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Merge branch 'master' into tinygrad-sync-4/25

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This commit is contained in:
Jason Wen
2026-05-17 21:20:04 -04:00
committed by GitHub
parent 6523084bfc 059d0b6c4c
commit 6654e9cdf9
53 changed files with 7741 additions and 250 deletions
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.github/workflows/cereal_validation.yaml
+30 -43
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@@ -23,56 +23,43 @@ env:
CI: 1
jobs:
generate_cereal_artifact:
name: Generate cereal validation artifacts
runs-on: ubuntu-24.04
steps:
- uses: actions/checkout@v6
with:
submodules: true
- run: ./tools/op.sh setup
- name: Build openpilot
run: scons -j$(nproc) cereal
- name: Dump sunnypilot schema
run: |
export PYTHONPATH=${{ github.workspace }}
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
- name: 'Prepare artifact'
run: |
mkdir -p "cereal/messaging/tests/cereal_validations"
cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
- name: 'Upload Artifact'
uses: actions/upload-artifact@v4
with:
name: cereal_validations
path: cereal/messaging/tests/cereal_validations
validate_cereal_with_upstream:
name: Validate cereal with Upstream
runs-on: ubuntu-24.04
needs: generate_cereal_artifact
steps:
- name: Checkout sunnypilot
- name: Checkout sunnypilot cereal
uses: actions/checkout@v6
- name: Checkout upstream openpilot
with:
sparse-checkout: cereal
- name: Init sunnypilot opendbc submodule
run: git submodule update --init --depth 1 opendbc_repo
- name: Checkout upstream openpilot cereal
uses: actions/checkout@v6
with:
repository: 'commaai/openpilot'
path: openpilot
submodules: true
path: upstream_openpilot
sparse-checkout: cereal
ref: "refs/heads/master"
- run: ./tools/op.sh setup
- name: Build openpilot
working-directory: openpilot
run: scons -j$(nproc) cereal
- name: Download build artifacts
uses: actions/download-artifact@v4
with:
name: cereal_validations
path: openpilot/cereal/messaging/tests/cereal_validations
- name: 'Validate sunnypilot schema against upstream'
- name: Init upstream opendbc submodule
working-directory: upstream_openpilot
run: git submodule update --init --depth 1 opendbc_repo
- name: Install uv
run: pip install uv
- name: Generate sunnypilot schema
run: |
export PYTHONPATH=${{ github.workspace }}/openpilot
chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-g -f /tmp/sp_schema.json --cereal-dir cereal
- name: Validate against upstream
run: |
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
CHANGELOG.md
+86 -1
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@@ -1,4 +1,4 @@
sunnypilot Version 2026.001.000 (2026-03-xx)
sunnypilot Version 2026.001.000 (2026-05-06)
========================
* What's Changed (sunnypilot/sunnypilot)
* Complete rewrite of the user interface from Qt C++ to Raylib Python
@@ -66,6 +66,64 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
* Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
* SCC-V: Use p97 for predicted lateral accel by @yasu-oh
* Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
* [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
* [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
* Fix display of values when using use_float_scaling by @CHaucke89
* models: fix default & index "0" by @nayan8teen
* [TIZI/TICI] visuals: Improved speed limit by @angaz
* ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
* [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
* controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
* soundd: trigger timeout warning during MADS lateral-only by @zephleggett
* pandad: flasher for Rivian long upgrade module by @lukasloetkolben
* modeld_v2: tinygrad transformation warp by @Discountchubbs
* tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
* [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
* [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
* ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
* ui: don't hide steering wheel when blindspot disabled by @royjr
* ui: Speed Limit Assist `preActive` improvements by @sunnyhaibin
* ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
* [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
* sunnypilot modeld: remove thneed modeld by @Discountchubbs
* modeld_v2: decouple planplus scaling from accel by @Discountchubbs
* sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
* [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
* [TIZI/TICI] ui: dynamic alert size by @nayan8teen
* i18n(fr): Add French translations by @didlawowo
* Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
* ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
* pandad: gate unsupported pandas before flashing by @sunnyhaibin
* Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
* [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
* ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
* ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
* [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
* pandad: always prioritize internal panda by @sunnyhaibin
* sunnylinkd: fetch compressed params schema by @sunnyhaibin
* sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
* modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
* NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
* MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
* [MICI] ui: models panel enhancements by @nayan8teen
* [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
* tools: script for video concatenation by @Discountchubbs
* tools: profile memory usage by @Discountchubbs
* [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
* [MICI] ui: always offroad by @nayan8teen
* controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
* Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
* Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
* [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
* sunnylink: Remove unused API endpoint by @devtekve
* DM: wheel touch enforcement in MADS by @sunnyhaibin
* torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
* MADS: suppress espActive event when long is not engaged by @sunnyhaibin
* sunnylink: SDUI by @sunnyhaibin
* [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
* ui: fix cellular toggles by @AmyJeanes
* sunnylink: switch athena domain by @devtekve
* Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
* What's Changed (sunnypilot/opendbc)
* Honda: DBC for Accord 9th Generation by @mvl-boston
* FCA: update tire stiffness values for `RAM_HD` by @dparring
@@ -84,12 +142,25 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
* Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
* GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
* GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
* Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
* Rivian: long upgrade messages on bus 1 by @lukasloetkolben
* Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
* Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
* Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
* MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
* Platform List: include community supported platforms by @sunnyhaibin
* New Contributors (sunnypilot/sunnypilot)
* @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
* @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
* @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
* @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
* @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
* @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
* @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
* @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
* @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
* @didlawowo made their first contribution in "i18n(fr): Add French translations"
* @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
* New Contributors (sunnypilot/opendbc)
* @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
* @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
@@ -99,6 +170,20 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
* @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
* @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
************************
* Synced with commaai's openpilot (v0.11.1)
* master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
* New driver monitoring model
* Improved image processing pipeline for driver camera
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
* New driving model #36798
* Fully trained using a learned simulator
* Improved longitudinal performance in Experimental mode
* Reduce comma four standby power usage by 77% to 52 mW
* Kia K7 2017 support thanks to royjr!
* Lexus LS 2018 support thanks to Hacheoy!
* Improved inter-process communication memory efficiency
* comma four support
sunnypilot Version 2025.002.000 (2025-11-06)
========================
cereal/messaging/tests/validate_sp_cereal_upstream.py
+17 -12
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@@ -13,6 +13,7 @@ from __future__ import annotations
import argparse
import json
import os
import sys
from typing import Any
@@ -104,8 +105,15 @@ def collect_schema(root: Any) -> dict[str, dict]:
return structs
def dump_schema(path: str) -> None:
from cereal import log
def load_log(cereal_dir: str) -> Any:
import capnp
cereal_dir = os.path.abspath(cereal_dir)
capnp.remove_import_hook()
return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
def dump_schema(cereal_dir: str, path: str) -> None:
log = load_log(cereal_dir)
payload = {
"root": hex_id(log.Event.schema.node.id),
"structs": collect_schema(log.Event.schema),
@@ -206,8 +214,8 @@ def load_peer(path: str) -> dict:
return json.load(handle)
def run_read(peer_path: str) -> int:
from cereal import log
def run_read(cereal_dir: str, peer_path: str) -> int:
log = load_log(cereal_dir)
peer_dump = load_peer(peer_path)
local_dump = {
"root": hex_id(log.Event.schema.node.id),
@@ -235,16 +243,13 @@ def main() -> int:
mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
args = parser.parse_args()
try:
if args.generate:
dump_schema(args.file)
return 0
return run_read(args.file)
except ImportError as exc:
print(f"error: cannot import cereal ({exc}). did scons build cereal?")
return 2
if args.generate:
dump_schema(args.cereal_dir, args.file)
return 0
return run_read(args.cereal_dir, args.file)
if __name__ == "__main__":
common/model.h
-1
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@@ -1 +0,0 @@
#define DEFAULT_MODEL "POP model (Default)"
common/params_keys.h
+1
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@@ -204,6 +204,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
// sunnylink params
{"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
{"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
{"ParamsVersion", {PERSISTENT, INT}},
{"SunnylinkCache_Roles", {PERSISTENT, STRING}},
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
{"SunnylinkDongleId", {PERSISTENT, STRING}},
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 81b7b3a2d2...4dad7b09dd
selfdrive/car/card.py
+1 -1
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@@ -86,7 +86,7 @@ class Car:
self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
is_release = self.params.get_bool("IsReleaseBranch")
is_release = False # self.params.get_bool("IsReleaseBranch")
is_release_sp = self.params.get_bool("IsReleaseSpBranch")
if CI is None:
selfdrive/ui/layouts/settings/developer.py
+1 -1
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@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
def __init__(self):
super().__init__()
self._params = Params()
self._is_release = self._params.get_bool("IsReleaseBranch")
self._is_release = False # self._params.get_bool("IsReleaseBranch")
# Build items and keep references for callbacks/state updates
self._adb_toggle = toggle_item(
selfdrive/ui/layouts/settings/toggles.py
+1 -1
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@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
def __init__(self):
super().__init__()
self._params = Params()
self._is_release = self._params.get_bool("IsReleaseBranch")
self._is_release = False # self._params.get_bool("IsReleaseBranch")
# param, title, desc, icon, needs_restart
self._toggle_defs = {
selfdrive/ui/sunnypilot/layouts/settings/models.py
+3 -2
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@@ -10,6 +10,7 @@ import time
import pyray as rl
from cereal import custom
from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
from openpilot.common.constants import CV
from openpilot.selfdrive.ui.ui_state import device, ui_state
from openpilot.system.ui.lib.multilang import tr
@@ -207,7 +208,7 @@ class ModelsLayout(Widget):
for bundle in bundles:
folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{DEFAULT_MODEL} (Default)", 'short_name': "Default"})])]
for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
@@ -243,7 +244,7 @@ class ModelsLayout(Widget):
self._update_lagd_description(live_delay)
self.model_manager = ui_state.sm["modelManagerSP"]
self._handle_bundle_download_progress()
active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
self.current_model_item.action_item.set_value(active_name)
if not ui_state.is_offroad():
selfdrive/ui/sunnypilot/layouts/settings/steering.py
+1 -9
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@@ -120,20 +120,12 @@ class SteeringLayout(Widget):
def _update_state(self):
super()._update_state()
torque_allowed = True
torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle
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())
selfdrive/ui/sunnypilot/mici/layouts/models.py
+6 -3
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@@ -8,6 +8,7 @@ from collections.abc import Callable
import pyray as rl
from cereal import custom
from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -27,7 +28,8 @@ class CurrentModelInfo(Widget):
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
max_width = int(self._rect.width - 20)
self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
default_text = f"{DEFAULT_MODEL} (Default)".lower()
self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
@@ -98,7 +100,7 @@ class ModelsLayoutMici(NavScroller):
folders = self._get_grouped_bundles(favorites)
folder_buttons = []
default_btn = BigButton(tr("default model"))
default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
default_btn.set_click_callback(self._select_default)
folder_buttons.append(default_btn)
@@ -168,7 +170,8 @@ class ModelsLayoutMici(NavScroller):
self._was_downloading = is_downloading
self.current_model_info.current_model_header.set_text(tr("active model"))
self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else f"{DEFAULT_MODEL} (Default)".lower()
self.current_model_info.current_model_text.set_text(model_text)
self.current_model_info.info_header.set_text(tr("cache size"))
self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
selfdrive/ui/sunnypilot/mici/layouts/settings.py
+4 -3
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@@ -5,8 +5,9 @@ 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.selfdrive.ui.mici.layouts.settings import settings as OP
from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
@@ -32,11 +33,11 @@ class SettingsLayoutSP(OP.SettingsLayout):
self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
sunnylink_btn = BigButton("sunnylink", "", gui_app.texture("icons_mici/settings/developer/ssh.png", ICON_SIZE, ICON_SIZE))
sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
# onroad: enable button sits at the front (left of toggles)
selfdrive/ui/sunnypilot/ui_state.py
+55 -9
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@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
"""
from enum import Enum
from cereal import messaging, log, custom
from cereal import messaging, log, car, custom
from openpilot.common.params import Params
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
@@ -26,22 +26,20 @@ class OnroadTimerStatus(Enum):
class UIStateSP:
def __init__(self):
self.CP_SP: custom.CarParamsSP | None = None
self.params = Params()
self.CP_SP: custom.CarParamsSP | None = None
self.has_icbm: bool = False
self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
self.sm_services_ext = [
"modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
"gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
]
self.sunnylink_state = SunnylinkState()
self.update_params()
self.onroad_brightness_timer: int = 0
self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
self.reset_onroad_sleep_timer()
self.CP_SP: custom.CarParamsSP | None = None
self.has_icbm: bool = False
self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
self.custom_interactive_timeout: int = 0
self._sp_initialized: bool = False
def update(self) -> None:
if self.sunnylink_enabled:
@@ -128,6 +126,8 @@ class UIStateSP:
if CP_SP_bytes is not None:
self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
self._enforce_constraints()
self.active_bundle = self.params.get("ModelManager_ActiveBundle")
self.blindspot = self.params.get_bool("BlindSpot")
self.chevron_metrics = self.params.get("ChevronInfo")
@@ -153,6 +153,53 @@ class UIStateSP:
self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
self.always_offroad = self.params.get_bool("OffroadMode")
if not self._sp_initialized:
self._sp_initialized = True
self.reset_onroad_sleep_timer()
def _enforce_constraints(self) -> None:
has_long = self.has_longitudinal_control
CP = self.CP
if CP is not None:
# Angle steering: no torque-based lateral controls
if CP.steerControlType == car.CarParams.SteerControlType.angle:
self.params.remove("EnforceTorqueControl")
self.params.remove("NeuralNetworkLateralControl")
# Alpha longitudinal: clear if not available
if not CP.alphaLongitudinalAvailable:
self.params.remove("AlphaLongitudinalEnabled")
# BSM not available: clear BSM-dependent settings
if not CP.enableBsm:
self.params.remove("AutoLaneChangeBsmDelay")
else:
# No CarParams: clear all car-dependent params as safety default
self.params.remove("EnforceTorqueControl")
self.params.remove("NeuralNetworkLateralControl")
self.params.remove("AlphaLongitudinalEnabled")
# No longitudinal control: no experimental mode or DEC
if not has_long:
self.params.remove("ExperimentalMode")
self.params.remove("DynamicExperimentalControl")
# ICBM: clear if not available or if full longitudinal control is active
if self.CP_SP is not None:
if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
self.params.remove("IntelligentCruiseButtonManagement")
self.has_icbm = False
else:
self.params.remove("IntelligentCruiseButtonManagement")
self.has_icbm = False
# Cruise features requiring longitudinal or ICBM
if not (has_long or self.has_icbm):
self.params.remove("CustomAccIncrementsEnabled")
self.params.remove("SmartCruiseControlVision")
self.params.remove("SmartCruiseControlMap")
class DeviceSP:
@staticmethod
@@ -168,7 +215,6 @@ class DeviceSP:
if _ui_state.onroad_brightness_timer != 0:
if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
return max(30.0, cur_brightness)
# For AUTO (Default) and Manual modes (while timer running), use standard brightness
return cur_brightness
# 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
selfdrive/ui/ui_state.py
+1 -1
View File
@@ -74,7 +74,7 @@ class UIState(UIStateSP):
# Core state variables
self.is_metric: bool = self.params.get_bool("IsMetric")
self.is_release = self.params.get_bool("IsReleaseBranch")
self.is_release = False # self.params.get_bool("IsReleaseBranch")
self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
self.started: bool = False
self.ignition: bool = False
sunnypilot/mads/mads.py
+1
View File
@@ -147,6 +147,7 @@ class ModularAssistiveDrivingSystem:
self.events.remove(EventName.speedTooLow)
self.events.remove(EventName.cruiseDisabled)
self.events.remove(EventName.manualRestart)
self.events.remove(EventName.espActive)
selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
sunnypilot/models/default_model.py
+5 -5
View File
@@ -4,8 +4,9 @@ import hashlib
from openpilot.common.basedir import BASEDIR
from openpilot.sunnypilot import get_file_hash
from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
@@ -25,8 +26,7 @@ def update_model_hash():
def get_current_default_model_name():
print("[GET DEFAULT MODEL NAME]")
with open(DEFAULT_MODEL_NAME_PATH) as f:
name = f.read().split('"')[1]
name = DEFAULT_MODEL
print(f'Current default model name: "{name}"')
return name
@@ -35,7 +35,7 @@ def get_current_default_model_name():
def update_default_model_name(name: str):
print("[CHANGE DEFAULT MODEL NAME]")
with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
f.write(f'#define DEFAULT_MODEL "{name}"\n')
f.write(f'DEFAULT_MODEL = "{name}"\n')
print(f'New default model name: "{name}"')
print("[DONE]")
@@ -51,7 +51,7 @@ if __name__ == "__main__":
exit(0)
current_name = get_current_default_model_name()
new_name = f"{args.new_name} (Default)"
new_name = args.new_name
if current_name == new_name:
print(f'Proposed default model name: "{new_name}"')
confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
sunnypilot/models/model_name.py
+1
View File
@@ -0,0 +1 @@
DEFAULT_MODEL = "POP model"
sunnypilot/selfdrive/car/sync_car_list_param.py → sunnypilot/selfdrive/car/sync_sunnylink_params.py
View File
sunnypilot/sunnylink/athena/sunnylinkd.py
+42 -31
View File
@@ -18,7 +18,7 @@ import time
from jsonrpc import dispatcher
from functools import partial
from openpilot.common.params import Params
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.realtime import set_core_affinity
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware.hw import Paths
@@ -28,11 +28,14 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
create_connection, WebSocketConnectionClosedException)
import cereal.messaging as messaging
from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
LOCAL_PORT_WHITELIST = {8022}
SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
@@ -44,12 +47,15 @@ params = Params()
# Parameters that should never be remotely modified
BLOCKED_PARAMS = {
"AdbEnabled",
"CompletedSunnylinkConsentVersion",
"CompletedTrainingVersion",
"GithubUsername", # Could grant SSH access
"GithubSshKeys", # Direct SSH key injection
"HasAcceptedTerms",
"HasAcceptedTermsSP",
"OnroadCycleRequested", # Prevent remote cycle trigger
"ParamsVersion", # Device-managed version counter
}
@@ -199,34 +205,19 @@ def getParamsAllKeysV1() -> dict[str, str]:
@dispatcher.add_method
def getParamsMetadata() -> str:
"""Compressed equivalent of getParamsAllKeysV1 — same struct, gzipped + base64."""
"""Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
Reads settings_ui.json, injects live capabilities from CarParams, compresses,
and returns. Single RPC for the frontend to get the complete settings UI and
runtime capabilities.
"""
try:
with open(METADATA_PATH) as f:
metadata = json.load(f)
except Exception:
cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
metadata = {}
try:
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
params_list: list[dict] = []
for key in available_keys:
value = get_param_as_byte(key, get_default=True)
param_entry: dict = {
"key": key,
"type": int(params.get_type(key).value),
"default_value": base64.b64encode(value).decode('utf-8') if value else None,
}
if key in metadata:
param_entry["_extra"] = metadata[key]
params_list.append(param_entry)
raw = json.dumps(params_list, separators=(',', ':')).encode('utf-8')
return base64.b64encode(gzip.compress(raw)).decode('utf-8')
schema = generate_schema()
schema["capabilities"] = generate_capabilities()
schema["capability_labels"] = CAPABILITY_LABELS
schema["default_model"] = DEFAULT_MODEL
raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
return base64.b64encode(gzip.compress(raw)).decode("utf-8")
except Exception:
cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
raise
@@ -238,12 +229,25 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
try:
zero_values: dict[int, bytes] = {
ParamKeyType.STRING.value: b"",
ParamKeyType.BOOL.value: b"0",
ParamKeyType.INT.value: b"0",
ParamKeyType.FLOAT.value: b"0.0",
ParamKeyType.TIME.value: b"",
ParamKeyType.JSON.value: b"{}",
ParamKeyType.BYTES.value: b"",
}
param_keys_validated = [key for key in params_keys if key in available_keys]
params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
for key in param_keys_validated:
value = get_param_as_byte(key)
if value is None:
continue
value = get_param_as_byte(key, get_default=True)
if value is None:
param_type = params.get_type(key)
value = zero_values.get(param_type.value, b"")
params_dict["params"].append({
"key": key,
@@ -274,6 +278,13 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
except Exception as e:
cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
# Increment version counter for frontend change detection
try:
current = int(params.get("ParamsVersion") or "0")
params.put("ParamsVersion", str(current + 1))
except Exception:
pass
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
sunnylink_dongle_id = params.get("SunnylinkDongleId")
sunnypilot/sunnylink/capabilities.py
+186
View File
@@ -0,0 +1,186 @@
"""
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 json
from cereal import car, custom, messaging
from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import HARDWARE
# Wire-protocol version for the capabilities payload. Bump on breaking changes
# only; additive fields are backward-compatible and do not require a bump.
PROTOCOL_VERSION = 1
# All capability fields that rules may reference.
# Non-boolean fields must have defaults in CAPABILITY_DEFAULTS.
CAPABILITY_FIELDS = (
"protocol_version",
"has_longitudinal_control",
"has_icbm",
"icbm_available",
"torque_allowed",
"brand",
"pcm_cruise",
"alpha_long_available",
"steer_control_type",
"enable_bsm",
"is_release",
"is_sp_release",
"is_development",
"tesla_has_vehicle_bus",
"has_stop_and_go",
"stock_longitudinal",
"device_type",
"subaru_has_sng",
"hyundai_alpha_long_available",
)
CAPABILITY_LABELS: dict[str, str] = {
"protocol_version": "Capabilities protocol version",
"has_longitudinal_control": "sunnypilot longitudinal control",
"has_icbm": "ICBM enabled",
"icbm_available": "ICBM available",
"torque_allowed": "torque steering (not available for angle steering vehicles)",
"brand": "Vehicle brand",
"pcm_cruise": "PCM cruise",
"alpha_long_available": "Alpha Longitudinal available",
"steer_control_type": "Steer control type",
"enable_bsm": "BSM available",
"is_release": "Release branch",
"is_sp_release": "SP release branch",
"is_development": "Development branch",
"tesla_has_vehicle_bus": "Tesla vehicle bus",
"has_stop_and_go": "Stop and Go",
"stock_longitudinal": "stock longitudinal",
"device_type": "Device type",
"subaru_has_sng": "Subaru Stop-and-Go available",
"hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
}
# Explicit defaults for non-boolean capability fields
CAPABILITY_DEFAULTS: dict[str, bool | str | int] = {
"brand": "",
"steer_control_type": "",
"device_type": "",
"protocol_version": PROTOCOL_VERSION,
}
def _bundle_field(bundle: dict | None, key: str) -> str:
return bundle.get(key, "") if isinstance(bundle, dict) else ""
def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
"""Set brand-specific capabilities from bundle platform or CarParams fallback.
