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

# Conflicts:
#	opendbc_repo

selfdrive/car/car_specific.py

@@ -1,7 +1,8 @@
-from cereal import car, log, custom
-import cereal.messaging as messaging
+from cereal import car, log
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
+from opendbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -11,33 +12,6 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-# TODO: the goal is to abstract this file into the CarState struct and make events generic
-class MockCarState:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
-  def update(self, CS: car.CarState, CS_SP: custom.CarStateSP):
-    self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-
-    CS.vEgo = self.sm[gps_sock].speed
-    CS.vEgoRaw = self.sm[gps_sock].speed
-
-    return CS, CS_SP
-
-
-BRAND_EXTRA_GEARS = {
-  'ford': [GearShifter.low, GearShifter.manumatic],
-  'nissan': [GearShifter.brake],
-  'chrysler': [GearShifter.low],
-  'honda': [GearShifter.sport],
-  'toyota': [GearShifter.sport],
-  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
-  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-  'hyundai': [GearShifter.sport, GearShifter.manumatic]
-}
-
-
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -48,14 +22,12 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
-
     if self.CP.brand in ('body', 'mock'):
-      events = Events()
+      return Events()
 
-    elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+    events = self.create_common_events(CS, CS_prev)
 
+    if self.CP.brand == 'chrysler':
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
@@ -65,8 +37,6 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
-
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
@@ -87,11 +57,9 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
-
       if self.CP.openpilotLongitudinalControl:
         # Only can leave standstill when planner wants to move
-        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
+        if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -103,8 +71,6 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
-
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -114,8 +80,6 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
-
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
@@ -123,27 +87,26 @@ class CarSpecificEvents:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
-      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      # if CC.eps_timer_soft_disable_alert:
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
-
-    else:
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
-
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
-                           allow_button_cancel=True):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
     events = Events()
 
+    CI = interfaces[self.CP.carFingerprint]
+    # TODO: cleanup the honda-specific logic
+    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
+    # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
+    # so only use it for cancel when running openpilot longitudinal
+    allow_button_cancel = self.CP.brand != 'hyundai'
+
     if CS.doorOpen:
       events.add(EventName.doorOpen)
     if CS.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
-       CS.gearShifter not in extra_gears):
+    if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
       events.add(EventName.wrongGear)
     if CS.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -157,6 +120,8 @@ class CarSpecificEvents:
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
+    if CS.stockLkas:
+      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:

selfdrive/car/card.py

@@ -19,7 +19,6 @@ from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
@@ -139,7 +138,7 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not is_release:
+    if self.CP.secOcRequired:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -179,7 +178,6 @@ class Car:
     self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
-    self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
@@ -200,8 +198,6 @@ class Car:
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
-    if self.CP.brand == 'mock':
-      CS, CS_SP = self.mock_carstate.update(CS, CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)

selfdrive/debug/car/hyundai_enable_radar_points.py

@@ -108,11 +108,11 @@ if __name__ == "__main__":
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
-  session_type : SESSION_TYPE = 0x07 # type: ignore
+  session_type : SESSION_TYPE = 0x07
   uds_client.diagnostic_session_control(session_type)
 
   print("[HARDWARE/SOFTWARE VERSION]")
-  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100
   fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
   print(fw_version)
   if fw_version not in SUPPORTED_FW_VERSIONS.keys():
@@ -120,7 +120,7 @@ if __name__ == "__main__":
     sys.exit(1)
 
   print("[GET CONFIGURATION]")
-  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142
   current_config = uds_client.read_data_by_identifier(config_data_id)
   config_values = SUPPORTED_FW_VERSIONS[fw_version]
   new_config = config_values.default_config if args.default else config_values.tracks_enabled

selfdrive/debug/car/vw_mqb_config.py

@@ -55,7 +55,7 @@ if __name__ == "__main__":
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
     odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
-    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
     coding_text = current_coding.hex()
 
     print("\nEPS diagnostic data\n")
@@ -126,9 +126,9 @@ if __name__ == "__main__":
     new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
 
     try:
-      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
       key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
-      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
       print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
@@ -148,7 +148,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
-      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
       print("Make sure the comma processes are stopped: tmux kill-session -t comma")
@@ -156,7 +156,7 @@ if __name__ == "__main__":
 
     try:
       # Read back result just to make 100% sure everything worked
-      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()  # type: ignore
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
       print(f"   New coding:   {current_coding_text}")
     except (NegativeResponseError, MessageTimeoutError):
       print("Reading back updated coding failed!")

selfdrive/debug/cpu_usage_stat.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:

selfdrive/debug/cycle_alerts.py

@@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False):
       alert = AM.process_alerts(frame, [])
       print(alert)
       for _ in range(duration):
-        dat = messaging.new_message()
-        dat.init('selfdriveState')
+        dat = messaging.new_message('selfdriveState')
         dat.selfdriveState.enabled = False
 
         if alert:
@@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.selfdriveState.alertSound = alert.audible_alert
         pm.send('selfdriveState', dat)
 
-        dat = messaging.new_message()
-        dat.init('deviceState')
+        dat = messaging.new_message('deviceState')
         dat.deviceState.started = True
         pm.send('deviceState', dat)
 

selfdrive/debug/fingerprint_from_route.py

@@ -28,11 +28,12 @@ def get_fingerprint(lr):
 
   # TODO: also print the fw fingerprint merged with the existing ones
   # show FW fingerprint
-  print("\nFW fingerprint:\n")
-  for f in fw:
-    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
-    print(f"      {f.fwVersion},")
-    print("    ],")
+  if fw:
+    print("\nFW fingerprint:\n")
+    for f in fw:
+      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+      print(f"      {f.fwVersion},")
+      print("    ],")
   print()
   print(f"VIN: {vin}")
 

selfdrive/debug/fuzz_fw_fingerprint.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 import random
 from collections import defaultdict
 

selfdrive/debug/measure_torque_time_to_max.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import argparse

selfdrive/debug/test_fw_query_on_routes.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 from collections import defaultdict
 import argparse

selfdrive/locationd/calibrationd.py

@@ -47,7 +47,7 @@ DEBUG = os.getenv("DEBUG") is not None
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:
@@ -92,7 +92,7 @@ class Calibrator:
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray = None) -> None:
+                  smooth_from: np.ndarray | None = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:

selfdrive/locationd/helpers.py

@@ -94,7 +94,7 @@ class PointBuckets:
   def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int = None) -> Any:
+  def get_points(self, num_points: int | None = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points

selfdrive/locationd/paramsd.py

@@ -127,8 +127,8 @@ class VehicleParamsLearner:
 
