ui_state.turn_signals:
+      return
+
     x = rect.x + rect.width / 2
 
     left_x = x - self._config.left_x - self._config.size

selfdrive/ui/sunnypilot/ui_state.py

@@ -120,20 +120,23 @@ class UIStateSP:
     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")
-    self.developer_ui = self.params.get("DevUIInfo")
-    self.rocket_fuel = self.params.get_bool("RocketFuel")
-    self.rainbow_path = self.params.get_bool("RainbowMode")
-    self.chevron_metrics = self.params.get("ChevronInfo")
-    self.torque_bar = self.params.get_bool("TorqueBar")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.blindspot = self.params.get_bool("BlindSpot")
+    self.chevron_metrics = self.params.get("ChevronInfo")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
-    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
-    self.standstill_timer = self.params.get_bool("StandstillTimer")
-
-    # Onroad Screen Brightness
+    self.developer_ui = self.params.get("DevUIInfo")
+    self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
     self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
+    self.rainbow_path = self.params.get_bool("RainbowMode")
+    self.road_name_toggle = self.params.get_bool("RoadNameToggle")
+    self.rocket_fuel = self.params.get_bool("RocketFuel")
+    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
+    self.standstill_timer = self.params.get_bool("StandstillTimer")
+    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
+    self.torque_bar = self.params.get_bool("TorqueBar")
+    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
+    self.turn_signals = self.params.get_bool("ShowTurnSignals")
 
 
 class DeviceSP:

sunnypilot/sunnylink/params_metadata.json

@@ -90,8 +90,8 @@
     "description": ""
   },
   "BlindSpot": {
-    "title": "Blind Spot Detection",
-    "description": ""
+    "title": "[TIZI/TICI only] Blind Spot Detection",
+    "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
   },
   "BlinkerMinLateralControlSpeed": {
     "title": "Blinker Min Lateral Control Speed",
@@ -339,8 +339,8 @@
     "description": ""
   },
   "GreenLightAlert": {
-    "title": "Green Light Alert",
-    "description": ""
+    "title": "Green Traffic Light Alert (Beta)",
+    "description": "A chime and on-screen alert (TIZI/TICI only) will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
   },
   "GsmApn": {
     "title": "GSM APN",
@@ -367,8 +367,8 @@
     "description": ""
   },
   "HideVEgoUI": {
-    "title": "Hide vEgo UI",
-    "description": ""
+    "title": "[TIZI/TICI only] Speedometer: Hide from Onroad Screen",
+    "description": "When enabled, the speedometer on the onroad screen is not displayed."
   },
   "HyundaiLongitudinalTuning": {
     "title": "Hyundai Longitudinal Tuning",
@@ -585,8 +585,8 @@
     "description": ""
   },
   "LeadDepartAlert": {
-    "title": "Lead Depart Alert",
-    "description": ""
+    "title": "Lead Departure Alert (Beta)",
+    "description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
   },
   "LiveDelay": {
     "title": "Live Delay",
@@ -1079,12 +1079,12 @@
     "description": ""
   },
   "RoadNameToggle": {
-    "title": "Display Road Name",
-    "description": ""
+    "title": "[TIZI/TICI only] Display Road Name",
+    "description": "Displays the name of the road the car is traveling on. <br>The OpenStreetMap database of the location must be downloaded to fetch the road name."
   },
   "RocketFuel": {
-    "title": "Display Rocket Fuel Bar",
-    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration."
+    "title": "[TIZI/TICI only] Real-time Acceleration Bar",
+    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting."
   },
   "RouteCount": {
     "title": "Route Count",
@@ -1103,8 +1103,8 @@
     "description": ""
   },
   "ShowTurnSignals": {
-    "title": "Show Turn Signals",
-    "description": ""
+    "title": "[TIZI/TICI only] Display Turn Signals",
+    "description": "When enabled, visual turn indicators are drawn on the HUD."
   },
   "SmartCruiseControlMap": {
     "title": "Smart Cruise Control - Map",
@@ -1196,8 +1196,8 @@
     "description": ""
   },
   "StandstillTimer": {
-    "title": "Standstill Timer",
-    "description": ""
+    "title": "[TIZI/TICI only] Standstill Timer",
+    "description": "Show a timer on the HUD when the car is at a standstill."
   },
   "SubaruStopAndGo": {
     "title": "Subaru Stop and Go",
@@ -1240,8 +1240,8 @@
     "description": ""
   },
   "TorqueBar": {
-    "title": "Steering Arc",
-    "description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled."
+    "title": "[TIZI/TICI only] Steering Arc",
+    "description": "Display steering arc on the driving screen when lateral control is enabled."
   },
   "TorqueParamsOverrideEnabled": {
     "title": "Manual Real-Time Tuning",
@@ -1271,8 +1271,8 @@
     "description": ""
   },
   "TrueVEgoUI": {
-    "title": "True vEgo UI",
-    "description": ""
+    "title": "[TIZI/TICI only] Speedometer: Always Display True Speed",
+    "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
   },
   "UbloxAvailable": {
     "title": "Ublox Available",

system/manager/manager.py

@@ -20,6 +20,7 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import PC
 
 
 def manager_init() -> None:
@@ -39,6 +40,12 @@ def manager_init() -> None:
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
     params.put_bool("OffroadMode", True)
 
+  # quick boot
+  if params.get_bool("QuickBootToggle") and not PC:
+    prebuilt_path = "/data/openpilot/prebuilt"
+    if not os.path.exists(prebuilt_path):
+      open(prebuilt_path, 'x').close()
+
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)