Bundle (manual car selection) is a pre-fingerprint approximation.
CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
Mirrors the per-brand update_settings() logic in device UI layouts.
"""
brand = caps["brand"]
if brand == "hyundai":
if bundle_platform:
try:
unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
except KeyError:
cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
elif CP is not None:
caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
elif brand == "subaru":
if bundle_platform:
try:
flags = SUBARU_CAR[bundle_platform].config.flags
caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
caps["has_stop_and_go"] = caps["subaru_has_sng"]
except KeyError:
cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
elif CP is not None:
caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
caps["has_stop_and_go"] = caps["subaru_has_sng"]
def generate_capabilities(params: Params | None = None) -> dict:
"""Generate a SettingsCapabilities dict from CarParams + boolean params.
When CarPlatformBundle is present, brand and platform come from the bundle
(mirrors Raylib). CarParams* deserialization is the fallback before the bundle
is written (early after first pairing).
"""
params = params or Params()
caps: dict = {field: CAPABILITY_DEFAULTS.get(field, False) for field in CAPABILITY_FIELDS}
# Wire-protocol version is always set explicitly.
caps["protocol_version"] = PROTOCOL_VERSION
# Hardware + boolean params (no CarParams dependency)
caps["device_type"] = HARDWARE.get_device_type()
caps["is_release"] = False # params.get_bool("IsReleaseBranch")
caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
caps["is_development"] = params.get_bool("IsDevelopmentBranch")
caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
bundle = params.get("CarPlatformBundle")
bundle_brand = _bundle_field(bundle, "brand")
bundle_platform = _bundle_field(bundle, "platform")
# Bundle-first brand resolution; CP is fallback only.
if bundle_brand:
caps["brand"] = bundle_brand
# CarParams-derived capabilities
CP = None
CP_bytes = params.get("CarParamsPersistent")
if CP_bytes is not None:
try:
CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
caps["alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
if CP.alphaLongitudinalAvailable:
caps["has_longitudinal_control"] = params.get_bool("AlphaLongitudinalEnabled")
else:
caps["has_longitudinal_control"] = bool(CP.openpilotLongitudinalControl)
# CP.steerControlType is the physical control mode (angle / torque).
# CP.lateralTuning.which() returns the tuning class (pid / torque / indi)
# which is a separate concept and is not interchangeable.
caps["steer_control_type"] = str(CP.steerControlType)
caps["torque_allowed"] = CP.steerControlType != car.CarParams.SteerControlType.angle
if not caps["brand"] and CP.brand:
caps["brand"] = str(CP.brand)
caps["pcm_cruise"] = bool(CP.pcmCruise)
caps["enable_bsm"] = bool(CP.enableBsm)
# Generic SnG fallback. Brand-specific opaque flags below override.
caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
except Exception:
CP = None
cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
# CarParamsSP-derived capabilities
CP_SP_bytes = params.get("CarParamsSPPersistent")
if CP_SP_bytes is not None:
try:
CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
caps["icbm_available"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable)
caps["has_icbm"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable) and params.get_bool("IntelligentCruiseButtonManagement")
caps["tesla_has_vehicle_bus"] = bool(CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
except Exception:
cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
_resolve_brand_capabilities(caps, bundle_platform, CP)
return caps
def generate_capabilities_json(params: Params | None = None) -> str:
"""Generate SettingsCapabilities as a JSON string."""
return json.dumps(generate_capabilities(params), separators=(",", ":"))
sunnypilot/sunnylink/docs/README.md
+586
View File
@@ -0,0 +1,586 @@
# sunnylink Settings UI Guide
> One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.
## What you edit (and what's generated)
| File | What | When to edit |
|------|------|-------------|
| `settings_ui_src/pages/<page>.yaml` | One YAML per page (panel). Contains panel metadata + sections + items + sub_panels inline. | Adding/changing/removing a setting. |
| `settings_ui_src/pages/vehicle.yaml` | Per-brand settings page (`kind: vehicle`). Each brand is a section. | Adding/changing a vehicle-specific setting. |
| `settings_ui_src/_macros.yaml` | Named rule fragments referenced via `{$ref: "#/macros/<name>"}`. | Adding a reusable rule (e.g. a new platform gate). |
| **`settings_ui.json`** | **Generated from src tree by `compile_settings_ui.py`. Do not edit by hand.** | Never. Compiler emits it; frontend reads it. |
Pages today: `steering, cruise, display, visuals, toggles, device, software, developer, models, vehicle` (10).
Run `python sunnypilot/sunnylink/tools/compile_settings_ui.py` after edits. Add `--check` in CI to fail on out-of-sync `settings_ui.json`.
Display metadata (titles, descriptions, options, min/max/step/unit) is inline on each item. There is no separate metadata file.
## Page file shape
A page YAML contains the whole panel: metadata at the top, then `sections`. Each section has its own `items` and (optionally) `sub_panels`. Sub-panels are nested inside the section they belong to. Items appear in the order written in the file.
```yaml
# yaml-language-server: $schema=../_schemas/page.schema.json
id: steering
label: Steering
icon: steering_wheel
order: 1
remote_configurable: true
description: Lateral control, lane changes, and steering behavior
sections:
- id: mads
title: Modular Assistive Driving System (MADS)
items:
- key: Mads
widget: toggle
title: Enable Modular Assistive Driving System (MADS)
description: |
Enable the beloved MADS feature. Disable toggle to revert back
to stock sunnypilot engagement/disengagement.
enablement:
- {$ref: "#/macros/offroad"}
sub_panels:
- id: mads_settings
label: MADS Settings
trigger_key: Mads
trigger_condition: {type: param, key: Mads, equals: true}
items:
- key: MadsMainCruiseAllowed
widget: toggle
title: Toggle with Main Cruise
description: |
Note: For vehicles without LFA/LKAS button, disabling this will
prevent lateral control engagement.
enablement:
- {$ref: "#/macros/offroad"}
- {$ref: "#/macros/mads_full_platforms"}
```
The vehicle page has the same shape but declares `kind: vehicle`; each section's `id` becomes a brand key under `vehicle_settings` in the compiled JSON.
## Macros (named rule fragments)
`_macros.yaml` declares reusable rule lists. Reference them from any rules array via `{$ref: "#/macros/<name>"}`.
```yaml
macros:
offroad: [{type: offroad_only}]
longitudinal: [{type: capability, field: has_longitudinal_control, equals: true}]
mads_full_platforms:
- type: not
condition:
type: any
conditions:
- {type: capability, field: brand, equals: rivian}
- type: all
conditions:
- {type: capability, field: brand, equals: tesla}
- type: not
condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
```
In an item:
```yaml
enablement:
- {$ref: "#/macros/offroad"}
- {$ref: "#/macros/mads_full_platforms"}
```
The compiler splices a list-context `$ref` into its parent list. Macros may reference other macros up to depth 3; cycles are an error.
## Compiler workflow
```
1. common/params_keys.h — add/remove the C++ param key
2. params_metadata.json — automated via update_params_metadata.py
3. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
5. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
6. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
7. commit
```
CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
## Compiled output reference (schema contract)
The tables below describe the **compiled** `settings_ui.json` schema — what the frontend consumes at runtime. JSON snippets show the wire shape; in the src tree you author YAML that compiles to the same shape. Use these as a contract reference for valid fields, their meanings, and rule types.
## Quick reference: widget types
| Widget | Use for | Fields needed |
|--------|---------|---------------|
| `toggle` | On/off boolean | `title` |
| `multiple_button` | 2-4 discrete options | `title` + `options` array |
| `option` | Numeric range or dropdown | `title` + `min/max/step` or `options` |
| `info` | Read-only display | `title` |
## Quick reference: item fields
| Field | Required | Description |
|-------|----------|-------------|
| `key` | Yes | Param key name (must exist in `params_keys.h`) |
| `widget` | Yes | `toggle`, `option`, `multiple_button`, `button`, `info` |
| `title` | Yes | Display name shown to the user |
| `description` | No | Inline explanatory text below the title. May be empty when only `details` is used. |
| `details` | No | Extended help text shown in a modal when the user taps an "i" button on the row. Independent of `description`: either, both, or neither may be present. |
| `options` | For selectors | Array of `{"value": 0, "label": "Off"}` objects (see per-option enablement below) |
| `min`, `max`, `step` | For sliders | Numeric range constraints |
| `unit` | No | Unit label. Static: `"seconds"`. Dynamic: `{"metric": "km/h", "imperial": "mph"}` (resolved by IsMetric) |
| `visibility` | No | Rules for show/hide. Settings are never hidden, always dimmed with UNAVAILABLE badge when rules fail |
| `enablement` | No | Rules for enabled/disabled (all must pass). Dimmed with badge when rules fail |
| `blocked` | No | `true` for device-only settings that cannot be modified remotely. Frontend shows as read-only |
| `title_param_suffix` | No | Dynamic title suffix. Example: `{"param": "IsMetric", "values": {"0": "mph", "1": "km/h"}}` |
| `sub_items` | No | Nested child items |
| `needs_onroad_cycle` | No | `true` if changing this param triggers a system restart. Frontend shows a "Restart" badge. See [REFERENCE.md - Remote Onroad Cycle](REFERENCE.md#remote-onroad-cycle) |
## Quick reference: rule types
| Rule | Example | Use for |
|------|---------|---------|
| `offroad_only` | `{"type": "offroad_only"}` | Grey out while driving |
| `not_engaged` | `{"type": "not_engaged"}` | Grey out only while engaged (started + selfdrive/MADS active) |
| `capability` | `{"type": "capability", "field": "has_longitudinal_control", "equals": true}` | Car-dependent visibility |
| `param` | `{"type": "param", "key": "Mads", "equals": true}` | Show/enable based on another setting |
| `param_compare` | `{"type": "param_compare", "key": "SpeedLimitMode", "op": ">", "value": 0}` | Numeric comparison |
| `not` | `{"type": "not", "condition": {...}}` | Negate a rule |
| `any` | `{"type": "any", "conditions": [...]}` | OR logic |
| `all` | `{"type": "all", "conditions": [...]}` | AND logic (for nesting inside `any`/`not`) |
| `$ref` | `{"$ref": "#/macros/offroad"}` | Reference a named rule fragment in `_macros.yaml` |
**Visibility design**: Settings are always visible. When visibility rules fail, the setting is dimmed with an UNAVAILABLE badge, so users know it exists but is not applicable.
**Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `enable_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
---
## How to
### Pick a writability rule (offroad / not_engaged / param-based)
| Use this | When | Why |
|---|---|---|
| `offroad_only` | Param can only be safely changed when the car is parked. Most user-facing toggles. | Strictest. Frontend shows "device is driving" badge and disables the row. |
| `not_engaged` | Param can be changed while the car is started but only when sunnypilot/MADS is **not** actively driving. | Less strict than offroad. Matches Raylib `engaged = started AND (selfdriveState.enabled OR mads.enabled)`. Use for items the device must apply mid-drive (e.g. test maneuvers, longitudinal stock-vs-OP toggle). |
| `param`-based | Behavior depends on another setting's value (parent toggle, mode selector, etc.). | Composes with `not`/`any`/`all` for arbitrary logic. |
| `capability`-based | Behavior depends on the connected car or device (brand, longitudinal, hardware). | Resolved on the device from `CarParams` / hardware. See [`capabilities.py`](../capabilities.py) for the full field list. |
| (no rule) | Param is always writable, no gating. | Rare. Prefer at least `offroad_only` unless the param is genuinely safe to flip mid-drive. |
Default for new toggles: `enablement: [{$ref: "#/macros/offroad"}]`. Drop down to `not_engaged` only if you've confirmed mid-drive write is safe in the controls/UI code path.
### Use `details` for safety notes / extended help
Inline `description` shows under the title. For longer caveats, safety notes, or "learn more" content, use `details` — the frontend renders an info button that opens a modal. Either field may be present alone or both together.
```yaml
- key: AutoLaneChangeTimer
widget: option
title: Auto Lane Change by Blinker
description: |-
Set a timer to delay the auto lane change operation when the blinker is used.
No nudge on the steering wheel is required to auto lane change if a timer is set.
Default is Nudge.
details: |-
Please use caution when using this feature. Only use the blinker when traffic
and road conditions permit.
options: [...]
```
For an item that is intentionally minimal inline (no inline body, only the modal):
```yaml
- key: SomeAdvancedToggle
widget: toggle
title: Some Advanced Feature
details: |-
Long-form rationale, caveats, links, etc. — kept entirely behind the info button.
```
### Add a toggle
1. Register in `common/params_keys.h`:
```cpp
{"MyToggle", {PERSISTENT | BACKUP, BOOL}},
```
2. Open `settings_ui_src/pages/<page>.yaml`. Add the item to the right section:
```yaml
- key: MyToggle
widget: toggle
title: My Feature
description: What this feature does.
enablement:
- {$ref: "#/macros/offroad"}
```
If changing the param requires an onroad cycle to take effect, add `needs_onroad_cycle: true`.
3. Compile + validate + test:
```
python sunnypilot/sunnylink/tools/compile_settings_ui.py
python sunnypilot/sunnylink/tools/validate_settings_ui.py
uv run python -m pytest sunnypilot/sunnylink/tests/
```
### Add a multi-button option
```yaml
- key: MySelector
widget: multiple_button
title: Mode
options:
- {value: 0, label: Off}
- {value: 1, label: On}
- {value: 2, label: Auto}
```
### Add a slider or range
```yaml
- key: MyRange
widget: option
title: Follow Distance
description: Time gap to lead vehicle.
min: 0.5
max: 3.0
step: 0.1
unit: seconds
```
### Add a slider with metric/imperial units
```yaml
- key: MinSpeed
widget: option
title: Minimum Speed
min: 0
max: 100
step: 5
unit: {metric: km/h, imperial: mph}
```
Frontend resolves the unit string based on the device's `IsMetric` param. Static units (e.g. `seconds`, `m/s²`) stay plain strings.
### Add a dynamic title suffix
```yaml
- key: FollowDistance
widget: option
title: Follow Distance
title_param_suffix:
param: IsMetric
values: {'0': mph, '1': km/h}
min: 0.5
max: 3.0
step: 0.1
```
Renders as "Follow Distance: mph" / "Follow Distance: km/h".
### Add a device-only read-only setting
```yaml
- key: OnroadCyclePendingRemote
widget: info
title: Pending Remote Cycle
blocked: true
```
Frontend treats `blocked: true` items as read-only.
### Add a dropdown option
```yaml
- key: MyDropdown
widget: option
title: Recording Quality
options:
- {value: 0, label: Low (720p)}
- {value: 1, label: Medium (1080p)}
- {value: 2, label: High (4K)}
```
### Per-option enablement rules
```yaml
- key: MadsSteeringMode
widget: multiple_button
title: Steering Mode on Brake Pedal
options:
- value: 0
label: Remain Active
enablement:
- {$ref: "#/macros/mads_full_platforms"}
- value: 1
label: Pause
enablement:
- {$ref: "#/macros/mads_full_platforms"}
- value: 2
label: Disengage
enablement:
- {$ref: "#/macros/offroad"}
```
When an option's enablement fails, that option is grayed out but still visible.
### Show only when another setting is on
```yaml
- key: ChildSetting
widget: toggle
title: Child Feature
visibility:
- {type: param, key: ParentToggle, equals: true}
```
(With the "dim instead of hide" design, this setting is dimmed, not hidden, when the rule fails.)
### Show only for specific brands
```yaml
- key: LongFeature
widget: toggle
title: Longitudinal Feature
visibility:
- {$ref: "#/macros/longitudinal"}
```
### Combine multiple conditions
The `enablement` array is implicit-AND: every entry must pass. Use `any` for OR, `all` for nested AND, `not` for negation. Wrap repeated combinations in a macro so future you doesn't re-derive the logic.
**AND across two params** (writable only when both Mads is on AND ICBM is enabled):
```yaml
enablement:
- {type: param, key: Mads, equals: true}
- {type: param, key: IntelligentCruiseButtonManagement, equals: true}
```
**OR across two params** (writable when either is on):
```yaml
enablement:
- type: any
conditions:
- {type: param, key: ExperimentalMode, equals: true}
- {type: param, key: DynamicExperimentalControl, equals: true}
```
**Mixed: capability AND param** (only on longitudinal cars when ShowAdvancedControls is on):
```yaml
enablement:
- {$ref: "#/macros/longitudinal"}
- {$ref: "#/macros/advanced_only"}
```
**Three-way: offroad AND torque-allowed AND not-NNLC** (real example: `EnforceTorqueControl`):
```yaml
enablement:
- {$ref: "#/macros/offroad"}
- {type: capability, field: torque_allowed, equals: true}
- {type: param, key: NeuralNetworkLateralControl, equals: false}
```
**Negation across multiple platforms** (everything except Rivian + Tesla-no-bus):
```yaml
enablement:
- {$ref: "#/macros/offroad"}
- {$ref: "#/macros/mads_full_platforms"} # macro encapsulates the not(any(rivian, all(tesla, not(bus)))) logic
```
If the same multi-condition block appears in 2+ items, **promote it to a macro** in `_macros.yaml`. Re-run `python sunnypilot/sunnylink/tools/apply_macros.py` to substitute existing inlined matches automatically.
### Mutual exclusion
```yaml
- key: FeatureAlpha
widget: toggle
title: Feature Alpha
enablement:
- {type: param, key: FeatureBeta, equals: false}
- key: FeatureBeta
widget: toggle
title: Feature Beta
enablement:
- {type: param, key: FeatureAlpha, equals: false}
```
### Add a section
In the page YAML, add an entry to the `sections` list:
```yaml
sections:
- id: my_section
title: My Section
description: Optional subtitle
enablement:
- {$ref: "#/macros/longitudinal"}
items:
- {key: ..., widget: toggle, title: ...}
```
Sections support `visibility`, `enablement`, and `attestation_required`. When section-level rules fail, all items within are dimmed.
### Add a sub-panel
Sub-panels nest inside the section they belong to:
```yaml
sections:
- id: parent_section
title: Parent
items: [...]
sub_panels:
- id: my_sub
label: Advanced Settings
trigger_key: ParentParam
trigger_condition: {type: param, key: ParentParam, equals: true}
items:
- {key: ..., widget: toggle, title: ...}
```
### Add vehicle-brand settings
Edit `pages/vehicle.yaml`. Each section is a brand:
```yaml
id: vehicle
kind: vehicle
sections:
- id: rivian
title: Rivian Settings
description: ''
items:
- key: RivianFeature
widget: toggle
title: Rivian One Pedal
enablement:
- {$ref: "#/macros/offroad"}
```
`kind: vehicle` tells the compiler to emit this page as `vehicle_settings.<brand>` in the wire JSON.
### Add a feature with toggles, sub-panel, and macro
Example: "Smart Wipers" with a master toggle, intensity selector, and sub-panel for advanced tuning, gated to torque-steering Hyundais on offroad.
1. **Param keys** — register all 4 in `common/params_keys.h`.