     if not self.active:
       # Reset time when stopped so uncertainty doesn't grow
-      self.kf.filter.set_filter_time(t)  # type: ignore
-      self.kf.filter.reset_rewind()      # type: ignore
+      self.kf.filter.set_filter_time(t)
+      self.kf.filter.reset_rewind()
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     x = self.kf.x

selfdrive/locationd/torqued.py

@@ -35,7 +35,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen']
 
 
 def slope2rot(slope):

selfdrive/modeld/SConscript

@@ -1,7 +1,7 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

selfdrive/modeld/modeld.py

@@ -43,7 +43,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
+oid sha256:1edea5bb56f876db4cec97c150799513f6a59373f3ad152d55e4dcaab1b809e3
 size 13926324

selfdrive/selfdrived/alertmanager.py

@@ -14,7 +14,7 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''

selfdrive/selfdrived/events.py

@@ -303,6 +303,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
+  EventName.stockLkas: {
+    ET.PERMANENT: Alert(
+      "TAKE CONTROL",
+      "Stock LKAS: Lane Departure Detected",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",
@@ -758,13 +767,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"),
     ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+      "Unknown Vehicle Variant",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"),
   },
 
   EventName.canBusMissing: {

selfdrive/test/fuzzy_generation.py

@@ -44,7 +44,7 @@ class FuzzyGenerator:
     except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
     fields_to_generate = schema.non_union_fields + single_fill
     return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})

selfdrive/test/process_replay/migration.py

@@ -1,5 +1,6 @@
 from collections import defaultdict
 from collections.abc import Callable
+from typing import cast
 import capnp
 import functools
 import traceback
@@ -69,7 +70,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
     if migration.product in grouped: # skip if product already exists
       continue
 
-    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, []))
     msg_gen = [(i, lr[i]) for i in sorted_indices]
     r_ops, a_ops, d_ops = migration(msg_gen)
     replace_ops.extend(r_ops)

selfdrive/test/process_replay/process_replay.py

@@ -614,9 +614,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
-  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
-  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None,
+  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
+  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b508f43fb0481bce0859c9b6ab4f45ee690b8dab
+b259f6f8f099a9d82e4c65dd5deae2e4e293007b

selfdrive/test/process_replay/regen.py

@@ -16,7 +16,7 @@ from openpilot.tools.lib.openpilotci import get_url
 
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] = None,
+  lr: LogIterable, frs: dict[str, Any] | None = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)

selfdrive/test/update_ci_routes.py

@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 

selfdrive/ui/layouts/home.py

@@ -39,7 +39,7 @@ class HomeLayout(Widget):
 
     self.current_state = HomeLayoutState.HOME
     self.last_refresh = 0
-    self.settings_callback: callable | None = None
+    self.settings_callback: Callable[[], None] | None = None
 
     self.update_available = False
     self.alert_count = 0

selfdrive/ui/layouts/settings/settings.py

@@ -145,20 +145,18 @@ class SettingsLayout(Widget):
     if panel.instance:
       panel.instance.render(content_rect)
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return True
+      return
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
         self.set_current_panel(panel_type)
-        return True
-
-    return False
+        return
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:

selfdrive/ui/lib/prime_state.py

@@ -1,5 +1,6 @@
 from enum import IntEnum
 import os
+import requests
 import threading
 import time
 
@@ -29,6 +30,7 @@ class PrimeState:
   def __init__(self):
     self._params = Params()
     self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self.prime_type: PrimeType = self._load_initial_state()
 
     self._running = False
@@ -50,7 +52,7 @@ class PrimeState:
 
     try:
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)

selfdrive/ui/mici/layouts/onboarding.py

@@ -169,8 +169,8 @@ class TrainingGuideDMTutorial(Widget):
 
   def _update_state(self):
     super()._update_state()
-    if device.awake:
-      ui_state.params.put_bool("IsDriverViewEnabled", True)
+    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -240,19 +240,20 @@ class TrainingGuideDMTutorial(Widget):
       ring_color,
     )
 
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
+    if self._dialog._camera_view.frame:
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
 
-    self._good_button.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-      self._rect.y + self._rect.height - self._good_button.rect.height,
-      self._good_button.rect.width,
-      self._good_button.rect.height,
-    ))
+      self._good_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._good_button.rect.height,
+        self._good_button.rect.width,
+        self._good_button.rect.height,
+      ))
 
     # rounded border
     rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)

selfdrive/ui/mici/layouts/settings/firehose.py

@@ -1,3 +1,4 @@
+import requests
 import threading
 import time
 import pyray as rl
@@ -44,6 +45,7 @@ class FirehoseLayoutBase(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
@@ -203,7 +205,7 @@ class FirehoseLayoutBase(Widget):
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)

selfdrive/ui/mici/layouts/settings/network/wifi_ui.py

@@ -36,8 +36,6 @@ class WifiIcon(Widget):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 89, 64))
 
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64)
-    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64)
     self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64)
     self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64)
     self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64)
@@ -57,17 +55,13 @@ class WifiIcon(Widget):
       return
 
     # Determine which wifi strength icon to use
-    strength = round(self._network.strength / 100 * 4)
-    if strength == 4:
+    strength = round(self._network.strength / 100 * 2)
+    if strength == 2:
       strength_icon = self._wifi_full_txt
-    elif strength == 3:
+    elif strength == 1:
       strength_icon = self._wifi_medium_txt
-    elif strength == 2:
-      strength_icon = self._wifi_low_txt
-    elif self._network.strength < 0:
-      strength_icon = self._wifi_slash_txt
     else:
-      strength_icon = self._wifi_none_txt
+      strength_icon = self._wifi_low_txt
 
     icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2)
     icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2)
@@ -388,7 +382,7 @@ class WifiUIMici(BigMultiOptionDialog):
       else:
         network_button = WifiItem(network)
 
-      self.add_button(network_button)
+      self._scroller.add_widget(network_button)
 
     # remove networks no longer present
     self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
@@ -402,11 +396,10 @@ class WifiUIMici(BigMultiOptionDialog):
       self._wifi_manager.connect_to_network(ssid, password)
       self._update_buttons()
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
-    super()._on_option_selected(option, smooth_scroll)
+  def _on_option_selected(self, option: str):
+    super()._on_option_selected(option)
 
-    # only open if button is already selected
-    if option in self._networks and option == self._selected_option:
+    if option in self._networks:
       self._network_info_page.set_current_network(self._networks[option])
       self._open_network_manage_page()
 
@@ -453,7 +446,7 @@ class WifiUIMici(BigMultiOptionDialog):
     current_selection = self.get_selected_option()
     if self._restore_selection and current_selection in self._networks:
       self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
+      BigMultiOptionDialog._on_option_selected(self, current_selection)
       self._restore_selection = None
 
     super()._render(_)

