Merge branch 'master' into e2e-alerts-cooldown

cereal/custom.capnp

@@ -69,6 +69,48 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {

common/params_keys.h

@@ -205,6 +205,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // sunnypilot car specific params
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

selfdrive/assets/sounds/prompt_single_high.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638

selfdrive/assets/sounds/prompt_single_low.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416

selfdrive/selfdrived/selfdrived.py

@@ -24,6 +24,7 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -130,7 +131,12 @@ class SelfdriveD(CruiseHelper):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)

selfdrive/ui/qt/onroad/model.cc

@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect);
+  drawPath(painter, model, surface_rect.height());
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
@@ -173,7 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -39,9 +39,6 @@ protected:
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
-  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
-    drawPath(painter, model, surface_rect.height());
-  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
@@ -58,5 +55,4 @@ protected:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
-
 };

selfdrive/ui/soundd.py

@@ -4,7 +4,7 @@ import time
 import wave
 
 
-from cereal import car, messaging
+from cereal import car, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,8 +26,15 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
 
+sound_list_sp: dict[int, tuple[str, int | None, float]] = {
+  # AudibleAlertSP, file name, play count (none for infinite)
+  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
+  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
+}
+
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
   AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -40,6 +47,8 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  **sound_list_sp,
 }
 
 def check_selfdrive_timeout_alert(sm):

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h

@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };
 
 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QObject::tr("None"),
-  QObject::tr("Fixed"),
-  QObject::tr("Percent"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
 };
 
 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };
 
 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QObject::tr("Car\nOnly"),
-  QObject::tr("Map\nOnly"),
-  QObject::tr("Car\nFirst"),
-  QObject::tr("Map\nFirst"),
-  QObject::tr("Combined\nData")
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
 };
 
 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };
 
 inline const QString SpeedLimitModeTexts[]{
-  QObject::tr("Off"),
-  QObject::tr("Information"),
-  QObject::tr("Warning"),
-  QObject::tr("Assist"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc

@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
   ListWidgetSP *list = new ListWidgetSP(this);
 
   std::vector<QString> speed_limit_policy_texts{
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
   };
   speed_limit_policy = new ButtonParamControlSP(
     "SpeedLimitPolicy",

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc

@@ -25,10 +25,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   speedLimitPolicyScreen = new SpeedLimitPolicy(this);
 
   std::vector<QString> speed_limit_mode_texts{
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
@@ -64,9 +64,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
 
   std::vector<QString> speed_limit_offset_texts{
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
   };
   speed_limit_offset_settings = new ButtonParamControlSP(
     "SpeedLimitOffsetType",

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

@@ -8,7 +8,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
 
 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
+  stopAndGoToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoToggle);
+
+  stopAndGoManualParkingBrakeToggle = new ParamControl(
+    "SubaruStopAndGoManualParkingBrake",
+    tr("Stop and Go for Manual Parking Brake (Beta)"),
+    "",
+    ""
+  );
+  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoManualParkingBrakeToggle);
 }
 
 void SubaruSettings::updateSettings() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    is_subaru = CP.getBrand() == "subaru";
+
+    if (is_subaru) {
+      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
+        has_stop_and_go = true;
+      }
+    }
+  } else {
+    is_subaru = false;
+    has_stop_and_go = false;
+  }
+
+  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
+  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
+  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
+  if (stop_and_go_disabled) {
+    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
+    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
+  }
+
+  stopAndGoToggle->setEnabled(has_stop_and_go);
+  stopAndGoToggle->setDescription(stop_and_go_desc);
+  stopAndGoToggle->showDescription();
+
+  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
+  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
+  stopAndGoManualParkingBrakeToggle->showDescription();
 }

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

@@ -14,6 +14,9 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
+const int SUBARU_FLAG_HYBRID = 32;
+
 class SubaruSettings : public BrandSettingsInterface {
   Q_OBJECT
 
@@ -23,4 +26,32 @@ public:
 
 private:
   bool offroad = false;
+  bool is_subaru;
+  bool has_stop_and_go;
+
+  ParamControl* stopAndGoToggle;
+  ParamControl* stopAndGoManualParkingBrakeToggle;
+
+  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
+  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
+
+  QString stopAndGoDisabledMsg() const {
+    if (is_subaru && !has_stop_and_go) {
+      return tr("This feature is currently not available on this platform.");
+    }
+
+    if (!is_subaru) {
+      return tr("Start the car to check car compatibility.");
+    }
+
+    if (!offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
+    }
+
+    return QString();
+  }
+
+  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
+    return "<b>" + custom_description + "</b><br><br>" + base_description;
+  }
 };