2. **Decide on a macro** — if "torque Hyundai" gating is reused, add to `_macros.yaml`:
```yaml
torque_hyundai:
- {$ref: "#/macros/offroad"}
- {type: capability, field: brand, equals: hyundai}
- {type: capability, field: torque_allowed, equals: true}
```
3. **Edit the relevant page** — `pages/visuals.yaml` (or wherever the feature lives). Add a new section + sub_panel:
```yaml
sections:
- id: smart_wipers
title: Smart Wipers
description: Camera-driven wiper control (Hyundai/Kia, torque only)
items:
- key: SmartWipersEnabled
widget: toggle
title: Enable Smart Wipers
enablement:
- {$ref: "#/macros/torque_hyundai"}
- key: SmartWipersIntensity
widget: multiple_button
title: Sensitivity
options:
- {value: 0, label: Low}
- {value: 1, label: Medium}
- {value: 2, label: High}
visibility:
- {type: param, key: SmartWipersEnabled, equals: true}
enablement:
- {$ref: "#/macros/torque_hyundai"}
sub_panels:
- id: smart_wipers_tuning
label: Smart Wipers Tuning
trigger_key: SmartWipersEnabled
trigger_condition: {type: param, key: SmartWipersEnabled, equals: true}
items:
- key: SmartWipersHysteresis
widget: option
title: Hysteresis (frames)
min: 1
max: 30
step: 1
enablement:
- {$ref: "#/macros/offroad"}
- {$ref: "#/macros/advanced_only"}
```
4. **Compile / validate / test**:
```
python sunnypilot/sunnylink/tools/compile_settings_ui.py
python sunnypilot/sunnylink/tools/validate_settings_ui.py
uv run python -m pytest sunnypilot/sunnylink/tests/
```
`apply_macros.py` is automatic for newly-added items only if you wrote the rule list inline; for greenfield items, you'd write `$ref` directly.
### Change a toggle's behavior
1. Find the item in `pages/<page>.yaml`.
2. Edit `visibility`/`enablement`/`options[].enablement` directly. Use macros where possible.
3. **Add a regression test** in `sunnypilot/sunnylink/tests/test_settings_changes.py` that asserts the new gate exists. Use existing tests (e.g. `TestMadsBrandGates`, `TestNotEngagedReplacement`) as templates: lookup item by key, assert `_references_capability_field(rules, "...")` or `_flatten_rule_types(rules)` contains/excludes a type. This freezes the new behavior so a future edit won't silently revert it.
4. Compile + run the full suite. Per-bug test should pass; structural tests should remain green.
### Change a widget type or options
Editing `widget:` from `toggle` to `multiple_button` is a frontend behavior change. Whenever you change widget shape:
- The param's underlying type (bool / int / string) must match what the new widget writes. `toggle` writes bool; `multiple_button`/`option` write int/string. Update `params_keys.h` if the type changes.
- Add an `options:` list when switching to `multiple_button` or `option`.
- Old values stored on devices may not be valid for the new widget. Consider a migration in `sunnypilot/system/updated/` if users have stale values.
### Deprecate or remove a setting
1. Remove the item from `pages/<page>.yaml`.
2. Remove the param key from `common/params_keys.h` **only after** confirming nothing in `selfdrive/`, `sunnypilot/`, or any controls code reads it.
3. If the param has been on user devices, drop it via a migration (see `sunnypilot/system/updated/`) so stale values don't linger.
4. Compile + validate + test. The validator's "no duplicate keys" + structural checks will fail if anything still references the removed key.
### Move a setting to another page
Cut the item block from one page YAML, paste into the target page's section. Compile + validate. The "no duplicate keys" check catches forgotten copies.
### Change display text
Edit `title:` or `description:` in the page YAML and recompile to regenerate `settings_ui.json`.
### Reorder sections, sub-panels, and items
Reorder them within their parent list in the YAML. The compiler preserves authored order — no `order:` field required at the section/sub_panel/item level (panel-level `order:` controls which page comes first in the side nav).
---
### Capability labels and tooltips
The schema response includes `capability_labels`, which map capability field names to descriptions. The frontend uses these to show contextual tooltips when a capability rule prevents a setting from being used.
The device defines these labels in `capabilities.py:CAPABILITY_LABELS`. Examples:
- `has_longitudinal_control` → "sunnypilot longitudinal control"
- `torque_allowed` → "torque steering (not available for angle steering vehicles)"
- `brand` → "Vehicle brand"
### Centralized param enforcement
The device-side UI enforces capability constraints in `selfdrive/ui/sunnypilot/ui_state.py:_enforce_constraints()`, which removes incompatible params based on car capabilities. This is the single source of truth for such constraints.
Settings layouts should not duplicate these params.remove() calls. Instead, rely on schema rules and centralized enforcement to prevent duplicate logic and ensure consistency.
Example constraints in `_enforce_constraints()`:
- Angle steering cars: remove `EnforceTorqueControl` and `NeuralNetworkLateralControl`
- No CarParams: remove all car-dependent params
- No longitudinal: remove `ExperimentalMode`
- No ICBM: remove `IntelligentCruiseButtonManagement`
sunnypilot/sunnylink/params_metadata.json
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"title": "Panda Som Reset Triggered",
"description": ""
},
"ParamsVersion": {
"title": "Params Version",
"description": ""
},
"PlanplusControl": {
"title": "Plan Plus Controls",
"description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
sunnypilot/sunnylink/settings_ui.json
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sunnypilot/sunnylink/settings_ui.schema.json
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@@ -0,0 +1,516 @@
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://sunnypilot.com/schemas/settings_ui.schema.json",
"title": "sunnypilot Settings UI Schema",
"description": "Defines the structure of the sunnypilot settings UI panels, items, rules, and vehicle-specific settings.",
"type": "object",
"required": ["schema_version", "panels", "vehicle_settings"],
"additionalProperties": false,
"properties": {
"$schema": {
"type": "string",
"description": "JSON Schema reference for editor support."
},
"schema_version": {
"type": "string",
"description": "Version of the settings UI schema format.",
"examples": ["1.0"]
},
"panels": {
"type": "array",
"description": "Top-level settings panels displayed in the UI.",
"items": {
"$ref": "#/$defs/Panel"
}
},
"vehicle_settings": {
"type": "object",
"description": "Brand-keyed vehicle-specific settings. Each key is a car brand (e.g. 'hyundai', 'toyota').",
"additionalProperties": {
"$ref": "#/$defs/VehicleBrandSettings"
}
}
},
"$defs": {
"Panel": {
"type": "object",
"description": "A top-level settings panel (tab) in the UI.",
"required": ["id", "label", "icon", "order"],
"additionalProperties": false,
"properties": {
"id": {
"type": "string",
"description": "Unique identifier for this panel."
},
"label": {
"type": "string",
"description": "Display label shown in the UI."
},
"icon": {
"type": "string",
"description": "Icon identifier for this panel."
},
"order": {
"type": "integer",
"description": "Sort order for panel display.",
"minimum": 0
},
"description": {
"type": "string",
"description": "Optional description shown below the panel label."
},
"remote_configurable": {
"type": "boolean",
"description": "Whether this panel's settings can be changed remotely via sunnylink.",
"default": false
},
"sections": {
"type": "array",
"description": "Grouped sections within this panel.",
"items": {
"$ref": "#/$defs/PanelSection"
}
},
"items": {
"type": "array",
"description": "Settings items directly in this panel (no section grouping).",
"items": {
"$ref": "#/$defs/SchemaItem"
}
},
"sub_panels": {
"type": "array",
"description": "Nested sub-panels triggered by a setting.",
"items": {
"$ref": "#/$defs/SubPanel"
}
}
}
},
"PanelSection": {
"type": "object",
"description": "A grouped section within a panel.",
"required": ["id", "title"],
"additionalProperties": false,
"properties": {
"id": {
"type": "string",
"description": "Unique identifier for this section."
},
"title": {
"type": "string",
"description": "Display title for this section."
},
"description": {
"type": "string",
"description": "Optional description shown below the section title."
},
"order": {
"type": "integer",
"description": "Sort order within the parent panel.",
"minimum": 0
},
"visibility": {
"type": "array",
"description": "Rules that determine whether this section is visible. All rules must pass.",
"items": {
"$ref": "#/$defs/Rule"
}
},
"enablement": {
"type": "array",
"description": "Rules that determine whether items in this section are enabled. All rules must pass.",
"items": {
"$ref": "#/$defs/Rule"
}
},
"attestation_required": {
"type": "boolean",
"description": "When true, the UI must show an attestation modal before any write to items in this section.",
"default": false
},
"items": {
"type": "array",
"description": "Settings items within this section.",
"items": {
"$ref": "#/$defs/SchemaItem"
}
},
"sub_panels": {
"type": "array",
"description": "Nested sub-panels within this section.",
"items": {
"$ref": "#/$defs/SubPanel"
}
}
}
},
"VehicleBrandSettings": {
"type": "object",
"description": "Brand-specific settings group inside vehicle_settings.",
"required": ["items"],
"additionalProperties": false,
"properties": {
"title": {
"type": "string",
"description": "Display title for this brand's settings group."
},
"description": {
"type": "string",
"description": "Optional description shown below the brand title."
},
"items": {
"type": "array",
"description": "Settings items for this brand.",
"items": {
"$ref": "#/$defs/SchemaItem"
}
}
}
},
"SchemaItem": {
"type": "object",
"description": "A single settings item (toggle, option selector, button group, etc.).",
"required": ["key", "widget"],
"additionalProperties": false,
"properties": {
"key": {
"type": "string",
"description": "The param key this item reads/writes."
},
"widget": {
"type": "string",
"description": "The UI widget type to render.",
"enum": ["toggle", "option", "multiple_button", "button", "info"]
},
"title": {
"type": "string",
"description": "Override display title (defaults to metadata lookup by key)."
},
"description": {
"type": "string",
"description": "Override description text. Rendered inline below the title. May be empty when only `details` is used."
},
"details": {
"type": "string",
"description": "Extended help text shown in a popover/modal when the user taps an info ('i') button on the row. Independent of `description`: either, both, or neither may be present."
},
"options": {
"type": "array",
"description": "Available options for 'option' or 'multiple_button' widgets.",
"items": {
"$ref": "#/$defs/SchemaOption"
}
},
"min": {
"type": "number",
"description": "Minimum value for numeric option widgets."
},
"max": {
"type": "number",
"description": "Maximum value for numeric option widgets."
},
"step": {
"type": "number",
"description": "Step increment for numeric option widgets."
},
"unit": {
"oneOf": [
{
"type": "string",
"description": "Static unit label (e.g. 'seconds', 'm/s²')."
},
{
"type": "object",
"description": "Dynamic unit that changes based on IsMetric param.",
"required": ["metric", "imperial"],
"additionalProperties": false,
"properties": {
"metric": {
"type": "string",
"description": "Unit label when IsMetric is true (e.g. 'km/h')."
},
"imperial": {
"type": "string",
"description": "Unit label when IsMetric is false (e.g. 'mph')."
}
}
}
],
"description": "Unit label for numeric values. Use a string for static units or an object with metric/imperial variants for units that depend on the IsMetric param."
},
"value_map": {
"type": "object",
"description": "Maps stored values to display labels.",
"additionalProperties": {
"type": "string"
}
},
"visibility": {
"type": "array",
"description": "Rules that determine whether this item is visible. All rules must pass.",
"items": {
"$ref": "#/$defs/Rule"
}
},
"enablement": {
"type": "array",
"description": "Rules that determine whether this item is enabled/interactive. All rules must pass.",
"items": {
"$ref": "#/$defs/Rule"
}
},
"sub_items": {
"type": "array",
"description": "Child items nested under this item (e.g. options revealed by a toggle).",
"items": {
"$ref": "#/$defs/SchemaItem"
}
},
"action": {
"type": "string",
"description": "Action identifier for button widgets."
},
"title_param_suffix": {
"type": "object",
"description": "Renders an extra suffix in the item title chosen by the value of another param.",
"required": ["param", "values"],
"additionalProperties": false,
"properties": {
"param": {
"type": "string",
"description": "Param key whose value selects the suffix label."
},
"values": {
"type": "object",
"description": "Map from stringified param value to suffix label.",
"additionalProperties": {
"type": "string"
}
}
}
},
"needs_onroad_cycle": {
"type": "boolean",
"description": "When true, the device must cycle onroad/offroad for the new value to take effect.",
"default": false
},
"blocked": {
"type": "boolean",
"description": "When true, this item is treated as DEVICE_ONLY and the dashboard must not write it remotely.",
"default": false
},
"requires_attestation": {
"type": "boolean",
"description": "When true, writes to this item require an explicit per-write confirmation modal.",
"default": false
}
}
},
"SubPanel": {
"type": "object",
"description": "A nested panel that opens when triggered by a parent item.",
"required": ["id", "label", "trigger_key"],
"additionalProperties": false,
"properties": {
"id": {
"type": "string",
"description": "Unique identifier for this sub-panel."
},
"label": {
"type": "string",
"description": "Display label for the sub-panel header."
},
"trigger_key": {
"type": "string",
"description": "The param key that triggers opening this sub-panel."
},
"trigger_condition": {
"$ref": "#/$defs/Rule",
"description": "Optional rule that must evaluate to true for the sub-panel trigger to be active."
},
"items": {
"type": "array",
"description": "Settings items within this sub-panel.",
"items": {
"$ref": "#/$defs/SchemaItem"
}
}
}
},
"SchemaOption": {
"type": "object",
"description": "A selectable option for option/multiple_button widgets.",
"required": ["value", "label"],
"additionalProperties": false,
"properties": {
"value": {
"oneOf": [
{ "type": "number" },
{ "type": "string" }
],
"description": "The stored value when this option is selected."
},
"label": {
"type": "string",
"description": "The display label for this option."
},
"enablement": {
"type": "array",
"description": "Rules that determine whether this option is selectable. All rules must pass.",
"items": {
"$ref": "#/$defs/Rule"
}
}
}
},
"Rule": {
"description": "A visibility or enablement rule. Discriminated union on the 'type' field.",
"oneOf": [
{ "$ref": "#/$defs/RuleOffroadOnly" },
{ "$ref": "#/$defs/RuleNotEngaged" },
{ "$ref": "#/$defs/RuleCapability" },
{ "$ref": "#/$defs/RuleParam" },
{ "$ref": "#/$defs/RuleParamCompare" },
{ "$ref": "#/$defs/RuleNot" },
{ "$ref": "#/$defs/RuleAny" },
{ "$ref": "#/$defs/RuleAll" }
]
},
"RuleOffroadOnly": {
"type": "object",
"description": "Rule that passes only when the device is offroad.",
"required": ["type"],
"additionalProperties": false,
"properties": {
"type": {
"const": "offroad_only"
}
}
},
"RuleNotEngaged": {
"type": "object",
"description": "Rule that passes when the vehicle is not engaged (matches Raylib `engaged = started AND (selfdriveState.enabled OR selfdriveStateSP.mads.enabled)`).",
"required": ["type"],
"additionalProperties": false,
"properties": {
"type": {
"const": "not_engaged"
}
}
},
"RuleCapability": {
"type": "object",
"description": "Rule that checks a vehicle capability field against an expected value.",
"required": ["type", "field", "equals"],
"additionalProperties": false,
"properties": {
"type": {
"const": "capability"
},
"field": {
"type": "string",
"description": "The capability field name to check."
},
"equals": {
"description": "The expected value to match against."
}
}
},
"RuleParam": {
"type": "object",
"description": "Rule that checks a param value against an expected value.",
"required": ["type", "key", "equals"],
"additionalProperties": false,
"properties": {
"type": {
"const": "param"
},
"key": {
"type": "string",
"description": "The param key to read."
},
"equals": {
"description": "The expected value to match against."
}
}
},
"RuleParamCompare": {
"type": "object",
"description": "Rule that compares a numeric param value using a comparison operator.",
"required": ["type", "key", "op", "value"],
"additionalProperties": false,
"properties": {
"type": {
"const": "param_compare"
},
"key": {
"type": "string",
"description": "The param key to read."
},
"op": {
"type": "string",
"description": "Comparison operator.",
"enum": [">", "<", ">=", "<="]
},
"value": {
"type": "number",
"description": "The numeric value to compare against."
}
}
},
"RuleNot": {
"type": "object",
"description": "Rule that negates a single child condition.",
"required": ["type", "condition"],
"additionalProperties": false,
"properties": {
"type": {
"const": "not"
},
"condition": {
"$ref": "#/$defs/Rule",
"description": "The rule to negate."
}
}
},
"RuleAny": {
"type": "object",
"description": "Rule that passes if ANY of the child conditions pass (logical OR).",
"required": ["type", "conditions"],
"additionalProperties": false,
"properties": {
"type": {
"const": "any"
},
"conditions": {
"type": "array",
"description": "Child rules; at least one must pass.",
"items": {
"$ref": "#/$defs/Rule"
},
"minItems": 1
}
}
},
"RuleAll": {
"type": "object",
"description": "Rule that passes only if ALL child conditions pass (logical AND).",
"required": ["type", "conditions"],
"additionalProperties": false,
"properties": {
"type": {
"const": "all"
},
"conditions": {
"type": "array",
"description": "Child rules; all must pass.",
"items": {
"$ref": "#/$defs/Rule"
},
"minItems": 1
}
}
}
}
}
sunnypilot/sunnylink/settings_ui_src/_macros.yaml
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# Named rule fragments. Reference from items/sections via {$ref: "#/macros/<name>"}.
# Macros may $ref other macros (max depth 3 — see compile_settings_ui.py). No template logic.
#
# Adding a macro: define here once, then reference everywhere. The compiler
# resolves $refs into the canonical settings_ui.json output the frontend reads.
macros:
# Most-used: only writable when the device is offroad.
offroad:
- {type: offroad_only}
# Writable while not engaged (started, but selfdrive/MADS not active).
not_engaged:
- {type: not_engaged}
# sunnypilot longitudinal control is active.
longitudinal:
- {type: capability, field: has_longitudinal_control, equals: true}
# Longitudinal + ICBM both available.
longitudinal_and_icbm:
- {type: capability, field: has_longitudinal_control, equals: true}
- {type: capability, field: has_icbm, equals: true}
# Item only meaningful when "Show Advanced Controls" is enabled by the user.
advanced_only:
- {type: param, key: ShowAdvancedControls, equals: true}
# Hide on MICI hardware (no analog HUD support yet).
hide_on_mici:
- type: not
condition: {type: capability, field: device_type, equals: mici}
# Mirrors selfdrive/ui/sunnypilot/layouts/.../mads_settings.py:_mads_limited_settings()
# Rivian + Tesla-without-vehicle-bus get the limited MADS UI (3-toggle subset).
# On those platforms these toggles are disabled — full MADS settings are
# only writable on platforms NOT in the limited-set.
mads_full_platforms:
- type: not
condition:
type: any
conditions:
- {type: capability, field: brand, equals: rivian}
- type: all
conditions:
- {type: capability, field: brand, equals: tesla}
- type: not
condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
# Inverse of mads_full_platforms: present only on the limited platforms.
# Useful for "show this only on rivian/tesla-no-bus" toggles.
mads_limited_platforms:
- type: any
conditions:
- {type: capability, field: brand, equals: rivian}
- type: all
conditions:
- {type: capability, field: brand, equals: tesla}
- type: not
condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
# Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
release_branches_hide:
- type: not
condition: {type: capability, field: is_sp_release, equals: true}
sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
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{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://sunnypilot.com/schemas/sdui/macros.schema.json",
"title": "Settings UI macros (named rule fragments)",
"type": "object",
"additionalProperties": false,
"required": ["macros"],
"properties": {
"macros": {
"type": "object",
"description": "Named rule fragments. Each value is either a list of rules (typical) or a single rule object. Reference from items/layout via {$ref: '#/macros/<name>'}.",
"patternProperties": {
"^[A-Za-z_][A-Za-z0-9_]*$": {
"oneOf": [
{"type": "array", "items": {"$ref": "rule.schema.json"}},
{"$ref": "rule.schema.json"}
]
}
},
"additionalProperties": false
}
}
}
sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
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{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://sunnypilot.com/schemas/sdui/page.schema.json",
"title": "Settings UI page (panel) YAML",
"description": "Validates pages/<id>.yaml. Each page describes one settings panel (or the vehicle namespace via kind: vehicle).",
"type": "object",
"required": ["id"],
"additionalProperties": false,
"properties": {
"id": {"type": "string"},
"label": {"type": "string"},
"icon": {"type": "string"},
"order": {"type": "integer"},
"remote_configurable": {"type": "boolean"},
"description": {"type": "string"},
"kind": {
"type": "string",
"enum": ["panel", "vehicle"],
"description": "panel (default) or vehicle (compiles to settings_ui.json#vehicle_settings)."