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -20,6 +20,7 @@ from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
 if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -183,11 +183,13 @@ class HudRenderer(Widget):
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
+    bsm_detected = self._has_blind_spot_detected() if gui_app.sunnypilot_ui() else False
+
     if self._show_wheel_critical:
       self._wheel_alpha_filter.update(255)
       self._wheel_y_filter.update(0)
     else:
-      if ui_state.status == UIStatus.DISENGAGED:
+      if ui_state.status == UIStatus.DISENGAGED or bsm_detected:
         self._wheel_alpha_filter.update(0)
         self._wheel_y_filter.update(wheel_txt.height / 2)
       else:

selfdrive/ui/mici/widgets/button.py

@@ -71,7 +71,7 @@ class BigCircleButton(Widget):
 
 
 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable = None):
+  def __init__(self, icon: str, toggle_callback: Callable | None = None):
     super().__init__(icon, False)
     self._toggle_callback = toggle_callback
 
@@ -251,7 +251,7 @@ class BigButton(Widget):
 
 
 class BigToggle(BigButton):
-  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None):
+  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None):
     super().__init__(text, value, "")
     self._checked = initial_state
     self._toggle_callback = toggle_callback
@@ -288,8 +288,8 @@ class BigToggle(BigButton):
 
 
 class BigMultiToggle(BigToggle):
-  def __init__(self, text: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     assert len(options) > 0
     self._options = options
@@ -327,8 +327,8 @@ class BigMultiToggle(BigToggle):
 
 
 class BigMultiParamToggle(BigMultiToggle):
-  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -345,7 +345,7 @@ class BigMultiParamToggle(BigMultiToggle):
 
 
 class BigParamControl(BigToggle):
-  def __init__(self, text: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -361,7 +361,7 @@ class BigParamControl(BigToggle):
 
 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(icon, toggle_callback)
     self._param = param
     self.params = Params()

selfdrive/ui/mici/widgets/dialog.py

@@ -4,17 +4,17 @@ import pyray as rl
 from typing import Union
 from collections.abc import Callable
 from typing import cast
-from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 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.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 
 DEBUG = False
 
@@ -137,7 +137,7 @@ class BigInputDialog(BigDialogBase):
                hint: str,
                default_text: str = "",
                minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] = None):
+               confirm_callback: Callable[[str], None] | None = None):
     super().__init__(None, None)
     self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                     font_weight=FontWeight.MEDIUM)
@@ -317,39 +317,36 @@ class BigMultiOptionDialog(BigDialogBase):
   BACK_TOUCH_AREA_PERCENTAGE = 0.1
 
   def __init__(self, options: list[str], default: str | None,
-               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None):
+               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None):
     super().__init__(right_btn, right_btn_callback=right_btn_callback)
     self._options = options
     if default is not None:
       assert default in options
 
-    self._default_option: str = default or (options[0] if len(options) > 0 else "")
-    self._selected_option: str = self._default_option
+    self._default_option: str | None = default
+    self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "")
     self._last_selected_option: str = self._selected_option
 
+    # Widget doesn't differentiate between click and drag
+    self._can_click = True
+
     self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
     if self._right_btn is not None:
       self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
 
     for option in options:
-      self.add_button(BigDialogOptionButton(option))
-
-  def add_button(self, button: BigDialogOptionButton):
-    def click_callback(_btn=button):
-      self._on_option_selected(_btn.option)
-
-    button.set_click_callback(click_callback)
-    self._scroller.add_widget(button)
+      self._scroller.add_widget(BigDialogOptionButton(option))
 
   def show_event(self):
     super().show_event()
     self._scroller.show_event()
-    self._on_option_selected(self._default_option)
+    if self._default_option is not None:
+      self._on_option_selected(self._default_option)
 
   def get_selected_option(self) -> str:
     return self._selected_option
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
+  def _on_option_selected(self, option: str):
     y_pos = 0.0
     for btn in self._scroller._items:
       btn = cast(BigDialogOptionButton, btn)
@@ -365,11 +362,35 @@ class BigMultiOptionDialog(BigDialogBase):
         y_pos = rect_center_y - (btn.rect.y + height / 2)
         break
 
-    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
+    self._scroller.scroll_to(-y_pos)
 
   def _selected_option_changed(self):
     pass
 
+  def _handle_mouse_press(self, mouse_pos: MousePos):
+    super()._handle_mouse_press(mouse_pos)
+    self._can_click = True
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    # # TODO: add generic _handle_mouse_click handler to Widget
+    if not self._scroller.scroll_panel.is_touch_valid():
+      self._can_click = False
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if not self._can_click:
+      return
+
+    # select current option
+    for btn in self._scroller._items:
+      btn = cast(BigDialogOptionButton, btn)
+      if btn.option == self._selected_option:
+        self._on_option_selected(btn.option)
+        break
+
   def _update_state(self):
     super()._update_state()
 

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

@@ -193,7 +193,7 @@ class DeviceLayoutSP(DeviceLayout):
 
     # Text & Color
     offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad")
-    offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER
+    offroad_mode_btn_style = ButtonStyle.PRIMARY if always_offroad else ButtonStyle.DANGER
     self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text)
     self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style)
 

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

@@ -37,7 +37,7 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(  # type: ignore
+OP.PanelType = IntEnum(
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",

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

@@ -4,27 +4,147 @@ 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 openpilot.common.params import Params
+from cereal import car
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.lane_change_settings import LaneChangeSettingsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.mads_settings import MadsSettingsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.torque_settings import TorqueSettingsLayout
+
+
+class PanelType(IntEnum):
+  STEERING = 0
+  MADS = 1
+  LANE_CHANGE = 2
+  TORQUE_CONTROL = 3
 
 
 class SteeringLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._params = Params()
+    self._current_panel = PanelType.STEERING
+    self._lane_change_settings_layout = LaneChangeSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+    self._mads_settings_layout = MadsSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+    self._torque_control_layout = TorqueSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+
     items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._mads_base_desc = tr("Enable the beloved MADS feature. " +
+                              "Disable toggle to revert back to stock sunnypilot engagement/disengagement.")
+    self._mads_limited_desc = tr("This platform supports limited MADS settings.")
+    self._mads_full_desc = tr("This platform supports all MADS settings.")
+    self._mads_check_compat_desc = tr("Start the vehicle to check vehicle compatibility.")
 