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -35,6 +35,7 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
+  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
@@ -45,6 +46,7 @@ void HudRendererSP::updateState(const UIState &s) {
   speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
   speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
   speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+  speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
   speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
   speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
@@ -130,6 +132,7 @@ void HudRendererSP::updateState(const UIState &s) {
 
   carControlEnabled = car_control.getEnabled();
   speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+  pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -545,7 +548,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }
 
 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
   if (!speed_limit_ahead) {
     return;
   }
@@ -689,7 +693,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   }
 
   // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (carControlEnabled) {
+  if (!pcmCruiseSpeed && carControlEnabled) {
     if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
       icbm_active_counter = 3 * UI_FREQ;
     } else if (icbm_active_counter > 0) {

selfdrive/ui/sunnypilot/qt/onroad/hud.h

@@ -83,6 +83,7 @@ private:
   bool speedLimitValid;
   bool speedLimitLastValid;
   float speedLimitFinalLast;
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
   bool speedLimitAheadValid;
   float speedLimitAhead;
   float speedLimitAheadDistance;
@@ -120,4 +121,5 @@ private:
   bool carControlEnabled;
   float speedCluster = 0;
   int icbm_active_counter = 0;
+  bool pcmCruiseSpeed;
 };

selfdrive/ui/sunnypilot/qt/onroad/model.cc

@@ -21,74 +21,63 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
   mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }
 
-void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
+  ModelRenderer::draw(painter, surface_rect);
   auto *s = uiState();
   auto &sm = *(s->sm);
-  bool blindspot = s->scene.blindspot_ui;
 
-  if (blindspot) {
-    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
-    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
-
-    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
-
-    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(left_blindspot_vertices);
-    }
-
-    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(right_blindspot_vertices);
-    }
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
   }
 
+  painter.save();
+
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &car_state = sm["carState"].getCarState();
+
+  update_model(model, lead_one);
+  drawLaneLines(painter);
+
+  bool blindspot = s->scene.blindspot_ui;
   bool rainbow = s->scene.rainbow_mode;
-  //float v_ego = sm["carState"].getCarState().getVEgo();
+
+  bool left_blindspot = car_state.getLeftBlindspot();
+  bool right_blindspot = car_state.getRightBlindspot();
+
+  if (blindspot) {
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
 
   if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
-
-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
-
-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
-
-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
-
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
-
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
-
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
-
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
+    drawRainbowPath(painter, surface_rect);
   } else {
-    // Normal path rendering
     ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
 
   drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+
+  painter.restore();
+}
+
+void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
+  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(left_blindspot_vertices);
+  }
+
+  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(right_blindspot_vertices);
+  }
 }
 
 void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
@@ -121,19 +110,16 @@ void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
   }
 
   if (has_lead_one) {
-    drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
   }
 
   if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-    drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
   }
 }
 
-void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
-                                               const cereal::RadarState::LeadData::Reader &lead_data,
-                                               const QPointF &chevron_pos,
-                                               int height, int width,
-                                               const QString &label) {
+void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                                             const QPointF &chevron_pos, int height, int width) {
   float d_rel = lead_data.getDRel();
   float v_rel = lead_data.getVRel();
   auto *s = uiState();
@@ -223,3 +209,36 @@ void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
 
   painter.setPen(Qt::NoPen);
 }
+
+void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
+  // Simple time-based animation
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  // simple linear gradient from bottom to top
+  QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+  // evenly spaced colors across the spectrum
+  // The animation shifts the entire spectrum smoothly
+  float animation_speed = 40.0f; // speed vroom vroom
+  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+  // 6-8 color stops for smooth transitions more color makes it laggy
+  const int num_stops = 7;
+  for (int i = 0; i < num_stops; i++) {
+    float position = static_cast<float>(i) / (num_stops - 1);
+
+    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+    float saturation = 0.9f;
+    float lightness = 0.6f;
+
+    // Alpha fades out towards the far end of the path
+    float alpha = 0.8f * (1.0f - position * 0.3f);
+
+    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+    bg.setColorAt(position, color);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
+}

selfdrive/ui/sunnypilot/qt/onroad/model.h

@@ -13,17 +13,15 @@ class ModelRendererSP : public ModelRenderer {
 public:
   ModelRendererSP() = default;
 
+  void draw(QPainter &painter, const QRect &surface_rect);
+
 private:
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
-
-  // Lead status display methods
   void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                                const cereal::RadarState::LeadData::Reader &lead_data,
-                                const QPointF &chevron_pos,
-                                int height, int width,
-                                const QString &label);
+  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                              const QPointF &chevron_pos, int height, int width);
+  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
+  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);
 