},
"sections": {
"type": "array",
"items": {"$ref": "#/$defs/Section"}
},
"items": {
"type": "array",
"items": {"$ref": "#/$defs/Item"}
},
"sub_panels": {
"type": "array",
"items": {"$ref": "#/$defs/SubPanel"}
}
},
"$defs": {
"Section": {
"type": "object",
"required": ["id", "title"],
"additionalProperties": false,
"properties": {
"id": {"type": "string"},
"title": {"type": "string"},
"description": {"type": "string"},
"order": {"type": "integer"},
"attestation_required": {"type": "boolean"},
"visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
"enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
"items": {"type": "array", "items": {"$ref": "#/$defs/Item"}},
"sub_panels": {"type": "array", "items": {"$ref": "#/$defs/SubPanel"}}
}
},
"SubPanel": {
"type": "object",
"required": ["id", "label"],
"additionalProperties": false,
"properties": {
"id": {"type": "string"},
"label": {"type": "string"},
"trigger_key": {"type": ["string", "null"]},
"trigger_condition": {"$ref": "rule.schema.json"},
"items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
}
},
"Item": {
"type": "object",
"required": ["key", "widget"],
"additionalProperties": false,
"properties": {
"key": {"type": "string", "pattern": "^[A-Za-z][A-Za-z0-9_]*$"},
"widget": {"type": "string", "enum": ["toggle", "option", "multiple_button", "button", "info"]},
"title": {"type": "string"},
"description": {"type": "string", "description": "Inline body text under the title. May be omitted when only details is used."},
"details": {"type": "string", "description": "Extended help shown in a modal when the user taps the info (i) button. Independent of description; either, both, or neither may be present."},
"title_param_suffix": {"type": "object"},
"min": {"type": "number"},
"max": {"type": "number"},
"step": {"type": "number"},
"unit": {
"oneOf": [
{"type": "string"},
{
"type": "object",
"additionalProperties": false,
"required": ["metric", "imperial"],
"properties": {
"metric": {"type": "string"},
"imperial": {"type": "string"}
}
}
]
},
"needs_onroad_cycle": {"type": "boolean"},
"requires_attestation": {"type": "boolean"},
"blocked": {"type": "boolean"},
"options": {
"type": "array",
"items": {
"type": "object",
"required": ["value", "label"],
"additionalProperties": false,
"properties": {
"value": {},
"label": {"type": "string"},
"enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}}
}
}
},
"visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
"enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
"sub_items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
}
}
}
}
sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
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{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://sunnypilot.com/schemas/sdui/rule.schema.json",
"title": "Rule",
"description": "Visibility/enablement rule. Discriminated union on 'type'. Macro reference is also accepted via {$ref: '#/macros/<name>'}.",
"oneOf": [
{"$ref": "#/$defs/MacroRef"},
{"$ref": "#/$defs/RuleOffroadOnly"},
{"$ref": "#/$defs/RuleNotEngaged"},
{"$ref": "#/$defs/RuleCapability"},
{"$ref": "#/$defs/RuleParam"},
{"$ref": "#/$defs/RuleParamCompare"},
{"$ref": "#/$defs/RuleNot"},
{"$ref": "#/$defs/RuleAny"},
{"$ref": "#/$defs/RuleAll"}
],
"$defs": {
"MacroRef": {
"type": "object",
"required": ["$ref"],
"additionalProperties": false,
"properties": {
"$ref": {
"type": "string",
"pattern": "^#/macros/[A-Za-z_][A-Za-z0-9_]*$",
"description": "Reference to a macro defined in _macros.yaml under #/macros/<name>."
}
}
},
"RuleOffroadOnly": {
"type": "object",
"required": ["type"],
"additionalProperties": false,
"properties": {"type": {"const": "offroad_only"}}
},
"RuleNotEngaged": {
"type": "object",
"required": ["type"],
"additionalProperties": false,
"properties": {"type": {"const": "not_engaged"}}
},
"RuleCapability": {
"type": "object",
"required": ["type", "field", "equals"],
"additionalProperties": false,
"properties": {
"type": {"const": "capability"},
"field": {"type": "string"},
"equals": {}
}
},
"RuleParam": {
"type": "object",
"required": ["type", "key", "equals"],
"additionalProperties": false,
"properties": {
"type": {"const": "param"},
"key": {"type": "string"},
"equals": {}
}
},
"RuleParamCompare": {
"type": "object",
"required": ["type", "key", "op", "value"],
"additionalProperties": false,
"properties": {
"type": {"const": "param_compare"},
"key": {"type": "string"},
"op": {"type": "string", "enum": [">", "<", ">=", "<="]},
"value": {"type": "number"}
}
},
"RuleNot": {
"type": "object",
"required": ["type", "condition"],
"additionalProperties": false,
"properties": {
"type": {"const": "not"},
"condition": {"$ref": "#"}
}
},
"RuleAny": {
"type": "object",
"required": ["type", "conditions"],
"additionalProperties": false,
"properties": {
"type": {"const": "any"},
"conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
}
},
"RuleAll": {
"type": "object",
"required": ["type", "conditions"],
"additionalProperties": false,
"properties": {
"type": {"const": "all"},
"conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
}
}
}
}
sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
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# Page: cruise
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: cruise
label: Cruise
icon: cruise_control
order: 2
remote_configurable: true
description: Longitudinal control, speed limits, and cruise behavior
sections:
- id: core_cruise_features
title: ''
description: ''
items:
- key: ExperimentalMode
widget: toggle
title: Experimental Mode
enablement:
- $ref: '#/macros/longitudinal'
- key: DynamicExperimentalControl
widget: toggle
title: Dynamic Experimental Control
description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
visibility:
- $ref: '#/macros/longitudinal'
enablement:
- $ref: '#/macros/longitudinal'
- key: DisengageOnAccelerator
widget: toggle
title: Disengage Cruise on Accelerator Pedal
description: When enabled, pressing the accelerator pedal will disengage longitudinal control.
- key: LongitudinalPersonality
widget: multiple_button
title: Driving Personality
description: Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive
with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can
cycle through these personalities with your steering wheel distance button.
options:
- value: 0
label: Aggressive
- value: 1
label: Standard
- value: 2
label: Relaxed
enablement:
- $ref: '#/macros/longitudinal'
- key: IntelligentCruiseButtonManagement
widget: toggle
title: Intelligent Cruise Button Management (ICBM) (Alpha)
visibility:
- type: capability
field: icbm_available
equals: true
enablement:
- $ref: '#/macros/offroad'
- type: not
condition:
type: capability
field: has_longitudinal_control
equals: true
- id: custom_acc_increments
title: Custom ACC Speed Intervals
description: ''
enablement:
- $ref: '#/macros/offroad'
- type: any
conditions:
- type: all
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: not
condition:
type: capability
field: pcm_cruise
equals: true
- type: capability
field: has_icbm
equals: true
items:
- key: CustomAccIncrementsEnabled
widget: toggle
title: Enable Custom ACC Speed Intervals
enablement:
- $ref: '#/macros/offroad'
- type: any
conditions:
- type: all
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: not
condition:
type: capability
field: pcm_cruise
equals: true
- type: capability
field: has_icbm
equals: true
sub_panels:
- id: custom_acc_intervals
label: Custom ACC Speed Intervals Settings
trigger_key: CustomAccIncrementsEnabled
trigger_condition:
type: param
key: CustomAccIncrementsEnabled
equals: true
items:
- key: CustomAccShortPressIncrement
widget: option
title: Short Press Increment
min: 1
max: 10
step: 1
enablement:
- type: param
key: CustomAccIncrementsEnabled
equals: true
- key: CustomAccLongPressIncrement
widget: option
title: Long Press Increment
min: 1
max: 10
step: 1
enablement:
- type: param
key: CustomAccIncrementsEnabled
equals: true
- id: speed_limits
title: Speed Limits
description: Speed limit detection and offset behavior
items: []
sub_panels:
- id: speed_limit_settings
label: Speed Limit Settings
trigger_key: SpeedLimitMode
items:
- key: SpeedLimitMode
widget: multiple_button
title: Speed Limit Assist Mode
options:
- value: 0
label: 'Off'
- value: 1
label: Information
- value: 2
label: Warning
- value: 3
label: Assist
enablement:
- type: any
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: capability
field: has_icbm
equals: true
- type: not
condition:
type: capability
field: brand
equals: rivian
- type: not
condition:
type: all
conditions:
- type: capability
field: brand
equals: tesla
- type: capability
field: is_sp_release
equals: true
- key: SpeedLimitPolicy
widget: multiple_button
title: Speed Limit Source
options:
- value: 0
label: Car State Only
- value: 1
label: Map Data Only
- value: 2
label: Car State Priority
- value: 3
label: Map Data Priority
- value: 4
label: Combined
- key: SpeedLimitOffsetType
widget: multiple_button
title: Speed Limit Offset Type
options:
- value: 0
label: 'Off'
- value: 1
label: Fixed
- value: 2
label: Percentage
- key: SpeedLimitValueOffset
widget: option
title: Speed Limit Offset Value
min: -30
max: 30
step: 1
unit:
metric: km/h
imperial: mph
visibility:
- type: param_compare
key: SpeedLimitOffsetType
op: '>'
value: 0
- id: smart_cruise
title: Smart Cruise Control
description: ''
enablement:
- type: any
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: capability
field: has_icbm
equals: true
items:
- key: SmartCruiseControlVision
widget: toggle
title: Vision
description: Use vision path predictions to estimate the appropriate speed to drive through turns ahead.
visibility:
- type: any
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: capability
field: has_icbm
equals: true
enablement:
- type: any
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: capability
field: has_icbm
equals: true
- key: SmartCruiseControlMap
widget: toggle
title: Map
description: Use map data to estimate the appropriate speed to drive through turns ahead.
visibility:
- type: any
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: capability
field: has_icbm
equals: true
enablement:
- type: any
conditions:
- type: capability
field: has_longitudinal_control
equals: true
- type: capability
field: has_icbm
equals: true
sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
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# Page: developer
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: developer
label: Developer
icon: developer
order: 9
remote_configurable: true
description: Debug tools, remote access, and advanced services
sections:
- id: connectivity
title: Connectivity
description: Remote access and debugging interfaces
items:
- key: AdbEnabled
widget: toggle
blocked: true
title: Enable ADB
description: ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma
for more info.
enablement:
- $ref: '#/macros/offroad'
- key: SshEnabled
widget: toggle
blocked: true
title: Enable SSH
- key: JoystickDebugMode
widget: toggle
title: Joystick Debug Mode
enablement:
- $ref: '#/macros/offroad'
- key: AlphaLongitudinalEnabled
widget: toggle
needs_onroad_cycle: true
title: sunnypilot Longitudinal Control (Alpha)
description: 'WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking
(AEB). On this car, sunnypilot defaults to the car''s built-in ACC instead of sunnypilot''s longitudinal control. Enable
this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot
longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on.'
visibility:
- type: all
conditions:
- type: capability
field: alpha_long_available
equals: true
- type: not
condition:
type: capability
field: has_icbm
equals: true
enablement:
- $ref: '#/macros/not_engaged'
- key: ShowDebugInfo
widget: toggle
title: UI Debug Mode
- id: test_maneuvers
title: Test Maneuvers
description: 'DANGER: enabling these maneuvers replaces normal driving behavior with deterministic test sequences. Each
toggle requires explicit confirmation per write. Use only in a closed environment.'
visibility:
- type: any
conditions:
- type: capability
field: is_development
equals: true
- type: capability
field: is_sp_release
equals: true
enablement:
- type: any
conditions:
- type: capability
field: is_development
equals: true
- type: param
key: ShowAdvancedControls
equals: true
attestation_required: true
items:
- key: LateralManeuverMode
widget: toggle
title: '[TEST] Lateral Maneuver Mode'
description: Replaces normal lateral control with a deterministic test sequence. NOT for road use.
enablement:
- $ref: '#/macros/not_engaged'
- type: capability
field: torque_allowed
equals: true
- key: LongitudinalManeuverMode
widget: toggle
title: '[TEST] Longitudinal Maneuver Mode'
description: Replaces normal longitudinal control with a deterministic test sequence. NOT for road use.
enablement:
- $ref: '#/macros/not_engaged'
- $ref: '#/macros/longitudinal'
- id: advanced_services
title: Advanced Settings
description: ''
items:
- key: ShowAdvancedControls
widget: toggle
title: Show Advanced Controls
description: Toggle visibility of advanced sunnypilot controls. This only changes the visibility of the toggles; it does
not change the actual enabled/disabled state.
- key: EnableGithubRunner
widget: toggle
title: GitHub Runner Service
description: Enables or disables the GitHub runner service.
visibility:
- $ref: '#/macros/release_branches_hide'
enablement:
- $ref: '#/macros/advanced_only'
- key: EnableCopyparty
widget: toggle
title: copyparty Service
description: copyparty is a very capable file server, you can use it to download your routes, view your logs and even
make some edits on some files from your browser. Requires you to connect to your comma locally via its IP address.
enablement:
- $ref: '#/macros/advanced_only'
- key: QuickBootToggle
widget: toggle
title: Quickboot Mode
visibility:
- type: not
condition:
type: any
conditions:
- type: capability
field: is_sp_release
equals: true
- type: capability
field: is_development
equals: true
enablement:
- type: param
key: DisableUpdates
equals: true
- $ref: '#/macros/advanced_only'
sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
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# Page: device
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: device
label: Device
icon: device
order: 6
remote_configurable: true
description: Device behavior, units, and recording settings
sections:
- id: general
title: General
description: Power, boot, and unit preferences
items:
- key: OffroadMode
widget: toggle
title: Force Offroad Mode
- key: DeviceBootMode
widget: option
title: Wake Up Behavior
description: 'Controls state of the device after boot/sleep. Default: Device will boot/wake-up normally and will be ready
to engage. Offroad: Device will be in Always Offroad mode after boot/wake-up.'
options:
- value: 0
label: Standard
- value: 1
label: Always Offroad
- key: QuietMode
widget: toggle
title: Quiet Mode
- key: OnroadUploads
widget: toggle
title: Onroad Uploads
- key: MaxTimeOffroad
widget: option
title: Max Time Offroad
description: Device will automatically shutdown after set time once the engine is turned off. 30h is the default.
options:
- value: 0
label: Always On
- value: 5
label: 5m
- value: 10
label: 10m
- value: 15
label: 15m
- value: 30
label: 30m
- value: 60
label: 1h
- value: 120
label: 2h
- value: 180
label: 3h
- value: 300
label: 5h
- value: 600
label: 10h
- value: 1440
label: 24h
- value: 1800
label: 30h (Default)
- id: language
title: Language
items:
- key: LanguageSetting
widget: info
title: Language
sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
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# Page: display
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: display
label: Display
icon: display
order: 3
remote_configurable: true
description: Screen brightness, timeout, and interactivity settings
sections:
- id: brightness_timeout
title: Brightness & Timeout
description: Screen dimming and sleep behavior while driving
items:
- key: OnroadScreenOffBrightness
widget: multiple_button
title: Onroad Brightness
options:
- value: 0
label: Auto (Default)
- value: 1
label: Auto (Dark)
- value: 2
label: Screen Off
- value: 3
label: 5 %
- value: 4
label: 10 %
- value: 5
label: 15 %
- value: 6
label: 20 %
- value: 7
label: 25 %
- value: 8
label: 30 %
- value: 9
label: 35 %
- value: 10
label: 40 %
- value: 11
label: 45 %
- value: 12
label: 50 %
- value: 13
label: 55 %
- value: 14
label: 60 %
- value: 15
label: 65 %
- value: 16
label: 70 %
- value: 17
label: 75 %
- value: 18
label: 80 %
- value: 19
label: 85 %
- value: 20
label: 90 %
- value: 21
label: 95 %
- value: 22
label: 100 %
- key: OnroadScreenOffTimer
widget: multiple_button
title: Onroad Brightness Delay
options:
- value: 0
label: Always On
- value: 3
label: 3s
- value: 5
label: 5s
- value: 10
label: 10s
- value: 15
label: 15s
- value: 30
label: 30s
- value: 60
label: 1m
- value: 180
label: 3m
- value: 300
label: 5m
- value: 600
label: 10m
enablement:
- type: not
condition:
type: any
conditions:
- type: param
key: OnroadScreenOffBrightness
equals: 0
- type: param
key: OnroadScreenOffBrightness
equals: 1
- key: InteractivityTimeout
widget: multiple_button
title: Interactivity Timeout
description: Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if
user is not interacting with the screen.
options:
- value: 0
label: Default
- value: 10
label: 10 s
- value: 20
label: 20 s
- value: 30
label: 30 s
- value: 40
label: 40 s
- value: 50
label: 50 s
- value: 60
label: 1 m
- value: 70
label: 1 m
- value: 80
label: 1 m
- value: 90
label: 1 m
- value: 100
label: 1 m
- value: 110
label: 1 m
- value: 120
label: 2 m
sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
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# Page: models
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: models
label: Models
icon: models
order: 10
remote_configurable: false
description: Driving model behavior and camera calibration
sections:
- id: model_behavior
title: Model Behavior
description: Lane desire and lead-vehicle awareness tuning
items:
- key: LaneTurnDesire
widget: toggle
title: Use Lane Turn Desires
description: If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that
direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong
turn direction.
- key: LaneTurnValue
widget: option
title: Adjust Lane Turn Speed
description: Set the maximum speed for lane turn desires.
min: 0
max: 20
step: 1
unit:
metric: km/h
imperial: mph
enablement:
- type: param
key: LaneTurnDesire
equals: true
- $ref: '#/macros/advanced_only'
- key: LagdToggle
widget: toggle
title: Live Learning Steer Delay
description: Allow device to learn and adapt car's steering response time
- key: LagdToggleDelay
widget: option
title: Adjust Software Delay
description: Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value
is 0.2
min: 0.05
max: 0.5
step: 0.01
enablement:
- type: not
condition:
type: param
key: LagdToggle
equals: true
- $ref: '#/macros/advanced_only'
- id: lateral_control
title: Lateral Control
description: Neural network lateral control for supported models
items:
- key: NeuralNetworkLateralControl
widget: toggle
title: Neural Network Lateral Control (NNLC)
description: Use a neural network for lateral control instead of the default torque controller.
visibility:
- type: not
condition:
type: capability
field: steer_control_type
equals: angle
enablement:
- $ref: '#/macros/offroad'
- type: capability
field: torque_allowed
equals: true
- type: param
key: EnforceTorqueControl
equals: false
- id: camera
title: Camera
description: Camera position and calibration
items:
- key: CameraOffset
widget: option
title: Adjust Camera Offset
description: Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)
min: -0.35
max: 0.35
step: 0.01
unit: meters
enablement:
- $ref: '#/macros/advanced_only'
sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
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# Page: software
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: software
label: Software
icon: software
order: 7
remote_configurable: true
description: Software update preferences
sections:
- id: updates
title: Updates
description: Control software updates
items:
- key: DisableUpdates
widget: toggle
title: Disable Updates
description: When enabled, software updates will be off. This requires a reboot to take effect.
enablement:
- $ref: '#/macros/offroad'
- $ref: '#/macros/advanced_only'
sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
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# Page: steering
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: steering
label: Steering
icon: steering_wheel
order: 1
remote_configurable: true
description: Lateral control, lane changes, and steering behavior
sections:
- id: mads
title: Modular Assistive Driving System (MADS)
description: ''
items:
- key: Mads
widget: toggle
title: Enable Modular Assistive Driving System (MADS)
description: Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.
enablement:
- $ref: '#/macros/offroad'
sub_panels:
- id: mads_settings
label: MADS Settings
trigger_key: Mads
trigger_condition:
type: param
key: Mads
equals: true
items:
- key: MadsMainCruiseAllowed
widget: toggle
title: Toggle with Main Cruise
description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
enablement:
- $ref: '#/macros/offroad'
- $ref: '#/macros/mads_full_platforms'
- key: MadsUnifiedEngagementMode
widget: toggle
title: Unified Engagement Mode (UEM)
description: 'Engage lateral and longitudinal control with cruise control engagement. 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.'
enablement:
- $ref: '#/macros/offroad'
- $ref: '#/macros/mads_full_platforms'
- key: MadsSteeringMode
widget: multiple_button
title: Steering Mode on Brake Pedal
description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
options:
- value: 0
label: Remain Active
enablement:
- $ref: '#/macros/mads_full_platforms'
- value: 1
label: Pause
enablement:
- $ref: '#/macros/mads_full_platforms'
- value: 2
label: Disengage
enablement:
- $ref: '#/macros/offroad'
- id: blinker
title: Blinker Control
description: Lateral pause behavior during turn signals
items:
- key: BlinkerPauseLateralControl
widget: toggle
title: Pause Lateral Control with Blinker
description: Pause lateral control with blinker when traveling below the desired speed selected.
sub_items:
- key: BlinkerMinLateralControlSpeed
widget: option
title: Minimum Speed to Pause Lateral Control
min: 0
max: 255
step: 5
unit:
metric: km/h
imperial: mph
enablement:
- type: param
key: BlinkerPauseLateralControl
equals: true
- key: BlinkerLateralReengageDelay
widget: option
title: Post-Blinker Delay
description: Delay before lateral control resumes after the turn signal ends.
min: 0
max: 10
step: 1
unit: second
enablement:
- type: param
key: BlinkerPauseLateralControl
equals: true
- id: torque
title: Torque Control
description: Steering torque tuning and lateral control method
enablement:
- type: capability
field: torque_allowed
equals: true
items:
- key: EnforceTorqueControl
widget: toggle
title: Enforce Torque Lateral Control
description: Enable this to enforce sunnypilot to steer with Torque lateral control.
visibility:
- type: not
condition:
type: capability
field: steer_control_type
equals: angle
enablement:
- $ref: '#/macros/offroad'
- type: capability
field: torque_allowed
equals: true
- type: param
key: NeuralNetworkLateralControl
equals: false
sub_panels:
- id: torque_settings
label: Torque Settings
trigger_key: EnforceTorqueControl
trigger_condition:
type: param
key: EnforceTorqueControl
equals: true
items:
- key: LiveTorqueParamsToggle
widget: toggle
title: Self-Tune
description: Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.
enablement:
- $ref: '#/macros/offroad'
- key: LiveTorqueParamsRelaxedToggle
widget: toggle
title: Less Restrict Settings for Self-Tune (Beta)
description: Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.
enablement:
- $ref: '#/macros/offroad'
- type: param
key: LiveTorqueParamsToggle
equals: true
- key: CustomTorqueParams
widget: toggle
title: Enable Custom Tuning
description: 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.
enablement:
- $ref: '#/macros/offroad'
- key: TorqueParamsOverrideEnabled
widget: toggle
title: Manual Real-Time Tuning
description: 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.
enablement:
- $ref: '#/macros/offroad'
- type: param
key: CustomTorqueParams
equals: true
- key: TorqueParamsOverrideLatAccelFactor
widget: option
title: Lateral Acceleration Factor
title_param_suffix:
param: TorqueParamsOverrideEnabled
values:
'true': (Real-Time & Offline)
'false': (Offline Only)
min: 0.1
max: 5.0
step: 0.1
unit: m/s²
enablement:
- type: param
key: CustomTorqueParams
equals: true
- type: any
conditions:
- type: param
key: TorqueParamsOverrideEnabled
equals: true
- type: offroad_only
- key: TorqueParamsOverrideFriction
widget: option
title: Friction
title_param_suffix:
param: TorqueParamsOverrideEnabled
values:
'true': (Real-Time & Offline)
'false': (Offline Only)
min: 0.0
max: 1.0
step: 0.01
enablement:
- type: param
key: CustomTorqueParams
equals: true
- type: any
conditions:
- type: param
key: TorqueParamsOverrideEnabled
equals: true
- type: offroad_only
- key: TorqueControlTune
widget: multiple_button
title: Torque Control Tune Version
description: Select the version of Torque Control Tune to use.
options:
- value: ''
label: Default
- value: 1.0
label: v1.0
- value: 0.0
label: v0.0
enablement:
- $ref: '#/macros/offroad'
- id: lane_change
title: Lane Change
description: Automatic lane change timing and behavior
items:
- key: AutoLaneChangeTimer
widget: option
title: Auto Lane Change by Blinker
description: |-
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.
details: |-
Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.
options:
- value: -1
label: 'Off'
- value: 0
label: Nudge
- value: 1
label: Nudgeless
- value: 2
label: 0.5 second
- value: 3
label: 1 second
- value: 4
label: 2 seconds
- value: 5
label: 3 seconds
- key: AutoLaneChangeBsmDelay
widget: toggle
title: 'Auto Lane Change: Delay with Blind Spot'
description: Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind
spot.
enablement:
- type: capability
field: enable_bsm
equals: true
- type: param_compare
key: AutoLaneChangeTimer
op: '>'
value: 0
sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
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# Page: toggles
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: toggles
label: Toggles
icon: toggles
order: 5
remote_configurable: true
description: Core openpilot feature toggles
sections:
- id: core_toggles
title: ''
description: ''
items:
- key: OpenpilotEnabledToggle
widget: toggle
needs_onroad_cycle: true
title: Enable sunnypilot
description: Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is
required at all times to use this feature.
enablement:
- $ref: '#/macros/offroad'
- key: IsLdwEnabled
widget: toggle
title: Enable Lane Departure Warnings
description: Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn
signal activated while driving over 31 mph (50 km/h).
- key: AlwaysOnDM
widget: toggle
title: Always-On Driver Monitoring
description: Enable driver monitoring even when sunnypilot is not engaged.
- key: IsMetric
widget: toggle
title: Use Metric System
description: Display speed in km/h instead of mph.
- id: recording
title: Recording
description: Camera and audio recording during drives
items:
- key: RecordFront
widget: toggle
needs_onroad_cycle: true
title: Record and Upload Driver Camera
description: Upload data from the driver facing camera and help improve the driver monitoring algorithm.
- key: RecordAudio
widget: toggle
needs_onroad_cycle: true
title: Record and Upload Microphone Audio
description: Record and store microphone audio while driving. The audio will be included in the dashcam video in comma
connect.
sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
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# Page: vehicle (per-brand settings)
# Compiles to settings_ui.json#vehicle_settings (brand = section id).
id: vehicle
label: Vehicle
icon: vehicle
order: 99
kind: vehicle
sections:
- id: hyundai
title: Hyundai / Kia / Genesis Settings
description: ''
items:
- key: HyundaiLongitudinalTuning
widget: multiple_button
title: Custom Longitudinal Tuning
options:
- value: 0
label: 'Off'
- value: 1
label: Dynamic
- value: 2
label: Predictive
visibility:
- type: capability
field: hyundai_alpha_long_available
equals: true
enablement:
- $ref: '#/macros/offroad'
- $ref: '#/macros/longitudinal'
- id: subaru
title: Subaru Settings
description: ''
items:
- key: SubaruStopAndGo
widget: toggle
title: Stop and Go (Beta)
enablement:
- $ref: '#/macros/offroad'
- type: capability
field: has_stop_and_go
equals: true
- key: SubaruStopAndGoManualParkingBrake
widget: toggle
title: Stop and Go for Manual Parking Brake (Beta)
enablement:
- $ref: '#/macros/offroad'
- type: capability
field: has_stop_and_go
equals: true
- id: tesla
title: Tesla Settings
description: ''
items:
- key: TeslaCoopSteering
widget: toggle
title: Cooperative Steering (Beta)
enablement:
- $ref: '#/macros/offroad'
- id: toyota
title: Toyota / Lexus Settings
description: ''
items:
- key: ToyotaEnforceStockLongitudinal
widget: toggle
needs_onroad_cycle: true
title: Enforce Factory Longitudinal Control
description: sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.
enablement:
- $ref: '#/macros/not_engaged'
- key: ToyotaStopAndGoHack
widget: toggle
needs_onroad_cycle: true
title: Stop and Go Hack (Alpha)
description: sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only
applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.
enablement:
- $ref: '#/macros/not_engaged'
- $ref: '#/macros/longitudinal'
- type: param
key: ToyotaEnforceStockLongitudinal
equals: false
sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
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# Page: visuals
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: visuals
label: Visuals
icon: visuals
order: 4
remote_configurable: true
description: HUD overlays, alerts, and on-screen display elements
sections:
- id: hud_elements
title: HUD Elements
description: Overlays shown on the driving screen
items:
- key: BlindSpot
widget: toggle
title: Show Blind Spot Warnings
description: Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has
BSM supported.
- key: TorqueBar
widget: toggle
title: Steering Arc
description: Display steering arc on the driving screen when lateral control is enabled.
- key: ShowTurnSignals
widget: toggle
title: Display Turn Signals
description: When enabled, visual turn indicators are drawn on the HUD.
- key: RoadNameToggle
widget: toggle
title: Display Road Name
description: Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be
downloaded to fetch the road name.
visibility:
- $ref: '#/macros/hide_on_mici'
- key: StandstillTimer
widget: toggle
title: Standstill Timer
description: Show a timer on the HUD when the car is at a standstill.
visibility:
- $ref: '#/macros/hide_on_mici'
- key: RocketFuel
widget: toggle
title: Real-time Acceleration Bar
description: Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration.
This displays what the car is currently doing, not what the planner is requesting.
visibility:
- $ref: '#/macros/hide_on_mici'
- key: ChevronInfo
widget: option
title: Display Metrics Below Chevron
options:
- value: 0
label: 'Off'
- value: 1
label: Distance
- value: 2
label: Speed
- value: 3
label: Time
- value: 4
label: All
visibility:
- $ref: '#/macros/hide_on_mici'
enablement:
- $ref: '#/macros/longitudinal'
- id: developer_ui
title: Developer UI Info
description: Speedometer and debug display options
visibility:
- $ref: '#/macros/hide_on_mici'
items:
- key: DevUIInfo
widget: option
title: Developer UI
description: Display real-time parameters and metrics from various sources.
options:
- value: 0
label: 'Off'
- value: 1
label: Bottom
- value: 2
label: Right
- value: 3
label: Right & Bottom
- key: TrueVEgoUI
widget: toggle
title: 'Speedometer: Always Display True Speed'
description: For applicable vehicles, always display the true vehicle current speed from wheel speed sensors.
- key: HideVEgoUI
widget: toggle
title: 'Speedometer: Hide from Onroad Screen'
description: When enabled, the speedometer on the onroad screen is not displayed.
- id: alerts_extras
title: Alerts & Extras
description: Traffic light alerts and visual flair
items:
- key: GreenLightAlert
widget: toggle
title: Green Traffic Light Alert (Beta)
description: 'A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have
no vehicle in front of you. On-screen visual alert is only available on comma 3X. Note: This chime is only designed
as a notification. It is the driver''s responsibility to observe their environment and make decisions accordingly.'
- key: LeadDepartAlert
widget: toggle
title: Lead Departure Alert (Beta)
description: 'A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.
On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the
driver''s responsibility to observe their environment and make decisions accordingly.'
- key: RainbowMode
widget: toggle
title: Tesla Rainbow Mode
description: Display a rainbow effect on the path the model wants to take. It does not affect driving in any way.
sunnypilot/sunnylink/tests/test_capabilities.py
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"""
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.
Sentinel tests for the capabilities payload contract. PROTOCOL_VERSION is the
wire-protocol version observable by the dashboard; bumping it is a breaking
change and must be intentional. KNOWN_PROTOCOL_VERSIONS pins the set we
explicitly support — when the constant is bumped, this list must be edited in
the same commit so the bump shows up in code review.
"""
from __future__ import annotations
import pytest
from openpilot.sunnypilot.sunnylink.capabilities import (
CAPABILITY_DEFAULTS,
CAPABILITY_FIELDS,
CAPABILITY_LABELS,
PROTOCOL_VERSION,
generate_capabilities,
)
KNOWN_PROTOCOL_VERSIONS = (1,)
LATEST_KNOWN = max(KNOWN_PROTOCOL_VERSIONS)
@pytest.fixture(scope="module")
def caps():
return generate_capabilities()
class TestProtocolVersion:
def test_protocol_version_in_capability_fields(self):
assert "protocol_version" in CAPABILITY_FIELDS
def test_protocol_version_has_label(self):
assert "protocol_version" in CAPABILITY_LABELS
def test_protocol_version_default_is_set(self):
assert CAPABILITY_DEFAULTS.get("protocol_version") == PROTOCOL_VERSION
def test_protocol_version_emitted(self, caps):
assert "protocol_version" in caps
assert isinstance(caps["protocol_version"], int)
assert caps["protocol_version"] >= 1
def test_protocol_version_matches_constant(self, caps):
assert caps["protocol_version"] == PROTOCOL_VERSION
def test_protocol_version_is_known(self):
"""Sentinel against accidental bumps. Edit KNOWN_PROTOCOL_VERSIONS if intentional."""
assert PROTOCOL_VERSION in KNOWN_PROTOCOL_VERSIONS, (
f"PROTOCOL_VERSION={PROTOCOL_VERSION} is not in KNOWN_PROTOCOL_VERSIONS={KNOWN_PROTOCOL_VERSIONS}. " +
"If this bump is intentional, add it to KNOWN_PROTOCOL_VERSIONS."
)
def test_protocol_version_matches_latest_known(self):
assert PROTOCOL_VERSION == LATEST_KNOWN, (
"Test invariant: PROTOCOL_VERSION must equal max(KNOWN_PROTOCOL_VERSIONS)."
)
class TestOpaquePerBrandFlags:
def test_subaru_has_sng_field_present(self):
assert "subaru_has_sng" in CAPABILITY_FIELDS
def test_hyundai_alpha_long_available_field_present(self):
assert "hyundai_alpha_long_available" in CAPABILITY_FIELDS
def test_subaru_has_sng_default_false(self, caps):
assert caps["subaru_has_sng"] is False
def test_hyundai_alpha_long_available_default_false(self, caps):
assert caps["hyundai_alpha_long_available"] is False
class TestCapabilitiesShape:
def test_all_fields_present(self, caps):
for field in CAPABILITY_FIELDS:
assert field in caps, f"capabilities missing {field}"
def test_all_fields_have_labels(self):
for field in CAPABILITY_FIELDS:
assert field in CAPABILITY_LABELS, f"CAPABILITY_LABELS missing {field}"
def test_string_defaults_are_strings(self, caps):
assert isinstance(caps["brand"], str)
assert isinstance(caps["steer_control_type"], str)
assert isinstance(caps["device_type"], str)
sunnypilot/sunnylink/tests/test_compile_settings_ui.py
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"""
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.
Tests for the settings_ui_src/ -> settings_ui.json compiler. Covers:
- Roundtrip: compiled output matches the checked-in settings_ui.json
- $ref macro resolution semantics (list-splice, scalar-substitute, depth, cycles)
- Per-page tree integrity (every page has id; vehicle page emits to vehicle_settings)
Does not cover device-side generator (test_settings_schema.py) or per-bug
regression (test_settings_changes.py); those continue to validate the
compiled output once the compiler has produced it.
"""
from __future__ import annotations
import difflib
import json
import os
import pytest
import yaml
from openpilot.sunnypilot.sunnylink.tools.compile_settings_ui import (
CompileError,
DEFAULT_OUT,
DEFAULT_SRC,
_resolve_refs,
compile_schema,
)
@pytest.fixture(scope="module")
def compiled() -> dict:
return compile_schema(DEFAULT_SRC)
@pytest.fixture(scope="module")
def committed() -> dict:
with open(DEFAULT_OUT) as f:
return json.load(f)
class TestRoundtrip:
def test_compiled_matches_committed(self, compiled, committed):
"""Compiled output must match the checked-in JSON."""
if compiled == committed:
return
diff = "\n".join(difflib.unified_diff(
json.dumps(committed, indent=2).splitlines(),
json.dumps(compiled, indent=2).splitlines(),
fromfile="settings_ui.json (committed)",
tofile="settings_ui.json (freshly compiled)",
lineterm="",
))
pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
def test_committed_file_is_canonical(self):
"""Compiled output must byte-match the checked-in file (including trailing newline).
Drift means someone edited settings_ui.json by hand instead of editing settings_ui_src/."""
schema = compile_schema(DEFAULT_SRC)
rendered = json.dumps(schema, indent=2) + "\n"
with open(DEFAULT_OUT) as f:
current = f.read()
if current == rendered:
return
diff = "\n".join(difflib.unified_diff(
current.splitlines(),
rendered.splitlines(),
fromfile="settings_ui.json (on disk)",
tofile="settings_ui.json (freshly compiled)",
lineterm="",
))
pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
class TestRefResolution:
def test_list_context_splices(self):
macros = {"a": [{"type": "offroad_only"}], "b": [{"type": "not_engaged"}]}
out = _resolve_refs([{"$ref": "#/macros/a"}, {"$ref": "#/macros/b"}], macros)
assert out == [{"type": "offroad_only"}, {"type": "not_engaged"}]
def test_scalar_context_substitutes(self):
macros = {"x": {"type": "capability", "field": "brand", "equals": "tesla"}}
out = _resolve_refs({"condition": {"$ref": "#/macros/x"}}, macros)
assert out == {"condition": {"type": "capability", "field": "brand", "equals": "tesla"}}
def test_chained_ref_resolves(self):
macros = {
"leaf": [{"type": "offroad_only"}],
"middle": [{"$ref": "#/macros/leaf"}],
}
out = _resolve_refs([{"$ref": "#/macros/middle"}], macros)
assert out == [{"type": "offroad_only"}]
def test_unknown_macro_raises(self):
with pytest.raises(CompileError, match="unknown macro"):
_resolve_refs([{"$ref": "#/macros/missing"}], {})
def test_cycle_raises(self):
macros = {"a": [{"$ref": "#/macros/b"}], "b": [{"$ref": "#/macros/a"}]}
with pytest.raises(CompileError, match="cycle"):
_resolve_refs([{"$ref": "#/macros/a"}], macros)
def test_depth_limit(self):
# Depth 4 chain should fail (limit is 3).
macros = {
"l1": [{"$ref": "#/macros/l2"}],
"l2": [{"$ref": "#/macros/l3"}],
"l3": [{"$ref": "#/macros/l4"}],
"l4": [{"type": "offroad_only"}],
}
with pytest.raises(CompileError, match="depth"):
_resolve_refs([{"$ref": "#/macros/l1"}], macros)
def test_invalid_ref_scheme(self):
with pytest.raises(CompileError, match="unsupported"):
_resolve_refs([{"$ref": "https://example.com/x"}], {})
def test_scalar_macro_in_list_context_raises(self):
macros = {"x": {"type": "offroad_only"}} # macro is a single rule (dict), not a list
with pytest.raises(CompileError, match="must resolve to a list"):
_resolve_refs([{"$ref": "#/macros/x"}], macros)
class TestCompiledShape:
def test_panels_present(self, compiled):
assert isinstance(compiled["panels"], list)
assert len(compiled["panels"]) == 9
panel_ids = {p["id"] for p in compiled["panels"]}
assert {"steering", "cruise", "display", "visuals", "toggles",
"device", "software", "developer", "models"} <= panel_ids
def test_vehicle_settings_consistent_shape(self, compiled):
"""Each brand in vehicle_settings must have {title, description, items}."""
for brand, data in compiled["vehicle_settings"].items():
assert isinstance(data, dict), f"{brand}: expected object, got {type(data).__name__}"
assert "title" in data, f"{brand}: missing title"
assert "description" in data, f"{brand}: missing description"
assert "items" in data, f"{brand}: missing items"
def test_no_dangling_refs_after_compile(self, compiled):
"""All $ref objects must be resolved during compilation."""
def walk(node):
if isinstance(node, dict):
if "$ref" in node:
pytest.fail(f"unresolved $ref: {node}")
for v in node.values():
walk(v)
elif isinstance(node, list):
for x in node:
walk(x)
walk(compiled)
class TestSourceTreeIntegrity:
def test_macros_yaml_well_formed(self):
with open(os.path.join(DEFAULT_SRC, "_macros.yaml")) as f:
doc = yaml.safe_load(f)
assert "macros" in doc
for name, body in doc["macros"].items():
assert name.replace("_", "").isalnum(), f"macro name '{name}' must be alphanumeric_"
assert body, f"macro '{name}' empty"
def test_pages_dir_well_formed(self):
pages_dir = os.path.join(DEFAULT_SRC, "pages")
assert os.path.isdir(pages_dir), "pages/ directory missing"
page_files = sorted(fn for fn in os.listdir(pages_dir) if fn.endswith(".yaml"))
# 9 panels + 1 vehicle = 10
assert len(page_files) == 10, f"expected 10 pages, found {len(page_files)}: {page_files}"
def test_every_page_has_id(self):
pages_dir = os.path.join(DEFAULT_SRC, "pages")
for fn in sorted(os.listdir(pages_dir)):
if not fn.endswith(".yaml"):
continue
path = os.path.join(pages_dir, fn)
with open(path) as f:
doc = yaml.safe_load(f)
assert isinstance(doc, dict), f"{path}: top-level must be a mapping"
assert "id" in doc, f"{path}: page missing 'id'"
# File basename should match page id (modulo .yaml extension).
expected_id = os.path.splitext(fn)[0]
assert doc["id"] == expected_id, (
f"{path}: page id '{doc['id']}' must match filename '{expected_id}'"
)
def test_vehicle_page_kind(self):
"""vehicle.yaml must declare kind: vehicle so it routes to vehicle_settings."""
path = os.path.join(DEFAULT_SRC, "pages", "vehicle.yaml")
with open(path) as f:
doc = yaml.safe_load(f)
assert doc.get("kind") == "vehicle", "vehicle.yaml must declare kind: vehicle"
sunnypilot/sunnylink/tests/test_settings_changes.py
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"""
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.
Per-bug regression tests for the Raylib-vs-schema parity audit. Each test
isolates one of the gating bugs that the design-overhaul branch fixes so a
future regression is loud and obvious. These tests are intentionally narrow
and additive — they do not replace the broader test_settings_schema.py.
"""
from __future__ import annotations
import json
import os
from typing import Any
import pytest
from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
DEFINITION_PATH,
TORQUE_VERSIONS_PATH,
_build_torque_options,
_load_torque_versions,
generate_schema,
)
SCHEMA_VALIDATOR_PATH = os.path.join(os.path.dirname(DEFINITION_PATH), "settings_ui.schema.json")
def _walk_items(schema: dict[str, Any]):
"""Yield every item dict from the schema."""
def _yield(item: dict[str, Any]):
yield item
for sub in item.get("sub_items", []):
yield from _yield(sub)
for panel in schema.get("panels", []):
for section in panel.get("sections", []):
for item in section.get("items", []):
yield from _yield(item)
for sp in section.get("sub_panels", []):
for item in sp.get("items", []):
yield from _yield(item)
for item in panel.get("items", []):
yield from _yield(item)
for sp in panel.get("sub_panels", []):
for item in sp.get("items", []):
yield from _yield(item)
for brand in schema.get("vehicle_settings", {}).values():
items = brand.get("items", []) if isinstance(brand, dict) else brand
for item in items:
yield from _yield(item)
def _find_item(schema: dict[str, Any], key: str) -> dict[str, Any] | None:
for item in _walk_items(schema):
if item.get("key") == key:
return item
return None
def _find_section(schema: dict[str, Any], panel_id: str, section_id: str) -> dict[str, Any] | None:
for panel in schema.get("panels", []):
if panel.get("id") != panel_id:
continue
for section in panel.get("sections", []):
if section.get("id") == section_id:
return section
return None
def _flatten_rule_types(rules: list[dict[str, Any]] | None) -> set[str]:
out: set[str] = set()
def _walk(rule: dict[str, Any]) -> None:
out.add(rule.get("type", ""))
if rule.get("type") == "not" and "condition" in rule:
_walk(rule["condition"])
elif rule.get("type") in ("any", "all"):
for c in rule.get("conditions", []):
_walk(c)
for rule in rules or []:
_walk(rule)
return out
def _references_capability_field(rules: list[dict[str, Any]] | None, field: str) -> bool:
found = False
def _walk(rule: dict[str, Any]) -> None:
nonlocal found
if rule.get("type") == "capability" and rule.get("field") == field:
found = True
elif rule.get("type") == "not" and "condition" in rule:
_walk(rule["condition"])
elif rule.get("type") in ("any", "all"):
for c in rule.get("conditions", []):
_walk(c)
for rule in rules or []:
_walk(rule)
return found
@pytest.fixture(scope="module")
def schema():
return generate_schema()
class TestMadsBrandGates:
def test_mads_main_cruise_has_brand_gate(self, schema):
"""MadsMainCruiseAllowed must gate on brand and tesla_has_vehicle_bus."""
item = _find_item(schema, "MadsMainCruiseAllowed")
assert item is not None
assert _references_capability_field(item.get("enablement"), "brand")
assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
def test_mads_unified_engagement_has_brand_gate(self, schema):
"""MadsUnifiedEngagementMode must mirror MadsMainCruiseAllowed brand-gate."""
item = _find_item(schema, "MadsUnifiedEngagementMode")
assert item is not None
assert _references_capability_field(item.get("enablement"), "brand")
assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
class TestTestManeuversSection:
def test_lateral_maneuver_mode_in_test_maneuvers(self, schema):
section = _find_section(schema, "developer", "test_maneuvers")
assert section is not None, "developer.test_maneuvers section missing"
keys = {item["key"] for item in section.get("items", [])}
assert "LateralManeuverMode" in keys
assert "LongitudinalManeuverMode" in keys
def test_test_maneuvers_section_requires_attestation(self, schema):
section = _find_section(schema, "developer", "test_maneuvers")
assert section is not None
assert section.get("attestation_required") is True
def test_test_maneuvers_section_visibility_gate(self, schema):
section = _find_section(schema, "developer", "test_maneuvers")
assert section is not None
visibility = section.get("visibility")
assert visibility, "test_maneuvers must have visibility gate"
vis_refs = json.dumps(visibility)
assert "is_development" in vis_refs
assert "is_sp_release" in vis_refs
enablement = section.get("enablement") or []
enable_refs = json.dumps(enablement)
assert "ShowAdvancedControls" in enable_refs, \
"test_maneuvers must gate ShowAdvancedControls via enablement"
class TestValidator:
def test_validator_accepts_real_json(self):
"""settings_ui.json validates against settings_ui.schema.json."""
jsonschema = pytest.importorskip("jsonschema")
with open(DEFINITION_PATH) as f:
data = json.load(f)
with open(SCHEMA_VALIDATOR_PATH) as f:
validator = json.load(f)
jsonschema.validate(instance=data, schema=validator)
class TestTorqueOptionGeneration:
def test_torque_versions_match_generated_options(self, schema):
versions = _load_torque_versions()
assert versions, "latcontrol_torque_versions.json must have at least one version"
expected = _build_torque_options(versions)
item = _find_item(schema, "TorqueControlTune")
assert item is not None, "TorqueControlTune item must be present"
assert item.get("options") == expected
def test_torque_versions_path_resolves(self):
assert os.path.exists(TORQUE_VERSIONS_PATH), (
f"latcontrol_torque_versions.json not found at {TORQUE_VERSIONS_PATH}"
)
class TestReleaseBranchGates:
@pytest.mark.parametrize("key", [
"EnableGithubRunner",
"QuickBootToggle",
])
def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
"""sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
item = _find_item(schema, key)
assert item is not None, f"{key} not found in schema"
rules = (item.get("visibility") or []) + (item.get("enablement") or [])
assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
class TestSpuriousOffroadGatesDropped:
def test_disengage_on_accelerator_has_no_offroad_only(self, schema):
item = _find_item(schema, "DisengageOnAccelerator")
assert item is not None
assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
def test_dynamic_experimental_has_no_offroad_only(self, schema):
item = _find_item(schema, "DynamicExperimentalControl")
assert item is not None
assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
class TestNotEngagedReplacement:
@pytest.mark.parametrize("key", [
"AlphaLongitudinalEnabled",
"ToyotaEnforceStockLongitudinal",
"ToyotaStopAndGoHack",
])
def test_offroad_only_replaced_with_not_engaged(self, schema, key):
"""These items should use not_engaged, not offroad_only."""
item = _find_item(schema, key)
assert item is not None, f"{key} not found"
rule_types = _flatten_rule_types(item.get("enablement"))
assert "offroad_only" not in rule_types, f"{key} still uses offroad_only"
assert "not_engaged" in rule_types, f"{key} missing not_engaged"
sunnypilot/sunnylink/tests/test_settings_schema.py
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"""
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 json
import pytest
from openpilot.common.params import Params
from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
SCHEMA_VERSION,
generate_schema,
generate_schema_json,
collect_all_keys,
collect_capability_refs,
)
from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
VALID_WIDGET_TYPES = {"toggle", "option", "multiple_button", "button", "info"}
VALID_RULE_TYPES = {"offroad_only", "not_engaged", "capability", "param", "param_compare", "not", "any", "all"}
VALID_COMPARE_OPS = {">", "<", ">=", "<="}
MAX_ALLOWED_MISSING_TITLES = 0 # All items must have titles (metadata is inline in settings_ui.json)
def _iter_panel_items(panel: dict):
"""Yield top-level items from a panel (non-recursive)."""
for item in panel.get("items", []):
yield item
for sp in panel.get("sub_panels", []):
for item in sp.get("items", []):
yield item
for section in panel.get("sections", []):
for item in section.get("items", []):
yield item
for sp in section.get("sub_panels", []):
for item in sp.get("items", []):
yield item
def _iter_all_sub_panels(panel: dict):
"""Yield all sub_panels from a panel and its sections."""
yield from panel.get("sub_panels", [])
for section in panel.get("sections", []):
yield from section.get("sub_panels", [])
def _brand_items(brand_data) -> list[dict]:
"""Extract items from vehicle_settings[brand] (handles dict or list)."""
if isinstance(brand_data, dict):
return brand_data.get("items", [])
if isinstance(brand_data, list):
return brand_data
return []
@pytest.fixture(scope="module")
def schema():
return generate_schema()
@pytest.fixture(scope="module")
def all_param_keys():
"""All keys registered in the device param store."""
return {k.decode("utf-8") for k in Params().all_keys()}
class TestSchemaStructure:
def test_schema_is_valid_json(self):
"""Schema serializes to valid JSON."""
raw = generate_schema_json()
parsed = json.loads(raw)
assert isinstance(parsed, dict)
def test_has_required_top_level_fields(self, schema):
assert "schema_version" in schema
assert schema["schema_version"] == SCHEMA_VERSION
assert "generated_at" in schema
assert "panels" in schema
assert "vehicle_settings" in schema
assert "capability_fields" in schema
def test_panels_are_list(self, schema):
assert isinstance(schema["panels"], list)
assert len(schema["panels"]) > 0
def test_all_panels_have_required_fields(self, schema):
for panel in schema["panels"]:
assert "id" in panel, f"Panel missing 'id': {panel}"
assert "label" in panel, f"Panel {panel.get('id')} missing 'label'"
assert "order" in panel, f"Panel {panel.get('id')} missing 'order'"
has_sections = "sections" in panel
has_items = "items" in panel
assert has_sections or has_items, \
f"Panel {panel['id']} must have 'sections' or 'items'"
if has_sections:
assert isinstance(panel["sections"], list)
for sec in panel["sections"]:
assert "id" in sec, f"Section in panel {panel['id']} missing 'id'"
assert "items" in sec, f"Section {panel['id']}.{sec.get('id')} missing 'items'"
assert isinstance(sec["items"], list)
if has_items:
assert isinstance(panel["items"], list)
def test_all_items_have_key_and_widget(self, schema):
for panel in schema["panels"]:
for item in _iter_panel_items(panel):
assert "key" in item, f"Item in panel {panel['id']} missing 'key'"
assert "widget" in item, f"Item {item.get('key')} missing 'widget'"
assert item["widget"] in VALID_WIDGET_TYPES, \
f"Item {item['key']} has invalid widget type: {item['widget']}"
def test_sub_panel_items_have_key_and_widget(self, schema):
for panel in schema["panels"]:
for sp in _iter_all_sub_panels(panel):
assert "id" in sp
assert "items" in sp
for item in sp["items"]:
assert "key" in item
assert "widget" in item
assert item["widget"] in VALID_WIDGET_TYPES
def test_vehicle_settings_structure(self, schema):
vs = schema["vehicle_settings"]
assert isinstance(vs, dict)
for brand, data in vs.items():
assert isinstance(brand, str)
assert isinstance(data, dict), \
f"vehicle_settings[{brand}] must be a dict {{title, items, ...}}"
assert "items" in data, f"vehicle_settings[{brand}] missing 'items'"
assert isinstance(data["items"], list)
for item in data["items"]:
assert "key" in item, f"Vehicle item for {brand} missing 'key'"
assert "widget" in item, f"Vehicle item {item.get('key')} missing 'widget'"
def test_no_duplicate_keys_across_panels(self, schema):
"""Param keys should appear in at most one panel."""
seen: dict[str, str] = {} # key -> panel_id
for panel in schema["panels"]:
for item in _iter_panel_items(panel):
key = item["key"]
if key in seen:
pytest.fail(f"Key '{key}' appears in both panel '{seen[key]}' and '{panel['id']}'")
seen[key] = panel["id"]
for sub in item.get("sub_items", []):
sub_key = sub["key"]
if sub_key in seen:
pytest.fail(f"Sub-item key '{sub_key}' appears in both '{seen[sub_key]}' and '{panel['id']}'")
seen[sub_key] = panel["id"]
class TestSchemaCoverage:
def test_all_schema_keys_exist_in_params(self, schema, all_param_keys):
"""Schema keys must exist in Params().all_keys()."""
schema_keys = collect_all_keys(schema)
missing = schema_keys - all_param_keys
assert not missing, f"Schema references keys not in Params: {missing}"
def test_all_capability_fields_are_declared(self, schema):
"""Capability fields used in rules must be declared."""
declared = set(schema["capability_fields"])
referenced = collect_capability_refs(schema)
undeclared = referenced - declared
assert not undeclared, f"Rules reference undeclared capability fields: {undeclared}"
def test_capability_fields_match_constant(self, schema):
"""Schema capability_fields must match CAPABILITY_FIELDS constant."""
assert set(schema["capability_fields"]) == set(CAPABILITY_FIELDS)
class TestRuleWellFormedness:
def _validate_rule(self, rule: dict, context: str = ""):
"""Recursively validate a single rule dict."""
assert "type" in rule, f"Rule missing 'type' in {context}"
rtype = rule["type"]
assert rtype in VALID_RULE_TYPES, f"Invalid rule type '{rtype}' in {context}"
if rtype == "capability":
assert "field" in rule, f"Capability rule missing 'field' in {context}"
assert "equals" in rule, f"Capability rule missing 'equals' in {context}"
elif rtype == "param":
assert "key" in rule, f"Param rule missing 'key' in {context}"
assert "equals" in rule, f"Param rule missing 'equals' in {context}"
elif rtype == "param_compare":
assert "key" in rule, f"Param compare rule missing 'key' in {context}"
assert "op" in rule, f"Param compare rule missing 'op' in {context}"
assert rule["op"] in VALID_COMPARE_OPS, f"Invalid op '{rule['op']}' in {context}"
assert "value" in rule, f"Param compare rule missing 'value' in {context}"
elif rtype == "not":
assert "condition" in rule, f"Not rule missing 'condition' in {context}"
self._validate_rule(rule["condition"], context=f"{context} > not")
elif rtype in ("any", "all"):
assert "conditions" in rule, f"{rtype} rule missing 'conditions' in {context}"
assert isinstance(rule["conditions"], list)
for c in rule["conditions"]:
self._validate_rule(c, context=f"{context} > {rtype}")
def _validate_items(self, items: list[dict], context: str):
for item in items:
key = item.get("key", "unknown")
for rules_field in ("visibility", "enablement"):
rules = item.get(rules_field)
if rules:
assert isinstance(rules, list), f"{key}.{rules_field} must be a list"
for rule in rules:
self._validate_rule(rule, context=f"{context}.{key}.{rules_field}")
for sub in item.get("sub_items", []):
self._validate_items([sub], context=f"{context}.{key}")
def _validate_section_rules(self, section: dict, context: str):
for rules_field in ("visibility", "enablement"):
rules = section.get(rules_field) or []
for rule in rules:
self._validate_rule(rule, context=f"{context}.{rules_field}")
def test_all_panel_rules_well_formed(self, schema):
for panel in schema["panels"]:
self._validate_items(list(_iter_panel_items(panel)), context=f"panel:{panel['id']}")
for sp in _iter_all_sub_panels(panel):
self._validate_items(sp["items"], context=f"subpanel:{sp['id']}")
for section in panel.get("sections", []):
self._validate_section_rules(section, context=f"section:{panel['id']}.{section['id']}")
def test_all_vehicle_rules_well_formed(self, schema):
for brand, data in schema["vehicle_settings"].items():
self._validate_items(_brand_items(data), context=f"vehicle:{brand}")
def test_no_self_referencing_visibility(self, schema):
"""An item's visibility/enablement rules should not depend on its own key."""
def _check_self_ref(item: dict, rules_field: str):
key = item.get("key")
for rule in item.get(rules_field, []):
if rule.get("type") == "param" and rule.get("key") == key:
pytest.fail(f"Item {key} has self-referencing {rules_field} rule")
for panel in schema["panels"]:
for item in _iter_panel_items(panel):
_check_self_ref(item, "visibility")
_check_self_ref(item, "enablement")
for brand_data in schema.get("vehicle_settings", {}).values():
for item in _brand_items(brand_data):
_check_self_ref(item, "visibility")
_check_self_ref(item, "enablement")
class TestKnownPanels:
def test_expected_panels_exist(self, schema):
panel_ids = {p["id"] for p in schema["panels"]}
expected = {"steering", "cruise", "display", "visuals", "device", "software", "developer"}
assert expected.issubset(panel_ids), f"Missing panels: {expected - panel_ids}"
def test_mads_sub_panel_exists(self, schema):
steering = next(p for p in schema["panels"] if p["id"] == "steering")
sub_ids = {sp["id"] for sp in _iter_all_sub_panels(steering)}
assert "mads_settings" in sub_ids
def test_mutual_exclusion_torque_nnlc(self, schema):
"""EnforceTorqueControl and NNLC must reference each other in enablement."""
torque = nnlc = None
for panel in schema["panels"]:
for item in _iter_panel_items(panel):
if item["key"] == "EnforceTorqueControl":
torque = item
elif item["key"] == "NeuralNetworkLateralControl":
nnlc = item
assert torque is not None, "EnforceTorqueControl item missing"
assert nnlc is not None, "NeuralNetworkLateralControl item missing"
torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
assert "NeuralNetworkLateralControl" in torque_enable_keys
nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
assert "EnforceTorqueControl" in nnlc_enable_keys
class TestKnownVehicleSettings:
def test_hyundai_has_longitudinal_tuning(self, schema):
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("hyundai"))}
assert "HyundaiLongitudinalTuning" in keys
def test_toyota_has_enforce_stock_and_stop_go(self, schema):
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
assert "ToyotaEnforceStockLongitudinal" in keys
assert "ToyotaStopAndGoHack" in keys
def test_tesla_has_coop_steering(self, schema):
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}
assert "TeslaCoopSteering" in keys
def test_subaru_has_stop_and_go(self, schema):
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("subaru"))}
assert "SubaruStopAndGo" in keys
assert "SubaruStopAndGoManualParkingBrake" in keys
class TestItemCompleteness:
def _collect_all_items(self, schema):
"""Collect all items and sub_items from panels and vehicle_settings."""
items = []
for panel in schema["panels"]:
for item in _iter_panel_items(panel):
items.append(item)
for sub in item.get("sub_items", []):
items.append(sub)
for brand_data in schema.get("vehicle_settings", {}).values():
for item in _brand_items(brand_data):
items.append(item)
for sub in item.get("sub_items", []):
items.append(sub)
return items
def test_all_items_have_titles(self, schema):
"""All items must have titles."""
missing = [i["key"] for i in self._collect_all_items(schema) if "title" not in i]
if len(missing) > MAX_ALLOWED_MISSING_TITLES:
pytest.fail(f"Items without titles ({len(missing)}): {missing[:10]}")
def test_no_default_titles(self, schema):
"""Item titles must differ from keys."""
defaults = [i["key"] for i in self._collect_all_items(schema) if i.get("title") == i["key"]]
assert not defaults, f"Items with default titles (title == key): {defaults}"
def test_options_structure(self, schema):
"""Options must be a list of {value, label} dicts."""
for item in self._collect_all_items(schema):
opts = item.get("options")
if opts is None:
continue
assert isinstance(opts, list), f"{item['key']}: options must be a list"
for opt in opts:
assert isinstance(opt, dict), f"{item['key']}: each option must be a dict"
assert "value" in opt, f"{item['key']}: option missing 'value': {opt}"
assert "label" in opt, f"{item['key']}: option missing 'label': {opt}"
def test_numeric_constraints(self, schema):
"""If any of min/max/step is present, all three must be, and min < max."""
for item in self._collect_all_items(schema):
has_min = "min" in item
has_max = "max" in item
has_step = "step" in item
if has_min or has_max or has_step:
assert has_min and has_max and has_step, \
f"{item['key']}: must have all of min/max/step or none"
assert item["min"] < item["max"], \
f"{item['key']}: min ({item['min']}) must be < max ({item['max']})"
def test_known_param_has_options(self, schema):
"""LongitudinalPersonality should have 3 options."""
cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
lp = next((i for i in _iter_panel_items(cruise) if i["key"] == "LongitudinalPersonality"), None)
assert lp is not None
assert "options" in lp
assert len(lp["options"]) == 3
sunnypilot/sunnylink/tools/apply_macros.py
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#!/usr/bin/env python3
"""
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.
Scans all per-page YAML files in settings_ui_src/pages/ and replaces inlined
rule blocks that exactly match a macro definition in _macros.yaml with $ref
references.
Match policy:
- Whole-list match (exact): replace the entire list with [{$ref}].
- Single-rule match: any individual rule whose canonical form equals macro[0]
(when macro is exactly one rule) is replaced with {$ref}.
Re-run is idempotent (already-substituted $refs are skipped).
Usage:
python apply_macros.py [--src DIR] [--dry-run]
"""
from __future__ import annotations
import argparse
import json
import os
import sys
import yaml
DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
class _BlockDumper(yaml.SafeDumper):
pass
def _represent_dict(dumper, data):
return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
def _represent_list(dumper, data):
flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
_BlockDumper.add_representer(dict, _represent_dict)
_BlockDumper.add_representer(list, _represent_list)
def _dump_yaml(data) -> str:
return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
def _canon(node) -> str:
return json.dumps(node, sort_keys=True, separators=(",", ":"))
def _is_ref(node) -> bool:
return isinstance(node, dict) and len(node) == 1 and "$ref" in node
def _make_ref(name: str) -> dict:
return {"$ref": f"#/macros/{name}"}
def _substitute_rules(rules: list, whole_list: dict, single_rule: dict) -> list:
if not isinstance(rules, list) or not rules:
return rules
full_canon = _canon(rules)
if full_canon in whole_list:
return [_make_ref(whole_list[full_canon])]
out = []
for r in rules:
if _is_ref(r):
out.append(r)
continue
rc = _canon(r)
if rc in single_rule:
out.append(_make_ref(single_rule[rc]))
else:
out.append(r)
return out
def _walk_item(item: dict, whole_list: dict, single_rule: dict) -> bool:
changed = False
for ctx in ("visibility", "enablement"):
if ctx in item:
new = _substitute_rules(item[ctx], whole_list, single_rule)
if new != item[ctx]:
item[ctx] = new
changed = True
if "options" in item:
for opt in item["options"]:
if not isinstance(opt, dict):
continue
for ctx in ("visibility", "enablement"):
if ctx in opt:
new = _substitute_rules(opt[ctx], whole_list, single_rule)
if new != opt[ctx]:
opt[ctx] = new
changed = True
if "sub_items" in item:
for sub in item["sub_items"]:
if _walk_item(sub, whole_list, single_rule):
changed = True
return changed
def _walk_page(page: dict, whole_list: dict, single_rule: dict) -> bool:
changed = False
for sec in page.get("sections", []) or []:
for ctx in ("visibility", "enablement"):
if ctx in sec:
new = _substitute_rules(sec[ctx], whole_list, single_rule)
if new != sec[ctx]:
sec[ctx] = new
changed = True
for it in sec.get("items", []) or []:
if _walk_item(it, whole_list, single_rule):
changed = True
for sp in sec.get("sub_panels", []) or []:
for it in sp.get("items", []) or []:
if _walk_item(it, whole_list, single_rule):
changed = True
for it in page.get("items", []) or []:
if _walk_item(it, whole_list, single_rule):
changed = True
for sp in page.get("sub_panels", []) or []:
for it in sp.get("items", []) or []:
if _walk_item(it, whole_list, single_rule):
changed = True
return changed
def _build_macro_indices(macros: dict) -> tuple[dict, dict]:
whole_list = {}
single_rule = {}
for name, body in macros.items():
if isinstance(body, list):
whole_list[_canon(body)] = name
if len(body) == 1 and isinstance(body[0], dict):
single_rule[_canon(body[0])] = name
elif isinstance(body, dict):
single_rule[_canon(body)] = name
return whole_list, single_rule
def _read_yaml_with_header(path: str) -> tuple[list[str], dict]:
with open(path) as f:
text = f.read()
header_lines = []
for line in text.splitlines(keepends=True):
if line.startswith("#"):
header_lines.append(line)
elif line.strip() == "":
header_lines.append(line)
else:
break
doc = yaml.safe_load(text) or {}
return header_lines, doc
def _write_yaml_with_header(path: str, header: list[str], doc: dict) -> None:
with open(path, "w") as f:
if header:
# Keep at most one trailing blank line in header
while len(header) > 1 and header[-1].strip() == "" and header[-2].strip() == "":
header.pop()
for line in header:
f.write(line)
f.write(_dump_yaml(doc))
def apply(src_dir: str, dry_run: bool) -> int:
with open(os.path.join(src_dir, "_macros.yaml")) as f:
macros_doc = yaml.safe_load(f) or {}
macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
whole_list, single_rule = _build_macro_indices(macros)
changed_files = 0
pages_dir = os.path.join(src_dir, "pages")
if os.path.isdir(pages_dir):
for fn in sorted(os.listdir(pages_dir)):
if not fn.endswith((".yaml", ".yml")) or fn.startswith("_"):
continue
path = os.path.join(pages_dir, fn)
header, doc = _read_yaml_with_header(path)
if _walk_page(doc, whole_list, single_rule):
changed_files += 1
if not dry_run:
_write_yaml_with_header(path, header, doc)
else:
print(f"would-rewrite: {path}")
print(f"{'Would rewrite' if dry_run else 'Rewrote'} {changed_files} files")
return 0
def _main() -> int:
parser = argparse.ArgumentParser(description="Substitute inlined rule blocks with $ref macros across pages/.")
parser.add_argument("--src", default=DEFAULT_SRC)
parser.add_argument("--dry-run", action="store_true")
args = parser.parse_args()
return apply(args.src, args.dry_run)
if __name__ == "__main__":
sys.exit(_main())
sunnypilot/sunnylink/tools/compile_settings_ui.py
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#!/usr/bin/env python3
"""
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.
Reads settings_ui_src/ (the dev-friendly authoring tree) and emits the
canonical settings_ui.json that the device generator + frontend consume.
Source layout:
_macros.yaml # named rule fragments
pages/<page_id>.yaml # one file per panel/page
pages/vehicle.yaml # special: emits vehicle_settings
Each page.yaml contains the full panel: metadata + sections + items + sub_panels
inline. Sub-panels are nested inside the section they belong to. Items appear
in the order written in the file.
Macro references use JSON-Schema-style $ref pointers:
enablement:
- {$ref: "#/macros/offroad"}
- {$ref: "#/macros/mads_full_platforms"}
Macros may reference other macros (max depth 3). Cycles raise an error.
Usage:
python compile_settings_ui.py [--src DIR] [--out PATH] [--check]
"""
from __future__ import annotations
import argparse
import copy
import json
import os
import sys
import yaml
DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
DEFAULT_OUT = os.path.join(DIR, "settings_ui.json")
SCHEMA_VERSION = "1.0"
MAX_MACRO_DEPTH = 3
class CompileError(Exception):
pass
def _load_yaml(path: str):
with open(path) as f:
return yaml.safe_load(f) or {}
def _is_ref(node) -> bool:
return isinstance(node, dict) and len(node) == 1 and "$ref" in node
def _ref_name(node: dict) -> str:
ref = node["$ref"]
if not isinstance(ref, str) or not ref.startswith("#/macros/"):
raise CompileError(f"unsupported $ref: {ref!r} (must start with '#/macros/')")
return ref[len("#/macros/"):]
def _resolve_refs(node, macros: dict, visiting: tuple[str, ...] = ()):
"""Resolve $ref nodes against macros. Recursive; depth-limited; cycle-safe.
- $ref in list-context: macro's list spliced into parent list.
- $ref in scalar-context (object value): macro's value substitutes.
- Non-list macro values may not be referenced from list contexts.
"""
if _is_ref(node):
name = _ref_name(node)
if name in visiting:
raise CompileError(f"$ref cycle: {' -> '.join(visiting + (name,))}")
if len(visiting) >= MAX_MACRO_DEPTH:
raise CompileError(f"$ref nesting exceeds depth {MAX_MACRO_DEPTH}: {' -> '.join(visiting + (name,))}")
if name not in macros:
raise CompileError(f"unknown macro: {name}")
return _resolve_refs(copy.deepcopy(macros[name]), macros, visiting + (name,))
if isinstance(node, dict):
return {k: _resolve_refs(v, macros, visiting) for k, v in node.items()}
if isinstance(node, list):
out = []
for item in node:
if _is_ref(item):
resolved = _resolve_refs(item, macros, visiting)
if not isinstance(resolved, list):
raise CompileError(
f"macro '{_ref_name(item)}' must resolve to a list when used in a list context"
)
out.extend(resolved)
else:
out.append(_resolve_refs(item, macros, visiting))
return out
return node
# Output JSON key order. Mirrors the conventions in the original hand-written
# settings_ui.json so structural diffs after extraction are minimal.
_ITEM_KEY_ORDER = [
"key",
"widget",
"needs_onroad_cycle",
"requires_attestation",
"blocked",
"title",
"description",
"details",
"title_param_suffix",
"min",
"max",
"step",
"unit",
"options",
"visibility",
"enablement",
"sub_items",
]
def _canon_item(item: dict, macros: dict) -> dict:
resolved = dict(item)
for ctx in ("visibility", "enablement"):
if ctx in resolved:
resolved[ctx] = _resolve_refs(resolved[ctx], macros)
if "options" in resolved:
new_opts = []
for opt in resolved["options"]:
if isinstance(opt, dict):
opt = dict(opt)
for ctx in ("visibility", "enablement"):
if ctx in opt:
opt[ctx] = _resolve_refs(opt[ctx], macros)
new_opts.append(opt)
resolved["options"] = new_opts
if "sub_items" in resolved:
resolved["sub_items"] = [_canon_item(s, macros) for s in resolved["sub_items"]]
out: dict = {}
for k in _ITEM_KEY_ORDER:
if k in resolved:
out[k] = resolved[k]
for k, v in resolved.items():
if k not in out:
out[k] = v
return out
def _canon_section(section: dict, macros: dict) -> dict:
out: dict = {"id": section["id"], "title": section["title"]}
if "description" in section:
out["description"] = section["description"]
for k in ("visibility", "enablement"):
if k in section:
out[k] = _resolve_refs(section[k], macros)
if "attestation_required" in section:
out["attestation_required"] = section["attestation_required"]
out["items"] = [_canon_item(i, macros) for i in section.get("items", [])]
if "sub_panels" in section and section["sub_panels"]:
out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in section["sub_panels"]]
for k, v in section.items():
if k not in out and k != "order":
out[k] = v
return out
def _canon_sub_panel(sp: dict, macros: dict) -> dict:
out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
if "trigger_condition" in sp:
out["trigger_condition"] = _resolve_refs(sp["trigger_condition"], macros)
out["items"] = [_canon_item(i, macros) for i in sp.get("items", [])]
for k, v in sp.items():
if k not in out:
out[k] = v
return out
def _canon_panel(page: dict, macros: dict) -> dict:
out: dict = {
"id": page["id"],
"label": page["label"],
"icon": page["icon"],
"order": page["order"],
}
if "remote_configurable" in page:
out["remote_configurable"] = page["remote_configurable"]
if "description" in page:
out["description"] = page["description"]
if "sections" in page and page["sections"]:
out["sections"] = [_canon_section(s, macros) for s in page["sections"]]
if "items" in page and page["items"]:
out["items"] = [_canon_item(i, macros) for i in page["items"]]
if "sub_panels" in page and page["sub_panels"]:
out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in page["sub_panels"]]
return out
def _canon_vehicle(page: dict, macros: dict) -> dict:
"""Convert page-shape vehicle.yaml to wire-format vehicle_settings dict."""
out: dict = {}
for sec in page.get("sections", []):
brand = sec["id"]
brand_out: dict = {"title": sec.get("title", "")}
if "description" in sec:
brand_out["description"] = sec["description"]
brand_out["items"] = [_canon_item(i, macros) for i in sec.get("items", [])]
out[brand] = brand_out
return out
def _load_pages(src: str) -> list[dict]:
pages_dir = os.path.join(src, "pages")
if not os.path.isdir(pages_dir):
return []
pages = []
for fn in sorted(os.listdir(pages_dir)):
if not fn.endswith((".yaml", ".yml")):
continue
if fn.startswith("_"):
continue
path = os.path.join(pages_dir, fn)
page = _load_yaml(path)
if not isinstance(page, dict):
raise CompileError(f"{path}: page YAML must be an object")
if "id" not in page:
raise CompileError(f"{path}: page missing 'id'")
page["__source"] = path
pages.append(page)
return pages
def compile_schema(src: str) -> dict:
macros_doc = _load_yaml(os.path.join(src, "_macros.yaml"))
macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
pages = _load_pages(src)
panels_out = []
vehicle_out: dict = {}
# Order panels by `order` field (falling back to file position).
panel_pages = [p for p in pages if p.get("kind") != "vehicle"]
panel_pages.sort(key=lambda p: (p.get("order", 999), p["id"]))
for page in panel_pages:
panels_out.append(_canon_panel(page, macros))
for page in pages:
if page.get("kind") == "vehicle":
vehicle_out = _canon_vehicle(page, macros)
return {
"$schema": "./settings_ui.schema.json",
"schema_version": SCHEMA_VERSION,
"panels": panels_out,
"vehicle_settings": vehicle_out,
}
def _main() -> int:
parser = argparse.ArgumentParser(description="Compile settings_ui_src/ -> settings_ui.json")
parser.add_argument("--src", default=DEFAULT_SRC)
parser.add_argument("--out", default=DEFAULT_OUT)
parser.add_argument("--check", action="store_true",
help="Compile and diff against existing settings_ui.json; exit non-zero on diff.")
args = parser.parse_args()
schema = compile_schema(args.src)
rendered = json.dumps(schema, indent=2) + "\n"
if args.check:
if not os.path.exists(args.out):
print(f"--check: {args.out} does not exist", file=sys.stderr)
return 1
with open(args.out) as f:
current = f.read()
if current.strip() == rendered.strip():
print(f"--check: {args.out} matches compiled output")
return 0
print(f"--check: {args.out} differs from compiled output", file=sys.stderr)
cur_obj = json.loads(current)
if cur_obj == schema:
print("(structurally equal; only formatting differs)", file=sys.stderr)
return 1
with open(args.out, "w") as f:
f.write(rendered)
print(f"Wrote {args.out}")
return 0
if __name__ == "__main__":
sys.exit(_main())
sunnypilot/sunnylink/tools/extract_settings_ui.py
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#!/usr/bin/env python3
"""
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.
One-shot extractor: settings_ui.json -> settings_ui_src/pages/*.yaml.
Reads the existing monolithic settings_ui.json and produces one YAML file per
page (panel) plus pages/vehicle.yaml for the per-brand settings. Macros remain
unwritten by extract; populate _macros.yaml separately.
Usage:
python extract_settings_ui.py [--src DIR] [--definition PATH]
"""
from __future__ import annotations
import argparse
import json
import os
import shutil
import sys
import yaml
DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
DEFAULT_DEFINITION = os.path.join(DIR, "settings_ui.json")
DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
class _BlockDumper(yaml.SafeDumper):
pass
def _represent_dict(dumper, data):
return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
def _represent_list(dumper, data):
flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
_BlockDumper.add_representer(dict, _represent_dict)
_BlockDumper.add_representer(list, _represent_list)
def _dump_yaml(data) -> str:
return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
# Item field order in per-page YAML (mirrors settings_ui.json conventions).
_ITEM_ORDER = [
"key",
"widget",
"needs_onroad_cycle",
"requires_attestation",
"blocked",
"title",
"description",
"details",
"title_param_suffix",
"min",
"max",
"step",
"unit",
"options",
"visibility",
"enablement",
"sub_items",
]
def _ordered_item(item: dict) -> dict:
out: dict = {}
for k in _ITEM_ORDER:
if k in item:
v = item[k]
if k == "sub_items":
v = [_ordered_item(s) for s in v]
out[k] = v
for k, v in item.items():
if k not in out:
out[k] = v
return out
def _ordered_section(section: dict) -> dict:
out: dict = {"id": section["id"], "title": section["title"]}
for f in ("description", "order", "visibility", "enablement", "attestation_required"):
if f in section:
out[f] = section[f]
if "items" in section:
out["items"] = [_ordered_item(i) for i in section["items"]]
if "sub_panels" in section and section["sub_panels"]:
out["sub_panels"] = [_ordered_sub_panel(sp) for sp in section["sub_panels"]]
for k, v in section.items():
if k not in out:
out[k] = v
return out
def _ordered_sub_panel(sp: dict) -> dict:
out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
if "trigger_condition" in sp:
out["trigger_condition"] = sp["trigger_condition"]
if "items" in sp:
out["items"] = [_ordered_item(i) for i in sp["items"]]
for k, v in sp.items():
if k not in out:
out[k] = v
return out
def _ordered_page(panel: dict) -> dict:
out: dict = {
"id": panel["id"],
"label": panel["label"],
"icon": panel["icon"],
"order": panel["order"],
}
for f in ("remote_configurable", "description"):
if f in panel:
out[f] = panel[f]
if "sections" in panel and panel["sections"]:
out["sections"] = [_ordered_section(s) for s in panel["sections"]]
if "items" in panel and panel["items"]:
out["items"] = [_ordered_item(i) for i in panel["items"]]
if "sub_panels" in panel and panel["sub_panels"]:
out["sub_panels"] = [_ordered_sub_panel(sp) for sp in panel["sub_panels"]]
for k, v in panel.items():
if k not in out:
out[k] = v
return out
def _ordered_vehicle_page(vehicle_settings: dict) -> dict:
"""Convert wire-format vehicle_settings dict into a page-shape YAML.
Brand becomes a section id. Each brand's items become section items.
"""
sections = []
for brand in sorted(vehicle_settings.keys()):
bd = vehicle_settings[brand]
items = bd.get("items", []) if isinstance(bd, dict) else bd
sec: dict = {
"id": brand,
"title": bd.get("title", "") if isinstance(bd, dict) else "",
}
if isinstance(bd, dict) and "description" in bd:
sec["description"] = bd["description"]
sec["items"] = [_ordered_item(i) for i in items]
sections.append(sec)
return {
"id": "vehicle",
"label": "Vehicle",
"icon": "vehicle",
"order": 99,
"kind": "vehicle", # signals to compiler: emit as vehicle_settings, not panels
"sections": sections,
}
def extract(definition_path: str, src_dir: str) -> None:
with open(definition_path) as f:
data = json.load(f)
pages_dir = os.path.join(src_dir, "pages")
if os.path.isdir(pages_dir):
shutil.rmtree(pages_dir)
os.makedirs(pages_dir)
count = 0
for panel in data.get("panels", []):
page = _ordered_page(panel)
path = os.path.join(pages_dir, f"{panel['id']}.yaml")
with open(path, "w") as f:
f.write(f"# Page: {panel['id']}\n")
f.write("# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.\n")
f.write(_dump_yaml(page))
count += 1
vehicle_settings = data.get("vehicle_settings", {})
if vehicle_settings:
vehicle_page = _ordered_vehicle_page(vehicle_settings)
path = os.path.join(pages_dir, "vehicle.yaml")
with open(path, "w") as f:
f.write("# Page: vehicle (per-brand settings)\n")
f.write("# Compiles to settings_ui.json#vehicle_settings (brand = section id).\n")
f.write(_dump_yaml(vehicle_page))
count += 1
# Ensure _macros.yaml exists
macros_path = os.path.join(src_dir, "_macros.yaml")
if not os.path.exists(macros_path):
with open(macros_path, "w") as f:
f.write("# Named rule fragments. Reference from pages via {$ref: \"#/macros/<name>\"}.\n")
f.write(_dump_yaml({"macros": {}}))
print(f"Extracted: {count} pages -> {pages_dir}")
def _main() -> int:
parser = argparse.ArgumentParser(description="Extract settings_ui.json into per-page YAML files.")
parser.add_argument("--definition", default=DEFAULT_DEFINITION, help="path to settings_ui.json")
parser.add_argument("--src", default=DEFAULT_SRC, help="path to settings_ui_src/ output dir")
args = parser.parse_args()
extract(args.definition, args.src)
return 0
if __name__ == "__main__":
sys.exit(_main())
sunnypilot/sunnylink/tools/generate_settings_schema.py
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#!/usr/bin/env python3
"""
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 __future__ import annotations
import base64
import datetime
import gzip
import json
import os
from collections.abc import Callable
from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS, CAPABILITY_LABELS
SCHEMA_VERSION = "1.0"
_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
DEFINITION_PATH = os.path.join(_DIR, "settings_ui.json")
TORQUE_VERSIONS_PATH = os.path.normpath(
os.path.join(_DIR, "..", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
)
def _load_torque_versions() -> dict:
"""Load latcontrol_torque_versions.json so TorqueControlTune options stay in sync."""
try:
with open(TORQUE_VERSIONS_PATH) as f:
return json.load(f)
except (FileNotFoundError, json.JSONDecodeError):
return {}
def _build_torque_options(versions: dict) -> list[dict]:
options: list[dict] = [{"value": "", "label": "Default"}]
parsed: list[tuple[float, str]] = []
for label, info in versions.items():
try:
parsed.append((float(info["version"]), label))
except (KeyError, TypeError, ValueError):
continue
for version, label in sorted(parsed, key=lambda kv: kv[0], reverse=True):
options.append({"value": version, "label": label})
return options
def _inject_dynamic_options(schema: dict) -> None:
versions = _load_torque_versions()
if not versions:
return
options = _build_torque_options(versions)
def visitor(item: dict) -> None:
if item.get("key") == "TorqueControlTune":
item["options"] = options
_walk_all_items(schema, visitor)
def _load_definition() -> dict:
"""Load settings_ui.json and inject dynamic options sourced from runtime data files."""
with open(DEFINITION_PATH) as f:
schema = json.load(f)
_inject_dynamic_options(schema)
return schema
# Public API
def generate_schema() -> dict:
"""Return the settings_ui.json content augmented with runtime metadata.
Adds three top-level fields the frontend consumes:
- generated_at: ISO timestamp (drives schema-cache freshness checks)
- capability_fields: declared CAPABILITY_FIELDS, used for rule validation
- capability_labels: human-readable labels for capability_fields
"""
schema = _load_definition()
schema["generated_at"] = datetime.datetime.now(datetime.UTC).isoformat()
schema["capability_fields"] = list(CAPABILITY_FIELDS)
schema["capability_labels"] = dict(CAPABILITY_LABELS)
return schema
def generate_schema_json() -> str:
"""Generate SettingsSchema as a compact JSON string."""
return json.dumps(generate_schema(), separators=(",", ":"))
def generate_schema_compressed() -> str:
"""Generate SettingsSchema as gzip-compressed, base64-encoded string.
Compression pipeline:
1. JSON serialize (compact, no whitespace)
2. UTF-8 encode
3. gzip compress
4. base64 encode
"""
raw = json.dumps(generate_schema(), separators=(",", ":")).encode("utf-8")
return base64.b64encode(gzip.compress(raw)).decode("utf-8")
# Schema introspection utilities
def _walk_rules(rules: list[dict] | None, visitor: Callable[[dict], None]) -> None:
"""Recursively walk all rules, calling visitor on each leaf rule."""
if not rules:
return
for rule in rules:
visitor(rule)
if rule.get("type") == "not" and "condition" in rule:
_walk_rules([rule["condition"]], visitor)
elif rule.get("type") in ("any", "all") and "conditions" in rule:
_walk_rules(rule["conditions"], visitor)
def _walk_all_items(schema: dict, visitor: Callable[[dict], None]) -> None:
"""Walk every item in the schema (panels, sections, sub_panels, sub_items, vehicle_settings)."""
def _visit_item(item: dict) -> None:
visitor(item)
for sub in item.get("sub_items", []):
_visit_item(sub)
for panel in schema.get("panels", []):
# Walk section items (V2)
for section in panel.get("sections", []):
for item in section.get("items", []):
_visit_item(item)
for sp in section.get("sub_panels", []):
for item in sp.get("items", []):
_visit_item(item)
# Walk flat items (V1)
for item in panel.get("items", []):
_visit_item(item)
for sp in panel.get("sub_panels", []):
for item in sp.get("items", []):
_visit_item(item)
for brand_data in schema.get("vehicle_settings", {}).values():
items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
for item in items:
_visit_item(item)
def collect_all_keys(schema: dict) -> set[str]:
"""Collect all param keys referenced in the schema (items + rules)."""
keys: set[str] = set()
def _visit_rule(rule: dict) -> None:
if rule.get("type") in ("param", "param_compare") and "key" in rule:
keys.add(rule["key"])
def _visit_item(item: dict) -> None:
if "key" in item:
keys.add(item["key"])
_walk_rules(item.get("visibility"), _visit_rule)
_walk_rules(item.get("enablement"), _visit_rule)
_walk_all_items(schema, _visit_item)
return keys
def collect_capability_refs(schema: dict) -> set[str]:
"""Collect all capability field names referenced in rules."""
refs: set[str] = set()
def _visit_rule(rule: dict) -> None:
if rule.get("type") == "capability" and "field" in rule:
refs.add(rule["field"])
def _visit_item(item: dict) -> None:
_walk_rules(item.get("visibility"), _visit_rule)
_walk_rules(item.get("enablement"), _visit_rule)
_walk_all_items(schema, _visit_item)
return refs
if __name__ == "__main__":
# CLI: print schema for inspection
schema = generate_schema()
print(json.dumps(schema, indent=2))
print(f"\nTotal panels: {len(schema.get('panels', []))}")
print(f"Total vehicle brands: {len(schema.get('vehicle_settings', {}))}")
keys = collect_all_keys(schema)
print(f"Total unique param keys: {len(keys)}")
# Show compression stats
raw_json = json.dumps(schema, separators=(",", ":")).encode("utf-8")
compressed = gzip.compress(raw_json)
print(f"\nRaw JSON size: {len(raw_json):,} bytes")
print(f"Compressed size: {len(compressed):,} bytes")
print(f"Compression ratio: {len(compressed)/len(raw_json):.1%}")
sunnypilot/sunnylink/tools/validate_settings_ui.py
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#!/usr/bin/env python3
"""
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.
Validates settings_ui.json against structural, semantic, and referential integrity constraints.
Usage:
python validate_settings_ui.py
python validate_settings_ui.py /path/to/settings_ui.json
"""
from __future__ import annotations
import json
import os
import sys
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', '..'))
from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
VALID_WIDGETS = {"toggle", "option", "multiple_button", "button", "info"}
VALID_COMPARE_OPS = {">", "<", ">=", "<="}
DEFAULT_PATH = os.path.join(
os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
"settings_ui.json",
)
class ValidationResult:
"""Tracks pass/fail for each named check."""
def __init__(self) -> None:
self.passed: list[str] = []
self.failed: list[tuple[str, str]] = []
self.warnings: list[str] = []
def ok(self, name: str) -> None:
self.passed.append(name)
print(f"OK: {name}")
def error(self, name: str, details: str) -> None:
self.failed.append((name, details))
print(f"ERROR: {name}: {details}")
def warn(self, msg: str) -> None:
self.warnings.append(msg)
print(f"WARNING: {msg}")
@property
def success(self) -> bool:
return len(self.failed) == 0
def summary(self) -> None:
total_passed = len(self.passed)
total_failed = len(self.failed)
print(f"\n{'='*60}")
print(f"Summary: {total_passed} checks passed, {total_failed} checks failed")
if self.warnings:
print(f" {len(self.warnings)} warnings")
if self.success:
print("Result: PASS")
else:
print("Result: FAIL")
def validate_rule(rule: dict, path: str, result: ValidationResult,
capability_fields: tuple[str, ...]) -> bool:
"""Validate a single rule dict. Returns True if valid."""
if not isinstance(rule, dict):
result.error("rule well-formedness", f"{path}: rule is not a dict: {rule!r}")
return False
rule_type = rule.get("type")
if rule_type is None:
result.error("rule well-formedness", f"{path}: rule missing 'type' field")
return False
if rule_type in ("offroad_only", "not_engaged"):
# Only type required
return True
if rule_type == "capability":
valid = True
if "field" not in rule or not isinstance(rule["field"], str):
result.error("rule well-formedness", f"{path}: capability rule missing/invalid 'field'")
valid = False
if "equals" not in rule:
result.error("rule well-formedness", f"{path}: capability rule missing 'equals'")
valid = False
return valid
if rule_type == "param":
valid = True
if "key" not in rule or not isinstance(rule["key"], str):
result.error("rule well-formedness", f"{path}: param rule missing/invalid 'key'")
valid = False
if "equals" not in rule:
result.error("rule well-formedness", f"{path}: param rule missing 'equals'")
valid = False
return valid
if rule_type == "param_compare":
valid = True
if "key" not in rule or not isinstance(rule["key"], str):
result.error("rule well-formedness", f"{path}: param_compare rule missing/invalid 'key'")
valid = False
if "op" not in rule or rule["op"] not in VALID_COMPARE_OPS:
result.error("rule well-formedness",
f"{path}: param_compare rule missing/invalid 'op' (must be one of {VALID_COMPARE_OPS})")
valid = False
if "value" not in rule or not isinstance(rule["value"], (int, float)):
result.error("rule well-formedness", f"{path}: param_compare rule missing/invalid 'value' (must be number)")
valid = False
return valid
if rule_type == "not":
if "condition" not in rule or not isinstance(rule["condition"], dict):
result.error("rule well-formedness", f"{path}: 'not' rule missing/invalid 'condition'")
return False
return validate_rule(rule["condition"], f"{path}.not", result, capability_fields)
if rule_type in ("any", "all"):
if "conditions" not in rule or not isinstance(rule["conditions"], list):
result.error("rule well-formedness", f"{path}: '{rule_type}' rule missing/invalid 'conditions' array")
return False
valid = True
for i, cond in enumerate(rule["conditions"]):
if not validate_rule(cond, f"{path}.{rule_type}[{i}]", result, capability_fields):
valid = False
return valid
result.error("rule well-formedness", f"{path}: unknown rule type '{rule_type}'")
return False
def collect_rules_from_item(item: dict) -> list[tuple[str, list[dict]]]:
"""Return list of (context, rules_list) for an item's visibility + enablement."""
result = []
key = item.get("key", "?")
if "visibility" in item:
result.append((f"item '{key}' visibility", item["visibility"]))
if "enablement" in item:
result.append((f"item '{key}' enablement", item["enablement"]))
return result
def walk_rules_flat(rules: list[dict]) -> list[dict]:
"""Flatten all rules recursively into a single list."""
flat: list[dict] = []
for rule in rules:
flat.append(rule)
if rule.get("type") == "not" and "condition" in rule:
flat.extend(walk_rules_flat([rule["condition"]]))
elif rule.get("type") in ("any", "all") and "conditions" in rule:
flat.extend(walk_rules_flat(rule["conditions"]))
return flat
def collect_all_items(data: dict) -> list[tuple[str, dict]]:
"""Collect all items with their location path from the schema.
Returns (path, item_dict) tuples. Traverses sections, sub_panels, sub_items,
and vehicle_settings.
"""
items: list[tuple[str, dict]] = []
for panel in data.get("panels", []):
pid = panel.get("id", "?")
# Flat items on panel
for item in panel.get("items", []):
_collect_item(f"panel '{pid}'", item, items)
# Sections
for section in panel.get("sections", []):
sid = section.get("id", "?")
for item in section.get("items", []):
_collect_item(f"panel '{pid}' > section '{sid}'", item, items)
for sp in section.get("sub_panels", []):
spid = sp.get("id", "?")
for item in sp.get("items", []):
_collect_item(f"panel '{pid}' > section '{sid}' > sub_panel '{spid}'", item, items)
# Top-level sub_panels on panel (no section)
for sp in panel.get("sub_panels", []):
spid = sp.get("id", "?")
for item in sp.get("items", []):
_collect_item(f"panel '{pid}' > sub_panel '{spid}'", item, items)
# Vehicle settings (supports both flat list and { title, items } structure)
for brand, brand_data in data.get("vehicle_settings", {}).items():
brand_items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
for item in brand_items:
_collect_item(f"vehicle_settings '{brand}'", item, items)
return items
def _collect_item(path: str, item: dict, items: list[tuple[str, dict]]) -> None:
"""Recursively collect an item and its sub_items."""
items.append((path, item))
for sub in item.get("sub_items", []):
_collect_item(f"{path} > sub_item", sub, items)
def collect_panel_keys(panel: dict) -> set[str]:
"""Collect all item keys within a single panel (sections, sub_panels, sub_items)."""
keys: set[str] = set()
def _add(item: dict) -> None:
if "key" in item:
keys.add(item["key"])
for sub in item.get("sub_items", []):
_add(sub)
for item in panel.get("items", []):
_add(item)
for section in panel.get("sections", []):
for item in section.get("items", []):
_add(item)
for sp in section.get("sub_panels", []):
for item in sp.get("items", []):
_add(item)
for sp in panel.get("sub_panels", []):
for item in sp.get("items", []):
_add(item)
return keys
def check_json_parseable(path: str, result: ValidationResult) -> dict | None:
"""Check 1: JSON parseable."""
try:
with open(path) as f:
data = json.load(f)
result.ok("JSON parseable")
return data
except json.JSONDecodeError as e:
result.error("JSON parseable", str(e))
return None
except FileNotFoundError:
result.error("JSON parseable", f"file not found: {path}")
return None
def check_structural(data: dict, result: ValidationResult) -> None:
"""Check 2: Required fields on panels, sections, items, sub_panels."""
errors: list[str] = []
for i, panel in enumerate(data.get("panels", [])):
for field in ("id", "label", "icon", "order"):
if field not in panel:
errors.append(f"panels[{i}]: missing required field '{field}'")
for j, section in enumerate(panel.get("sections", [])):
for field in ("id", "title"):
if field not in section:
errors.append(f"panels[{i}].sections[{j}]: missing required field '{field}'")
for k, sp in enumerate(section.get("sub_panels", [])):
for field in ("id", "label", "trigger_key"):
if field not in sp:
errors.append(f"panels[{i}].sections[{j}].sub_panels[{k}]: missing required field '{field}'")
for k, sp in enumerate(panel.get("sub_panels", [])):
for field in ("id", "label", "trigger_key"):
if field not in sp:
errors.append(f"panels[{i}].sub_panels[{k}]: missing required field '{field}'")
# Validate items
all_items = collect_all_items(data)
for path, item in all_items:
if "key" not in item:
errors.append(f"{path}: item missing required field 'key'")
if "widget" not in item:
errors.append(f"{path}: item missing required field 'widget'")
elif item["widget"] not in VALID_WIDGETS:
errors.append(
f"{path}: item '{item.get('key', '?')}' has invalid widget '{item['widget']}'"
+ f" (must be one of {VALID_WIDGETS})"
)
if errors:
result.error("structural", "; ".join(errors))
else:
result.ok("structural")
def check_item_completeness(data: dict, result: ValidationResult) -> None:
"""Check 3: All items have required metadata (title, options for dropdowns)."""
all_items = collect_all_items(data)
issues: list[str] = []
for _path, item in all_items:
key = item.get("key", "unknown")
if "title" not in item:
issues.append(f"{key}: missing 'title'")
elif item["title"] == key:
issues.append(f"{key}: title must not equal key (use a human-readable title)")
widget = item.get("widget")
if widget in ("multiple_button", "option") and "options" in item:
opts = item["options"]
if not isinstance(opts, list):
issues.append(f"{key}: options must be a list")
else:
for opt in opts:
if not isinstance(opt, dict) or "value" not in opt or "label" not in opt:
issues.append(f"{key}: each option must have 'value' and 'label'")
break
if issues:
for issue in issues:
result.error("item completeness", issue)
else:
result.ok("item completeness")
def check_no_duplicate_keys(data: dict, result: ValidationResult) -> None:
"""Check 4: No param key appears in more than one panel."""
panel_keys: dict[str, list[str]] = {} # key -> list of panel ids
for panel in data.get("panels", []):
pid = panel.get("id", "?")
keys = collect_panel_keys(panel)
for key in keys:
panel_keys.setdefault(key, []).append(pid)
# Also check vehicle_settings keys don't collide with panel keys
for brand, brand_data in data.get("vehicle_settings", {}).items():
brand_items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
for item in brand_items:
key = item.get("key")
if key:
panel_keys.setdefault(key, []).append(f"vehicle_settings.{brand}")
duplicates = {k: v for k, v in panel_keys.items() if len(v) > 1}
if duplicates:
details = "; ".join(f"'{k}' in [{', '.join(v)}]" for k, v in duplicates.items())
result.error("no duplicate keys", details)
else:
result.ok("no duplicate keys")
def check_rule_wellformedness(data: dict, result: ValidationResult) -> None:
"""Check 5: All rules have valid structure."""
all_items = collect_all_items(data)
# Save current error count to detect new errors
error_count_before = len(result.failed)
for path, item in all_items:
for ctx, rules in collect_rules_from_item(item):
for i, rule in enumerate(rules):
validate_rule(rule, f"{path} > {ctx}[{i}]", result, CAPABILITY_FIELDS)
# Also validate trigger_condition rules on sub_panels
for panel in data.get("panels", []):
pid = panel.get("id", "?")
for section in panel.get("sections", []):
for sp in section.get("sub_panels", []):
if "trigger_condition" in sp:
validate_rule(sp["trigger_condition"], f"panel '{pid}' > sub_panel '{sp.get('id', '?')}' trigger_condition",
result, CAPABILITY_FIELDS)
if len(result.failed) == error_count_before:
result.ok("rule well-formedness")
def check_capability_refs(data: dict, result: ValidationResult) -> None:
"""Check 6: All capability rule field values are in CAPABILITY_FIELDS."""
all_items = collect_all_items(data)
invalid_refs: list[str] = []
cap_set = set(CAPABILITY_FIELDS)
for _path, item in all_items:
for _ctx, rules in collect_rules_from_item(item):
for rule in walk_rules_flat(rules):
if rule.get("type") == "capability":
field = rule.get("field")
if field and field not in cap_set:
invalid_refs.append(f"'{field}' in item '{item.get('key', '?')}'")
# Also check trigger_conditions
for panel in data.get("panels", []):
for section in panel.get("sections", []):
for sp in section.get("sub_panels", []):
if "trigger_condition" in sp:
for rule in walk_rules_flat([sp["trigger_condition"]]):
if rule.get("type") == "capability":
field = rule.get("field")
if field and field not in cap_set:
invalid_refs.append(f"'{field}' in sub_panel '{sp.get('id', '?')}' trigger_condition")
if invalid_refs:
result.error("capability refs", f"unknown capability fields: {', '.join(invalid_refs)}")
else:
result.ok("capability refs")
def check_no_self_reference(data: dict, result: ValidationResult) -> None:
"""Check 7: Item's rules must not reference the item's own key."""
all_items = collect_all_items(data)
self_refs: list[str] = []
for path, item in all_items:
key = item.get("key")
if not key:
continue
for _ctx, rules in collect_rules_from_item(item):
for rule in walk_rules_flat(rules):
if rule.get("type") in ("param", "param_compare") and rule.get("key") == key:
self_refs.append(f"'{key}' at {path}")
if self_refs:
result.error("no self-reference", f"items reference their own key: {', '.join(self_refs)}")
else:
result.ok("no self-reference")
def check_sub_panel_triggers(data: dict, result: ValidationResult) -> None:
"""Check 8: Sub-panel trigger_key must reference a key in the same panel."""
errors: list[str] = []
for panel in data.get("panels", []):
pid = panel.get("id", "?")
panel_keys = collect_panel_keys(panel)
# Check sub_panels at section level
for section in panel.get("sections", []):
for sp in section.get("sub_panels", []):
trigger = sp.get("trigger_key")
if trigger and trigger not in panel_keys:
errors.append(
f"sub_panel '{sp.get('id', '?')}' trigger_key '{trigger}'"
+ f" not found in panel '{pid}'"
)
# Check top-level sub_panels
for sp in panel.get("sub_panels", []):
trigger = sp.get("trigger_key")
if trigger and trigger not in panel_keys:
errors.append(
f"sub_panel '{sp.get('id', '?')}' trigger_key '{trigger}'"
+ f" not found in panel '{pid}'"
)
if errors:
result.error("sub-panel triggers", "; ".join(errors))
else:
result.ok("sub-panel triggers")
def check_ordering(data: dict, result: ValidationResult) -> None:
"""Check 9: Panel order values must be unique."""
orders: dict[int, list[str]] = {}
for panel in data.get("panels", []):
order = panel.get("order")
if order is not None:
orders.setdefault(order, []).append(panel.get("id", "?"))
duplicates = {o: ids for o, ids in orders.items() if len(ids) > 1}
if duplicates:
details = "; ".join(f"order {o}: [{', '.join(ids)}]" for o, ids in duplicates.items())
result.error("ordering", f"duplicate order values: {details}")
else:
result.ok("ordering")
def check_vehicle_brands(data: dict, result: ValidationResult) -> None:
"""Check 10: Vehicle settings keys lowercase + each brand has consistent {title, description, items} shape."""
vehicle = data.get("vehicle_settings", {})
errors: list[str] = []
for brand, brand_data in vehicle.items():
if not isinstance(brand, str) or brand != brand.lower():
errors.append(f"non-lowercase brand key: '{brand}'")
if not isinstance(brand_data, dict):
errors.append(f"brand '{brand}': expected object with {{title, description, items}}, got bare list")
continue
if "items" not in brand_data:
errors.append(f"brand '{brand}': missing 'items'")
if "title" not in brand_data:
errors.append(f"brand '{brand}': missing 'title' (use empty string for none)")
if errors:
result.error("vehicle brands", "; ".join(errors))
else:
result.ok("vehicle brands")
def validate(path: str) -> bool:
"""Run all validation checks on the given settings_ui.json file.
Returns True if all checks pass.
"""
result = ValidationResult()
# Check 1: JSON parseable
data = check_json_parseable(path, result)
if data is None:
result.summary()
return False
# Checks 2-10
check_structural(data, result)
check_item_completeness(data, result)
check_no_duplicate_keys(data, result)
check_rule_wellformedness(data, result)
check_capability_refs(data, result)
check_no_self_reference(data, result)
check_sub_panel_triggers(data, result)
check_ordering(data, result)
check_vehicle_brands(data, result)
result.summary()
return result.success
if __name__ == "__main__":
target = sys.argv[1] if len(sys.argv) > 1 else DEFAULT_PATH
success = validate(target)
sys.exit(0 if success else 1)
sunnypilot/system/params_migration.py
+35
View File
@@ -4,7 +4,10 @@ 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 json
from openpilot.common.swaglog import cloudlog
from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT
ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
@@ -14,6 +17,36 @@ ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (
VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())
def _migrate_car_platform_bundle(_params):
bundle = _params.get("CarPlatformBundle")
if bundle is None:
return
old_platform = bundle.get("platform")
if not old_platform:
return
from opendbc.car.fingerprints import MIGRATION # lazy: avoids heavy import at module level
if old_platform not in MIGRATION:
return
new_platform = str(MIGRATION[old_platform])
with open(CAR_LIST_JSON_OUT) as f:
car_list = json.load(f)
candidates = [(k, v) for k, v in car_list.items() if v.get("platform") == new_platform]
if candidates:
old_model = bundle.get("model")
key, data = next(((k, v) for k, v in candidates if v.get("model") == old_model), candidates[0])
bundle = {**data, "name": key}
else:
bundle["platform"] = new_platform
_params.put("CarPlatformBundle", bundle)
cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")
def run_migration(_params):
# migrate OnroadScreenOffBrightness
if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
@@ -45,3 +78,5 @@ def run_migration(_params):
cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}")
except Exception as e:
cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
_migrate_car_platform_bundle(_params)
system/manager/manager.py
+2 -2
View File
@@ -35,8 +35,8 @@ def manager_init() -> None:
params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
if build_metadata.release_channel:
params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
# if build_metadata.release_channel:
# params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
# device boot mode
if params.get("DeviceBootMode") == 1: # start in Always Offroad mode
system/ui/sunnypilot/widgets/list_view.py
+1 -1
View File
@@ -363,7 +363,7 @@ def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callab
def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
return ListItemSP(title=title, description=description, action_item=action, icon=icon)
def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
system/ui/sunnypilot/widgets/toggle.py
+4
View File
@@ -57,3 +57,7 @@ class ToggleSP(Toggle):
knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
clicked = self._clicked
self._clicked = False
return clicked
uv.lock
Generated
+127 -123
View File
@@ -116,12 +116,12 @@ wheels = [
[[package]]
name = "bzip2"
version = "1.0.8"
source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#2083ff9525ebb12135fab36711f2d959ad75a848" }
source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#346fa1e479d7324d446f32b2cbe2913897372745" }
[[package]]
name = "capnproto"
version = "1.0.1"
source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#437b0c5b5d967e06da8f76ee755d60768bfda34d" }
source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#b4fd14982cbff568be0e021f55c0ef90c29da934" }
[[package]]
name = "casadi"
@@ -251,26 +251,26 @@ wheels = [
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version = "7.14.0"
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source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#eb147476324db97737c31cd63e71a4f44b0d0723" }