+    self._mads_toggle = toggle_item_sp(
+      param="Mads",
+      title=lambda: tr("Modular Assistive Driving System (MADS)"),
+      description=self._mads_base_desc,
+    )
+    self._mads_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize MADS"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.MADS)
+    )
+    self._lane_change_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Lane Change"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.LANE_CHANGE)
+    )
+    self._blinker_control_toggle = toggle_item_sp(
+      param="BlinkerPauseLateralControl",
+      description=lambda: tr("Pause lateral control with blinker when traveling below the desired speed selected."),
+      title=lambda: tr("Pause Lateral Control with Blinker"),
+    )
+    self._blinker_control_options = option_item_sp(
+      param="BlinkerMinLateralControlSpeed",
+      title=lambda: tr("Minimum Speed to Pause Lateral Control"),
+      min_value=0,
+      max_value=255,
+      value_change_step=5,
+      description="",
+      label_callback=lambda speed: f'{speed} {"km/h" if ui_state.is_metric else "mph"}',
+    )
+    self._torque_control_toggle = toggle_item_sp(
+      param="EnforceTorqueControl",
+      title=lambda: tr("Enforce Torque Lateral Control"),
+      description=lambda: tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
+    )
+    self._torque_customization_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Torque Params"),
+      button_width=850,
+      callback=lambda: self._set_current_panel(PanelType.TORQUE_CONTROL)
+    )
+    self._nnlc_toggle = toggle_item_sp(
+      param="NeuralNetworkLateralControl",
+      title=lambda: tr("Neural Network Lateral Control (NNLC)"),
+      description=""
+    )
+
+    items = [
+      self._mads_toggle,
+      self._mads_settings_button,
+      LineSeparatorSP(40),
+      self._lane_change_settings_button,
+      LineSeparatorSP(40),
+      self._blinker_control_toggle,
+      self._blinker_control_options,
+      LineSeparatorSP(40),
+      self._torque_control_toggle,
+      self._torque_customization_button,
+      LineSeparatorSP(40),
+      self._nnlc_toggle,
     ]
     return items
 
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+
+  def _update_state(self):
+    super()._update_state()
+
+    torque_allowed = True
+    if ui_state.CP is not None:
+      mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
+      self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
+
+      if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle:
+        ui_state.params.remove("EnforceTorqueControl")
+        ui_state.params.remove("NeuralNetworkLateralControl")
+        torque_allowed = False
+    else:
+      self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
+      ui_state.params.remove("EnforceTorqueControl")
+      ui_state.params.remove("NeuralNetworkLateralControl")
+      torque_allowed = False
+
+    self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
+    self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state())
+
+    enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
+    nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
+    self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
+    self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
+
   def _render(self, rect):
-    self._scroller.render(rect)
+    if self._current_panel == PanelType.LANE_CHANGE:
+      self._lane_change_settings_layout.render(rect)
+    elif self._current_panel == PanelType.MADS:
+      self._mads_settings_layout.render(rect)
+    elif self._current_panel == PanelType.TORQUE_CONTROL:
+      self._torque_control_layout.render(rect)
+    else:
+      self._scroller.render(rect)
 
   def show_event(self):
+    self._set_current_panel(PanelType.STEERING)
     self._scroller.show_event()

selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py

@@ -0,0 +1,81 @@
+"""
+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 collections.abc import Callable
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, LineSeparatorSP
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+class LaneChangeSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._lane_change_timer = option_item_sp(
+      title=lambda: tr("Auto Lane Change by Blinker"),
+      param="AutoLaneChangeTimer",
+      description=lambda: tr("Set a timer to delay the auto lane change operation when the blinker is used. " +
+                             "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.<br>" +
+                             "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
+      min_value=-1,
+      max_value=5,
+      value_change_step=1,
+      label_callback=(lambda x:
+                      tr("Off") if x == -1 else
+                      tr("Nudge") if x == 0 else
+                      tr("Nudgeless") if x == 1 else
+                      f"0.5 {tr('s')}" if x == 2 else
+                      f"1 {tr('s')}" if x == 3 else
+                      f"2 {tr('s')}" if x == 4 else
+                      f"3 {tr('s')}")
+    )
+    self._bsm_delay = toggle_item_sp(
+      param="AutoLaneChangeBsmDelay",
+      title=lambda: tr("Auto Lane Change: Delay with Blind Spot"),
+      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
+                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
+    )
+
+    items = [
+      self._lane_change_timer,
+      LineSeparatorSP(40),
+      self._bsm_delay,
+    ]
+
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+    self._update_toggles()
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _update_toggles(self):
+    enable_bsm = ui_state.CP and ui_state.CP.enableBsm
+    if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
+      ui_state.params.remove("AutoLaneChangeBsmDelay")
+    self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)

selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py

@@ -0,0 +1,135 @@
+"""
+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 collections.abc import Callable
+import pyray as rl
+
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+
+MADS_STEERING_MODE_OPTIONS = [
+  (tr("Remain Active"), tr_noop("Remain Active: ALC will remain active when the brake pedal is pressed.")),
+  (tr("Pause"), tr_noop("Pause: ALC will pause when the brake pedal is pressed.")),
+  (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")),
+]
+
+MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.")
+MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}<br><h4>{note}</h4>".format(
+  engage=tr("Engage lateral and longitudinal control with cruise control engagement."),
+  note=tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."),
+)
+
+STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.")
+DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.")
+DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.")
+STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.")
+
+
+class MadsSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+    self._initialize_items()
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._main_cruise_toggle = toggle_item_sp(
+      title=lambda: tr("Toggle with Main Cruise"),
+      description=MADS_MAIN_CRUISE_BASE_DESC,
+      param="MadsMainCruiseAllowed",
+    )
+    self._unified_engagement_toggle = toggle_item_sp(
+      title=lambda: tr("Unified Engagement Mode (UEM)"),
+      description=MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC,
+      param="MadsUnifiedEngagementMode"
+    )
+    self._steering_mode = multiple_button_item_sp(
+      param="MadsSteeringMode",
+      title=lambda: tr("Steering Mode on Brake Pedal"),
+      description="",
+      buttons=[opt[0] for opt in MADS_STEERING_MODE_OPTIONS],
+      inline=False,
+      button_width=350,
+      callback=self._update_steering_mode_description,
+    )
+
+    self.items = [
+      self._main_cruise_toggle,
+      self._unified_engagement_toggle,
+      self._steering_mode,
+    ]
+
+  def _update_state(self):
+    super()._update_state()
+    self._update_toggles()
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  @staticmethod
+  def _mads_limited_settings() -> bool:
+    brand = ""
+    if ui_state.is_offroad():
+      bundle = ui_state.params.get("CarPlatformBundle")
+      if bundle:
+        brand = bundle.get("brand", "")
+    if not brand:
+      brand = ui_state.CP.brand if ui_state.CP else ""
+
+    if brand == "rivian":
+      return True
+    elif brand == "tesla":
+      return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    return False
+
+  def _update_steering_mode_description(self, button_index: int):
+    base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.")
+    result = base_desc + "<br><br>"
+    for opt in MADS_STEERING_MODE_OPTIONS:
+      desc = "<b>" + opt[1] + "</b>" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1]
+      result += desc + "<br>"
+    self._steering_mode.set_description(result)
+    self._steering_mode.show_description(True)
+
+  def _update_toggles(self):
+    self._update_steering_mode_description(self._steering_mode.action_item.get_selected_button())
+    if self._mads_limited_settings():
+      ui_state.params.remove("MadsMainCruiseAllowed")
+      ui_state.params.put_bool("MadsUnifiedEngagementMode", True)
+      ui_state.params.put("MadsSteeringMode", 2)
+
+      self._main_cruise_toggle.action_item.set_enabled(False)
+      self._main_cruise_toggle.action_item.set_state(False)
+      self._main_cruise_toggle.set_description("<b>" + DEFAULT_TO_OFF + "</b><br>" + MADS_MAIN_CRUISE_BASE_DESC)
+
+      self._unified_engagement_toggle.action_item.set_enabled(False)
+      self._unified_engagement_toggle.action_item.set_state(True)
+      self._unified_engagement_toggle.set_description("<b>" + DEFAULT_TO_ON + "</b><br>" + MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
+
+      self._steering_mode.action_item.set_enabled(False)
+      self._steering_mode.set_description(STATUS_DISENGAGE_ONLY)
+      self._steering_mode.action_item.set_selected_button(2)
+    else:
+      self._main_cruise_toggle.action_item.set_enabled(True)
+      self._main_cruise_toggle.set_description(MADS_MAIN_CRUISE_BASE_DESC)
+
+      self._unified_engagement_toggle.action_item.set_enabled(True)
+      self._unified_engagement_toggle.set_description(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
+
+      self._steering_mode.action_item.set_enabled(True)

selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py

@@ -0,0 +1,115 @@
+"""
+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 collections.abc import Callable
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class TorqueSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._self_tune_toggle = toggle_item_sp(
+      param="LiveTorqueParamsToggle",
+      title=lambda: tr("Self-Tune"),
+      description=lambda: tr("Enables self-tune for Torque lateral control for platforms that do not use " +
+                             "Torque lateral control by default."),
+    )
+    self._relaxed_tune_toggle = toggle_item_sp(
+      param="LiveTorqueParamsRelaxedToggle",
+      title=lambda: tr("Less Restrict Settings for Self-Tune (Beta)"),
+      description=lambda: tr("Less strict settings when using Self-Tune. This allows torqued to be more " +
+                             "forgiving when learning values."),
+    )
+    self._custom_tune_toggle = toggle_item_sp(
+      param="CustomTorqueParams",
+      title=lambda: tr("Enable Custom Tuning"),
+      description=lambda: tr("Enables custom tuning for Torque lateral control. " +
+                             "Modifying Lateral Acceleration Factor and Friction below will override the offline values " +
+                             "indicated in the YAML files within \"opendbc/car/torque_data\". " +
+                             "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
+    )
+    self._torque_prams_override_toggle = toggle_item_sp(
+      param="TorqueParamsOverrideEnabled",
+      title=lambda: tr("Manual Real-Time Tuning"),
+      description=lambda: tr("Enforces the torque lateral controller to use the fixed values instead of the learned " +
+                             "values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
+    )
+    self._torque_lat_accel_factor = option_item_sp(
+      title=lambda: tr("Lateral Acceleration Factor"),
+      param="TorqueParamsOverrideLatAccelFactor",
+      description="",
+      min_value=1,
+      max_value=500,
+      value_change_step=1,
+      label_callback=(lambda x: f"{x/100} m/s^2"),
+      use_float_scaling=True
+    )
+
+    self._torque_friction = option_item_sp(
+      title=lambda: tr("Friction"),
+      param="TorqueParamsOverrideFriction",
+      description="",
+      min_value=1,
+      max_value=100,
+      value_change_step=1,
+      label_callback=(lambda x: f"{x/100}"),
+      use_float_scaling=True
+    )
+
+    items = [
+      self._self_tune_toggle,
+      self._relaxed_tune_toggle,
+      self._custom_tune_toggle,
+      self._torque_prams_override_toggle,
+      self._torque_lat_accel_factor,
+      self._torque_friction,
+    ]
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
+      ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
+      self._relaxed_tune_toggle.action_item.set_state(False)
+    self._self_tune_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self._relaxed_tune_toggle.action_item.set_enabled(ui_state.is_offroad() and self._self_tune_toggle.action_item.get_state())
+    self._custom_tune_toggle.action_item.set_enabled(ui_state.is_offroad())
+    custom_tune_enabled = self._custom_tune_toggle.action_item.get_state()
+    self._torque_prams_override_toggle.set_visible(custom_tune_enabled)
+    self._torque_lat_accel_factor.set_visible(custom_tune_enabled)
+    self._torque_friction.set_visible(custom_tune_enabled)
+
+    self._torque_prams_override_toggle.action_item.set_enabled(ui_state.is_offroad())
+    sliders_enabled = self._torque_prams_override_toggle.action_item.get_state() or ui_state.is_offroad()
+    self._torque_lat_accel_factor.action_item.set_enabled(sliders_enabled)
+    self._torque_friction.action_item.set_enabled(sliders_enabled)
+
+    title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only")
+    self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")")
+    self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")")
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLa
 
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(  # type: ignore
+OP.PanelType = IntEnum(
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",

selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py

@@ -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.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.blind_spot_indicators = BlindSpotIndicators()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.blind_spot_indicators.update()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    self.blind_spot_indicators.render(rect)
+
+  def _has_blind_spot_detected(self) -> bool:
+    return self.blind_spot_indicators.detected

selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py

@@ -0,0 +1,49 @@
+"""
+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.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class BlindSpotIndicators:
+  def __init__(self):
+    self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
+    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
+
+    self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+    self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    CS = sm['carState']
+
+    self._blind_spot_left_alpha_filter.update(1.0 if CS.leftBlindspot else 0.0)
+    self._blind_spot_right_alpha_filter.update(1.0 if CS.rightBlindspot else 0.0)
+
+  @property
+  def detected(self) -> bool:
+    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:
+    BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
+    BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
+
+    if self._blind_spot_left_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + BLIND_SPOT_MARGIN_X)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_left_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
+
+    if self._blind_spot_right_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_right_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -6,15 +6,36 @@ 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
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 
 
 class HudRendererSP(HudRenderer):
   def __init__(self):
     super().__init__()
     self.developer_ui = DeveloperUiRenderer()
+    self.road_name_renderer = RoadNameRenderer()
+    self.rocket_fuel = RocketFuel()
+    self.speed_limit_renderer = SpeedLimitRenderer()
+    self.turn_signal_controller = TurnSignalController()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.road_name_renderer.update()
+    self.speed_limit_renderer.update()
+    self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     self.developer_ui.render(rect)
+    self.road_name_renderer.render(rect)
+    self.speed_limit_renderer.render(rect)
+    self.turn_signal_controller.render(rect)
+
+    if ui_state.rocket_fuel:
+      self.rocket_fuel.render(rect, ui_state.sm)

selfdrive/ui/sunnypilot/onroad/rainbow_path.py

@@ -18,11 +18,12 @@ class RainbowPath:
   BASE_ALPHA = 0.8
   ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
 