   QPolygonF left_blindspot_vertices;
   QPolygonF right_blindspot_vertices;

selfdrive/ui/sunnypilot/ui.cc

@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
   });
 
   // update timer

selfdrive/ui/translations/main_ko.ts

@@ -1778,62 +1778,6 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
-    <message>
-        <source>None</source>
-        <translation>없음</translation>
-    </message>
-    <message>
-        <source>Fixed</source>
-        <translation>고정</translation>
-    </message>
-    <message>
-        <source>Percent</source>
-        <translation>비율</translation>
-    </message>
-    <message>
-        <source>Car
-Only</source>
-        <translation>차량만</translation>
-    </message>
-    <message>
-        <source>Map
-Only</source>
-        <translation>지도만</translation>
-    </message>
-    <message>
-        <source>Car
-First</source>
-        <translation>차량
-우선</translation>
-    </message>
-    <message>
-        <source>Map
-First</source>
-        <translation>지도
-우선</translation>
-    </message>
-    <message>
-        <source>Combined
-Data</source>
-        <translation>결합
-데이터</translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation>끄기</translation>
-    </message>
-    <message>
-        <source>Information</source>
-        <translation>정보</translation>
-    </message>
-    <message>
-        <source>Warning</source>
-        <translation>경고</translation>
-    </message>
-    <message>
-        <source>Assist</source>
-        <translation>보조</translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2198,6 +2142,34 @@ Data</source>
         <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
         <translation>⦿ 결합: 차량 및 OpenStreetMaps의 속도 제한 결합 데이터 사용</translation>
     </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지도만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+우선</translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지도
+우선</translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>결합
+데이터</translation>
+    </message>
 </context>
 <context>
     <name>SpeedLimitSettings</name>
@@ -2245,6 +2217,34 @@ Data</source>
         <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
         <translation>⦿ 보조: +/- 버튼을 조작할 때 현재 도로의 제한 속도를 기준으로 차량의 크루즈 속도를 조정합니다.</translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation>없음</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>고정</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>끄기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>정보</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>보조</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

sunnypilot/__init__.py

@@ -5,6 +5,7 @@ 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 enum import IntEnum
 import hashlib
 
 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -16,3 +17,23 @@ def get_file_hash(path: str) -> str:
     for byte_block in iter(lambda: f.read(4096), b""):
       sha256_hash.update(byte_block)
   return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val

sunnypilot/selfdrive/car/interfaces.py

@@ -84,4 +84,10 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "HyundaiLongitudinalTuning"
   ])
 
+  # subaru
+  keys.extend([
+    "SubaruStopAndGo",
+    "SubaruStopAndGoManualParkingBrake",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/controls/lib/speed_limit/common.py

@@ -4,10 +4,11 @@ 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 enum import IntEnum
+
+from openpilot.sunnypilot import IntEnumBase
 
 
-class Policy(IntEnum):
+class Policy(IntEnumBase):
   car_state_only = 0
   map_data_only = 1
   car_state_priority = 2
@@ -15,13 +16,13 @@ class Policy(IntEnum):
   combined = 4
 
 
-class OffsetType(IntEnum):
+class OffsetType(IntEnumBase):
   off = 0
   fixed = 1
   percentage = 2
 
 
-class Mode(IntEnum):
+class Mode(IntEnumBase):
   off = 0
   information = 1
   warning = 2

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -42,6 +42,12 @@ class SpeedLimitResolver:
     self.distance_solutions = {}  # Store for distance to current speed limit start for different sources
 
     self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -54,7 +60,12 @@ class SpeedLimitResolver:
       self._reset_limit_sources(source)
 
     self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
     self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
 
     self.speed_limit = 0.
@@ -131,6 +142,7 @@ class SpeedLimitResolver:
     self.limit_solutions[SpeedLimitSource.map] = speed_limit
     self.distance_solutions[SpeedLimitSource.map] = 0.
 
+    # FIXME-SP: this is not working as expected
     if 0. < next_speed_limit < self.v_ego:
       adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
       adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2

sunnypilot/selfdrive/selfdrived/events.py

@@ -11,6 +11,7 @@ AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName
 
 
@@ -58,7 +59,7 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     "Speed Limit Assist: Activation Required",
     alert_2_str,
     AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
+    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
 
 class EventsSP(EventsBase):
@@ -202,7 +203,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Automatically adjusting to the posted speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
   },
 
   EventNameSP.speedLimitChanged: {
@@ -210,7 +211,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Set speed changed",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
   },
 
   EventNameSP.speedLimitPreActive: {
@@ -222,7 +223,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Automatically adjusting to the last speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
   },
 
   EventNameSP.e2eChime: {