-  def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None):
-    self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS
-    self.speed = speed if speed is not None else self.DEFAULT_SPEED
-    self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION
-    self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS
+  def __init__(self, num_segments: int = DEFAULT_NUM_SEGMENTS, speed: float = DEFAULT_SPEED,
+               saturation: float = DEFAULT_SATURATION, lightness: float = DEFAULT_LIGHTNESS):
+    self.num_segments = num_segments
+    self.speed = speed
+    self.saturation = saturation
+    self.lightness = lightness
 
   def set_speed(self, speed: float):
     self.speed = speed

selfdrive/ui/sunnypilot/onroad/road_name.py

@@ -0,0 +1,56 @@
+"""
+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.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class RoadNameRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.road_name = ""
+    self.is_metric = False
+    self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    self.is_metric = ui_state.is_metric
+
+    if sm.updated["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.road_name = lmd.roadName
+
+  def _render(self, rect: rl.Rectangle):
+    if not self.road_name:
+      return
+
+    text = self.road_name
+    text_size = measure_text_cached(self.font_demi, text, 46)
+
+    padding = 40
+    rect_width = max(200, min(text_size.x + padding, rect.width - 40))
+
+    road_rect = rl.Rectangle(rect.x + rect.width / 2 - rect_width / 2, rect.y - 4, rect_width, 60)
+
+    rl.draw_rectangle_rounded(road_rect, 0.2, 10, rl.Color(0, 0, 0, 120))
+
+    max_text_width = road_rect.width - 20
+    if text_size.x > max_text_width:
+      while text_size.x > max_text_width and len(text) > 3:
+        text = text[:-1]
+        text_size = measure_text_cached(self.font_demi, text + "...", 46)
+      text = text + "..."
+
+    sz = measure_text_cached(self.font_demi, text, 46)
+    origin = rl.Vector2(road_rect.x + road_rect.width / 2 - sz.x / 2, road_rect.y + road_rect.height / 2 - sz.y / 2)
+    rl.draw_text_ex(self.font_demi, text, origin, 46, 0, rl.Color(255, 255, 255, 200))

selfdrive/ui/sunnypilot/onroad/rocket_fuel.py

@@ -0,0 +1,45 @@
+"""
+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
+
+
+class RocketFuel:
+  def __init__(self):
+    self.vc_accel = 0.0
+
+  def render(self, rect: rl.Rectangle, sm) -> None:
+    vc_accel0 = sm['carState'].aEgo
+
+    # Smooth the acceleration
+    self.vc_accel = self.vc_accel + (vc_accel0 - self.vc_accel) / 5.0
+
+    hha = 0.0
+    color = rl.Color(0, 0, 0, 0)  # Transparent by default
+
+    if self.vc_accel > 0:
+      hha = 0.85 - 0.1 / self.vc_accel  # only extend up to 85%
+      color = rl.Color(0, 245, 0, 200)
+    elif self.vc_accel < 0:
+      hha = 0.85 + 0.1 / self.vc_accel  # only extend up to 85%
+      color = rl.Color(245, 0, 0, 200)
+
+    if hha < 0:
+      hha = 0.0
+
+    hha = hha * rect.height
+    wp = 28.0
+
+    # Draw
+    rect_h = rect.height
+
+    if self.vc_accel > 0:
+      ra_y = rect_h / 2.0 - hha / 2.0
+    else:
+      ra_y = rect_h / 2.0
+
+    if hha > 0:
+      rl.draw_rectangle(int(rect.x), int(rect.y + ra_y), int(wp), int(hha / 2.0), color)

selfdrive/ui/sunnypilot/onroad/speed_limit.py

@@ -0,0 +1,281 @@
+"""
+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 dataclasses import dataclass
+import math
+import pyray as rl
+
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+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.system.ui.widgets import Widget
+
+METER_TO_FOOT = 3.28084
+METER_TO_MILE = 0.000621371
+AHEAD_THRESHOLD = 5
+
+AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+
+@dataclass(frozen=True)
+class Colors:
+  WHITE = rl.WHITE
+  BLACK = rl.BLACK
+  RED = rl.RED
+  GREY = rl.Color(145, 155, 149, 255)
+  DARK_GREY = rl.Color(77, 77, 77, 255)
+  SUB_BG = rl.Color(0, 0, 0, 180)
+  MUTCD_LINES = rl.Color(255, 255, 255, 100)
+
+
+class SpeedLimitRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.speed_limit = 0.0
+    self.speed_limit_last = 0.0
+    self.speed_limit_offset = 0.0
+    self.speed_limit_valid = False
+    self.speed_limit_last_valid = False
+    self.speed_limit_final_last = 0.0
+    self.speed_limit_source = SpeedLimitSource.none
+    self.speed_limit_assist_state = AssistState.disabled
+
+    self.speed_limit_ahead = 0.0
+    self.speed_limit_ahead_dist = 0.0
+    self.speed_limit_ahead_dist_prev = 0.0
+    self.speed_limit_ahead_valid = False
+    self.speed_limit_ahead_frame = 0
+
+    self.assist_frame = 0
+    self.speed = 0.0
+    self.set_speed = 0.0
+
+    self.font_bold = gui_app.font(FontWeight.BOLD)
+    self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
+    self.font_norm = gui_app.font(FontWeight.NORMAL)
+    self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps)
+
+    arrow_size = 90
+    self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
+    self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
+
+  @property
+  def speed_conv(self):
+    return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if sm.updated["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      assist = lp_sp.speedLimit.assist
+
+      self.speed_limit = resolver.speedLimit * self.speed_conv
+      self.speed_limit_last = resolver.speedLimitLast * self.speed_conv
+      self.speed_limit_offset = resolver.speedLimitOffset * self.speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_last_valid = resolver.speedLimitLastValid
+      self.speed_limit_final_last = resolver.speedLimitFinalLast * self.speed_conv
+      self.speed_limit_source = resolver.source
+      self.speed_limit_assist_state = assist.state
+
+    if sm.updated["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.speed_limit_ahead_valid = lmd.speedLimitAheadValid
+      self.speed_limit_ahead = lmd.speedLimitAhead * self.speed_conv
+      self.speed_limit_ahead_dist = lmd.speedLimitAheadDistance
+
+      if self.speed_limit_ahead_dist < self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame < AHEAD_THRESHOLD:
+        self.speed_limit_ahead_frame += 1
+      elif self.speed_limit_ahead_dist > self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame > 0:
+        self.speed_limit_ahead_frame -= 1
+
+      self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
+
+    cs = sm["carState"]
+    self.set_speed = cs.cruiseState.speed * self.speed_conv
+    v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo
+    self.speed = max(0.0, v_ego * self.speed_conv)
+
+  @staticmethod
+  def _draw_text_centered(font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _render(self, rect: rl.Rectangle):
+    width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + width + 30 - 6
+    y = rect.y + 45 - 6
+
+    sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
+
+    if self.speed_limit_assist_state == AssistState.preActive:
+      self.assist_frame += 1
+      pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps)
+      alpha = self._sign_alpha_filter.update(pulse_value)
+    else:
+      self.assist_frame = 0
+      alpha = self._sign_alpha_filter.update(1.0)
+
+    if ui_state.speed_limit_mode != SpeedLimitMode.off:
+      self._draw_sign_main(sign_rect, alpha)
+      if self.speed_limit_assist_state == AssistState.preActive:
+        self._draw_pre_active_arrow(sign_rect)
+      else:
+        self._draw_ahead_info(sign_rect)
+
+  def _draw_sign_main(self, rect, alpha=1.0):
+    speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning
+    has_limit = self.speed_limit_valid or self.speed_limit_last_valid
+    is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed)
+
+    limit_str = str(round(self.speed_limit_last)) if has_limit else "---"
+    sub_text = ""
+    if self.speed_limit_offset != 0:
+      sign = "" if self.speed_limit_offset > 0 else "-"
+      sub_text = f"{sign}{round(abs(self.speed_limit_offset))}"
+
+    txt_color = Colors.BLACK
+    if speed_limit_warning_enabled and is_overspeed:
+      txt_color = Colors.RED
+    elif not self.speed_limit_valid:
+      txt_color = Colors.GREY
+
+    if ui_state.is_metric:
+      self._render_vienna(rect, limit_str, sub_text, txt_color, has_limit, alpha)
+    else:
+      self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha)
+
+  def _draw_pre_active_arrow(self, sign_rect):
+    set_speed_rounded = round(self.set_speed)
+    limit_rounded = round(self.speed_limit_final_last)
+
+    bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5)
+    bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency))
+
+    sign_margin = 12
+    arrow_spacing = int(sign_margin * 1.4)
+    arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
+
+    if set_speed_rounded < limit_rounded:
+      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset
+      rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE)
+    elif set_speed_rounded > limit_rounded:
+      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset
+      rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE)
+
+  def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
+    center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
+    radius = (rect.width + 18) / 2
+
+    white = rl.Color(255, 255, 255, int(255 * alpha))
+    red = rl.Color(255, 0, 0, int(255 * alpha))
+
+    if hasattr(color, 'r'):
+      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
+    else:
+      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+
+    black = rl.Color(0, 0, 0, int(255 * alpha))
+    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+
+    rl.draw_circle_v(center, radius, white)
+    rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red)
+
+    f_size = 70 if len(val) >= 3 else 85
+    self._draw_text_centered(self.font_bold, val, f_size, center, text_color)
+
+    if sub and has_limit:
+      s_radius = radius * 0.4
+      s_center = rl.Vector2(rect.x + rect.width - s_radius / 2, rect.y + s_radius / 2)
+
+      rl.draw_circle_v(s_center, s_radius, black)
+      rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey)
+
+      f_scale = 0.5 if len(sub) < 3 else 0.45
+      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white)
+
+  def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0):
+    white = rl.Color(255, 255, 255, int(255 * alpha))
+    black = rl.Color(0, 0, 0, int(255 * alpha))
+    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+
+    if hasattr(color, 'r'):
+      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
+    else:
+      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+
+    rl.draw_rectangle_rounded(rect, 0.35, 10, white)
+    inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20)
+    rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black)
+
+    self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black)
+    self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black)
+    self._draw_text_centered(self.font_bold, val, 90, rl.Vector2(rect.x + rect.width / 2, rect.y + 150), text_color)
+
+    if sub and has_limit:
+      box_sz = rect.width * 0.3
+      overlap = box_sz * 0.2
+      s_rect = rl.Rectangle(rect.x + rect.width - box_sz / 1.5 + overlap, rect.y - box_sz / 1.25 + overlap, box_sz, box_sz)
+
+      rl.draw_rectangle_rounded(s_rect, 0.35, 10, black)
+      rl.draw_rectangle_rounded_lines_ex(s_rect, 0.35, 10, 6, dark_grey)
+
+      f_scale = 0.6 if len(sub) < 3 else 0.475
+      self._draw_text_centered(self.font_bold, sub, int(box_sz * f_scale), rl.Vector2(s_rect.x + box_sz / 2, s_rect.y + box_sz / 2), white)
+
+  def _draw_ahead_info(self, sign_rect):
+    source_is_map = self.speed_limit_source == SpeedLimitSource.map
+    valid = self.speed_limit_ahead_valid and self.speed_limit_ahead > 0 and self.speed_limit_ahead != self.speed_limit
+
+    if not (valid and source_is_map):
+      return
+
+    rect = rl.Rectangle(sign_rect.x + (sign_rect.width - 170) / 2, sign_rect.y + sign_rect.height + 10, 170, 160)
+    rl.draw_rectangle_rounded(rect, 0.35, 10, Colors.SUB_BG)
+    rl.draw_rectangle_rounded_lines_ex(rect, 0.35, 10, 3, Colors.MUTCD_LINES)
+
+    mid_x = rect.x + rect.width / 2
+    self._draw_text_centered(self.font_demi, "AHEAD", 40, rl.Vector2(mid_x, rect.y + 28), Colors.GREY)
+    self._draw_text_centered(self.font_bold, str(round(self.speed_limit_ahead)), 70, rl.Vector2(mid_x, rect.y + 82), Colors.WHITE)
+    self._draw_text_centered(self.font_norm, self._format_dist(self.speed_limit_ahead_dist), 36, rl.Vector2(mid_x, rect.y + 134), Colors.GREY)
+
+  @staticmethod
+  def _format_dist(d):
+    # metric
+    if ui_state.is_metric:
+      if d < 50:
+        return tr("Near")
+
+      if d >= 1000:
+        return f"{d / 1000:.1f} km"
+
+      d_rounded = round(d, -1) if d < 200 else round(d, -2)
+      return f"{int(d_rounded)} m"
+
+    # imperial
+    d_ft = d * METER_TO_FOOT
+    if d_ft < 100:
+      return tr("Near")
+
+    if d_ft >= 900:
+      return f"{d * METER_TO_MILE:.1f} mi"
+
+    if d_ft < 500:
+      return f"{int(round(d_ft / 50) * 50)} ft"
+
+    return f"{int(round(d_ft / 100) * 100)} ft"

selfdrive/ui/sunnypilot/onroad/turn_signal.py

@@ -0,0 +1,160 @@
+"""
+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
+import time
+from dataclasses import dataclass
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+@dataclass(frozen=True)
+class TurnSignalConfig:
+  left_x: int = 80
+  left_y: int = 190
+  right_x: int = 80
+  right_y: int = 190
+  size: int = 150
+
+
+class TurnSignalWidget(Widget):
+  def __init__(self, direction: IconSide):
+    super().__init__()
+    self._direction = direction
+    self._active = False
+    self._type = 'signal'
+
+    self._turn_signal_timer = 0.0
+    self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
+
+    self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109)
+    self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109)
+    self._texture = self._signal_texture
+
+  def _render(self, _):
+    if not self._active:
+      return
+
+    if self._type == 'signal':
+      if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
+        self._turn_signal_timer = time.monotonic()
+        self._turn_signal_alpha_filter.x = 255 * 2
+      else:
+        self._turn_signal_alpha_filter.update(255 * 0.2)
+      icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
+    else:
+      icon_alpha = 255
+
+    self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture
+
+    if self._texture:
+      pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
+      pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2)
+      color = rl.Color(255, 255, 255, icon_alpha)
+      rl.draw_texture(self._texture, pos_x, pos_y, color)
+
+  def activate(self, _type: str = 'signal'):
+    if not self._active or self._type != _type:
+      self._turn_signal_timer = 0.0
+    self._active = True
+    self._type = _type
+
+  def deactivate(self):
+    self._active = False
+    self._turn_signal_timer = 0.0
+
+
+class TurnSignalController:
+  def __init__(self, config: TurnSignalConfig | None = None):
+    self._config = config or TurnSignalConfig()
+    self._left_signal = TurnSignalWidget(direction=IconSide.left)
+    self._right_signal = TurnSignalWidget(direction=IconSide.right)
+    self._last_icon_side = None
+
+  def update(self):
+    sm = ui_state.sm
+    ss = sm['selfdriveState']
+
+    event_name = ss.alertType.split('/')[0] if ss.alertType else ''
+
+    if event_name == 'preLaneChangeLeft':
+      self._last_icon_side = IconSide.left
+      self._left_signal.activate('signal')
+      self._right_signal.deactivate()
+
+    elif event_name == 'preLaneChangeRight':
+      self._last_icon_side = IconSide.right
+      self._right_signal.activate('signal')
+      self._left_signal.deactivate()
+
+    elif event_name == 'laneChange':
+      if self._last_icon_side == IconSide.left:
+        self._left_signal.activate('signal')
+        self._right_signal.deactivate()
+      elif self._last_icon_side == IconSide.right:
+        self._right_signal.activate('signal')
+        self._left_signal.deactivate()
+
+    elif event_name == 'laneChangeBlocked':
+      CS = sm['carState']
+      if CS.leftBlinker:
+        icon_side = IconSide.left
+      elif CS.rightBlinker:
+        icon_side = IconSide.right
+      else:
+        icon_side = self._last_icon_side
+
+      if icon_side == IconSide.left:
+        self._left_signal.activate('blind_spot')
+        self._right_signal.deactivate()
+      elif icon_side == IconSide.right:
+        self._right_signal.activate('blind_spot')
+        self._left_signal.deactivate()
+
+    else:
+      self._last_icon_side = None
+      CS = sm['carState']
+
+      if CS.leftBlindspot:
+        self._left_signal.activate('blind_spot')
+      elif CS.leftBlinker:
+        self._left_signal.activate('signal')
+      else:
+        self._left_signal.deactivate()
+
+      if CS.rightBlindspot:
+        self._right_signal.activate('blind_spot')
+      elif CS.rightBlinker:
+        self._right_signal.activate('signal')
+      else:
+        self._right_signal.deactivate()
+
+  def render(self, rect: rl.Rectangle):
+    x = rect.x + rect.width / 2
+
+    left_x = x - self._config.left_x - self._config.size
+    left_y = rect.y + self._config.left_y
+
+    right_x = x + self._config.right_x
+    right_y = rect.y + self._config.right_y
+
+    if self._left_signal._active:
+      self._left_signal.render(rl.Rectangle(left_x, left_y, self._config.size, self._config.size))
+
+    if self._right_signal._active:
+      self._right_signal.render(rl.Rectangle(right_x, right_y, self._config.size, self._config.size))
+
+  @property
+  def config(self) -> TurnSignalConfig:
+    return self._config
+
+  @config.setter
+  def config(self, new_config: TurnSignalConfig):
+    self._config = new_config

selfdrive/ui/sunnypilot/ui_state.py

@@ -122,10 +122,12 @@ class UIStateSP:
       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.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
+    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
 
     # Onroad Screen Brightness
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))

selfdrive/ui/translations/README.md

@@ -0,0 +1,3 @@
+# Multilanguage
+
+[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)

selfdrive/ui/translations/app_zh-CHS.po

@@ -200,7 +200,7 @@ msgstr "CONNECT"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "CONNECTING..."
+msgstr "连接中..."
 
 #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
@@ -1001,7 +1001,7 @@ msgstr "用于“{}”"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "km/h"
-msgstr "公里/时"
+msgstr "km/h"
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -1021,7 +1021,7 @@ msgstr "计量"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "mph"
-msgstr "英里/时"
+msgstr "mph"
 
 #: selfdrive/ui/layouts/settings/software.py:20
 #, python-format

selfdrive/ui/translations/app_zh-CHT.po

@@ -200,7 +200,7 @@ msgstr "CONNECT"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "CONNECTING..."
+msgstr "連線中..."
 
 #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
@@ -1000,7 +1000,7 @@ msgstr "適用於「{}」"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "km/h"
-msgstr "公里/時"
+msgstr "km/h"
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -1020,7 +1020,7 @@ msgstr "計量"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "mph"
-msgstr "英里/時"
+msgstr "mph"
 
 #: selfdrive/ui/layouts/settings/software.py:20
 #, python-format

selfdrive/ui/translations/auto_translate.py

@@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I
                 "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
 
 
-def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
+def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
   files = {}
 
   with open(TRANSLATIONS_LANGUAGES) as fp: