Merge branch 'master-new' into feature/external-storage

.github/CODEOWNERS

@@ -1,3 +1,11 @@
 *       @sunnypilot/dev-internal
 /.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve

RELEASES.md

@@ -1,3 +1,6 @@
+Version 0.9.10 (2025-06-30)
+========================
+
 Version 0.9.9 (2025-05-23)
 ========================
 * New driving model

SConstruct

@@ -363,13 +363,13 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
   SConscript([
     'system/logcatd/SConscript',
+    'system/proclogd/SConscript',
   ])
 
 if arch == "larch64":

cereal/custom.capnp

@@ -226,7 +226,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 struct CarStateSP @0xb86e6369214c01c8 {
 }
 
-struct CustomReserved8 @0xf416ec09499d9d19 {
+struct LiveMapDataSP @0xf416ec09499d9d19 {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  roadName @5 :Text;
 }
 
 struct CustomReserved9 @0xa1680744031fdb2d {

cereal/log.capnp

@@ -2610,7 +2610,7 @@ struct Event {
     carControlSP @112 :Custom.CarControlSP;
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
-    customReserved8 @115 :Custom.CustomReserved8;
+    liveMapDataSP @115 :Custom.LiveMapDataSP;
     customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;

cereal/services.py

@@ -84,6 +84,7 @@ _services: dict[str, tuple] = {
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
+  "liveMapDataSP": (True, 1., 1),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params_keys.h

@@ -71,7 +71,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
-    {"LiveDelay", PERSISTENT},
+    {"LiveDelay", PERSISTENT | BACKUP},
     {"LiveParameters", PERSISTENT},
     {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
@@ -131,11 +131,12 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
+    {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
     {"QuietMode", PERSISTENT | BACKUP},
 
     // MADS params
@@ -170,4 +171,28 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiLongitudinalTuning", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+    {"BlindSpot", PERSISTENT | BACKUP},
+
+    // model panel params
+    {"LagdToggle", PERSISTENT | BACKUP},
+
+    // mapd
+    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"MapdVersion", PERSISTENT},
+    {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
+    {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START},  // mapd database update happens with device ON, reset on boot
+    {"OSMDownloadBounds", PERSISTENT},
+    {"OsmDownloadedDate", PERSISTENT},
+    {"OSMDownloadLocations", PERSISTENT},
+    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
+    {"OsmLocal", PERSISTENT},
+    {"OsmLocationName", PERSISTENT},
+    {"OsmLocationTitle", PERSISTENT},
+    {"OsmLocationUrl", PERSISTENT},
+    {"OsmStateName", PERSISTENT},
+    {"OsmStateTitle", PERSISTENT},
+    {"OsmWayTest", PERSISTENT},
+    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
 };

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.9"
+#define COMMA_VERSION "0.9.10"

common/watchdog.py

@@ -0,0 +1,22 @@
+import os
+import time
+import struct
+from openpilot.system.hardware.hw import Paths
+
+WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
+_LAST_KICK = 0.0
+
+def kick_watchdog():
+  global _LAST_KICK
+  current_time = time.monotonic()
+
+  if current_time - _LAST_KICK < 1.0:
+    return
+
+  try:
+    with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
+      f.write(struct.pack('<Q', int(current_time * 1e9)))
+      f.flush()
+    _LAST_KICK = current_time
+  except OSError:
+    pass

pyproject.toml

@@ -260,6 +260,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
+"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]

selfdrive/selfdrived/alerts_offroad.json

@@ -45,8 +45,8 @@
     "text": "sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
   },
-  "OffroadMode_Status": {
-    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
-    "severity": 1
+  "Offroad_OSMUpdateRequired": {
+    "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
+    "severity": 0
   }
 }

selfdrive/selfdrived/selfdrived.py

@@ -129,8 +129,10 @@ class SelfdriveD(CruiseHelper):
     # some comma three with NVMe experience NVMe dropouts mid-drive that
     # cause loggerd to crash on write, so ignore it only on that platform
     self.ignored_processes = set()
-    if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'):
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
       self.ignored_processes = {'loggerd', }
+    self.ignored_processes.update({'mapd'})
 
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster

selfdrive/test/process_replay/regen.py

@@ -23,7 +23,7 @@ class DummyFrameReader(BaseFrameReader):
     self.frame_count = frame_count
     self.frame_type = FrameType.raw
 
-  def get(self, idx, count=1, pix_fmt="yuv420p"):
+  def get(self, idx, count=1, pix_fmt="rgb24"):
     if pix_fmt == "rgb24":
       shape = (self.h, self.w, 3)
     elif pix_fmt == "nv12" or pix_fmt == "yuv420p":

selfdrive/ui/layouts/home.py

@@ -1,17 +1,212 @@
+import time
 import pyray as rl
-from openpilot.system.ui.lib.label import gui_text_box
+from collections.abc import Callable
+from enum import IntEnum
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR
+
+
+HEADER_HEIGHT = 80
+HEAD_BUTTON_FONT_SIZE = 40
+CONTENT_MARGIN = 40
+SPACING = 25
+RIGHT_COLUMN_WIDTH = 750
+REFRESH_INTERVAL = 10.0
+
+PRIME_BG_COLOR = rl.Color(51, 51, 51, 255)
+
+
+class HomeLayoutState(IntEnum):
+  HOME = 0
+  UPDATE = 1
+  ALERTS = 2
 
 
 class HomeLayout:
   def __init__(self):
-    pass
+    self.params = Params()
+
+    self.update_alert = UpdateAlert()
+    self.offroad_alert = OffroadAlert()
+
+    self.current_state = HomeLayoutState.HOME
+    self.last_refresh = 0
+    self.settings_callback: callable | None = None
+
+    self.update_available = False
+    self.alert_count = 0
+
+    self.header_rect = rl.Rectangle(0, 0, 0, 0)
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.left_column_rect = rl.Rectangle(0, 0, 0, 0)
+    self.right_column_rect = rl.Rectangle(0, 0, 0, 0)
+
+    self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10)
+    self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10)
+
+    self._setup_callbacks()
+
+  def _setup_callbacks(self):
+    self.update_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+    self.offroad_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+
+  def set_settings_callback(self, callback: Callable):
+    self.settings_callback = callback
+
+  def _set_state(self, state: HomeLayoutState):
+    self.current_state = state
 
   def render(self, rect: rl.Rectangle):
-    gui_text_box(
-      rect,
-      "Demo Home Layout",
-      font_size=170,
-      color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+    self._update_layout_rects(rect)
+
+    current_time = time.time()
+    if current_time - self.last_refresh >= REFRESH_INTERVAL:
+      self._refresh()
+      self.last_refresh = current_time
+
+    self._handle_input()
+    self._render_header()
+
+    # Render content based on current state
+    if self.current_state == HomeLayoutState.HOME:
+      self._render_home_content()
+    elif self.current_state == HomeLayoutState.UPDATE:
+      self._render_update_view()
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self._render_alerts_view()
+
+  def _update_layout_rects(self, rect: rl.Rectangle):
+    self.header_rect = rl.Rectangle(
+      rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
     )
+
+    content_y = rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
+    content_height = rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
+
+    self.content_rect = rl.Rectangle(
+      rect.x + CONTENT_MARGIN, content_y, rect.width - 2 * CONTENT_MARGIN, content_height
+    )
+
+    left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING
+
+    self.left_column_rect = rl.Rectangle(self.content_rect.x, self.content_rect.y, left_width, self.content_rect.height)
+
+    self.right_column_rect = rl.Rectangle(
+      self.content_rect.x + left_width + SPACING, self.content_rect.y, RIGHT_COLUMN_WIDTH, self.content_rect.height
+    )
+
+    self.update_notif_rect.x = self.header_rect.x
+    self.update_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+    notif_x = self.header_rect.x + (220 if self.update_available else 0)
+    self.alert_notif_rect.x = notif_x
+    self.alert_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+  def _handle_input(self):
+    if not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return
+
+    mouse_pos = rl.get_mouse_position()
+
+    if self.update_available and rl.check_collision_point_rec(mouse_pos, self.update_notif_rect):
+      self._set_state(HomeLayoutState.UPDATE)
+      return
+
+    if self.alert_count > 0 and rl.check_collision_point_rec(mouse_pos, self.alert_notif_rect):
+      self._set_state(HomeLayoutState.ALERTS)
+      return
+
+    # Content area input handling
+    if self.current_state == HomeLayoutState.UPDATE:
+      self.update_alert.handle_input(mouse_pos, True)
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self.offroad_alert.handle_input(mouse_pos, True)
+
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    # Update notification button
+    if self.update_available:
+      # Highlight if currently viewing updates
+      highlight_color = rl.Color(255, 140, 40, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(255, 102, 0, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = "UPDATE"
+      text_width = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE).x
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_width) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Alert notification button
+    if self.alert_count > 0:
+      # Highlight if currently viewing alerts
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = f"{self.alert_count} ALERT{'S' if self.alert_count > 1 else ''}"
+      text_width = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE).x
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_width) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Version text (right aligned)
+    version_text = self._get_version_text()
+    text_width = measure_text_cached(gui_app.font(FontWeight.NORMAL), version_text, 48).x
+    version_x = self.header_rect.x + self.header_rect.width - text_width
+    version_y = self.header_rect.y + (self.header_rect.height - 48) // 2
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), version_text, rl.Vector2(int(version_x), int(version_y)), 48, 0, DEFAULT_TEXT_COLOR)
+
+  def _render_home_content(self):
+    self._render_left_column()
+    self._render_right_column()
+
+  def _render_update_view(self):
+    self.update_alert.render(self.content_rect)
+
+  def _render_alerts_view(self):
+    self.offroad_alert.render(self.content_rect)
+
+  def _render_left_column(self):
+    rl.draw_rectangle_rounded(self.left_column_rect, 0.02, 10, PRIME_BG_COLOR)
+    gui_label(self.left_column_rect, "Prime Widget", 48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+  def _render_right_column(self):
+    widget_height = (self.right_column_rect.height - SPACING) // 2
+
+    exp_rect = rl.Rectangle(
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, widget_height
+    )
+    rl.draw_rectangle_rounded(exp_rect, 0.02, 10, PRIME_BG_COLOR)
+    gui_label(exp_rect, "Experimental Mode", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+    setup_rect = rl.Rectangle(
+      self.right_column_rect.x,
+      self.right_column_rect.y + widget_height + SPACING,
+      self.right_column_rect.width,
+      widget_height,
+    )
+    rl.draw_rectangle_rounded(setup_rect, 0.02, 10, PRIME_BG_COLOR)
+    gui_label(setup_rect, "Setup", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+  def _refresh(self):
+    self.update_available = self.update_alert.refresh()
+    self.alert_count = self.offroad_alert.refresh()
+    self._update_state_priority(self.update_available, self.alert_count > 0)
+
+  def _update_state_priority(self, update_available: bool, alerts_present: bool):
+    current_state = self.current_state
+
+    if not update_available and not alerts_present:
+      self.current_state = HomeLayoutState.HOME
+    elif update_available and (current_state == HomeLayoutState.HOME or (not alerts_present and current_state == HomeLayoutState.ALERTS)):
+      self.current_state = HomeLayoutState.UPDATE
+    elif alerts_present and (current_state == HomeLayoutState.HOME or (not update_available and current_state == HomeLayoutState.UPDATE)):
+      self.current_state = HomeLayoutState.ALERTS
+
+  def _get_version_text(self) -> str:
+    brand = "openpilot"
+    description = self.params.get("UpdaterCurrentDescription", encoding='utf-8')
+    return f"{brand} {description}" if description else brand

selfdrive/ui/layouts/main.py

@@ -35,6 +35,7 @@ class MainLayout:
     self._current_callback = None
 
     self._update_layout_rects(rect)
+    self._handle_onroad_transition()
     self._render_main_content()
     self._handle_input()
 
@@ -47,7 +48,7 @@ class MainLayout:
       on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked),
     )
     self._layouts[MainState.SETTINGS].set_callbacks(
-      on_close=lambda: setattr(self, '_current_callback', self._on_settings_closed)
+      on_close=lambda: setattr(self, '_current_callback', self._set_mode_for_state)
     )
 
   def _update_layout_rects(self, rect):
@@ -57,14 +58,24 @@ class MainLayout:
     x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0
     self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height)
 
+  def _handle_onroad_transition(self):
+    if ui_state.started != self._prev_onroad:
+      self._prev_onroad = ui_state.started
+
+      self._set_mode_for_state()
+
+  def _set_mode_for_state(self):
+    if ui_state.started:
+      self._current_mode = MainState.ONROAD
+      self._sidebar_visible = False
+    else:
+      self._current_mode = MainState.HOME
+      self._sidebar_visible = True
+
   def _on_settings_clicked(self):
     self._current_mode = MainState.SETTINGS
     self._sidebar_visible = False
 
-  def _on_settings_closed(self):
-    self._current_mode = MainState.HOME if not ui_state.started else MainState.ONROAD
-    self._sidebar_visible = True
-
   def _on_flag_clicked(self):
     pass
 
@@ -73,13 +84,6 @@ class MainLayout:
     if self._sidebar_visible:
       self._sidebar.render(self._sidebar_rect)
 
-    if ui_state.started != self._prev_onroad:
-      self._prev_onroad = ui_state.started
-      if ui_state.started:
-        self._current_mode = MainState.ONROAD
-      else:
-        self._current_mode = MainState.HOME
-
     content_rect = self._content_rect if self._sidebar_visible else self._window_rect
     self._layouts[self._current_mode].render(content_rect)
 

selfdrive/ui/layouts/network.py

@@ -0,0 +1,19 @@
+import pyray as rl
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+class NetworkLayout:
+  def __init__(self):
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+
+  def render(self, rect: rl.Rectangle):
+    self.wifi_ui.render(rect)
+
+  @property
+  def require_full_screen(self):
+    return self.wifi_ui.require_full_screen
+
+  def shutdown(self):
+    self.wifi_manager.shutdown()

selfdrive/ui/layouts/settings/developer.py

@@ -0,0 +1,52 @@
+from openpilot.system.ui.lib.list_view import ListView,  toggle_item
+from openpilot.common.params import Params
+
+# Description constants
+DESCRIPTIONS = {
+  'enable_adb': (
+    "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."
+  ),
+  'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+}
+
+
+class DeveloperLayout:
+  def __init__(self):
+    self._params = Params()
+    items = [
+      toggle_item(
+        "Enable ADB",
+        description=DESCRIPTIONS["enable_adb"],
+        initial_state=self._params.get_bool("AdbEnabled"),
+        callback=self._on_enable_adb,
+      ),
+      toggle_item(
+        "Joystick Debug Mode",
+        description=DESCRIPTIONS["joystick_debug_mode"],
+        initial_state=self._params.get_bool("JoystickDebugMode"),
+        callback=self._on_joystick_debug_mode,
+      ),
+      toggle_item(
+        "Longitudinal Maneuver Mode",
+        description="",
+        initial_state=self._params.get_bool("LongitudinalManeuverMode"),
+        callback=self._on_long_maneuver_mode,
+      ),
+      toggle_item(
+        "openpilot Longitudinal Control (Alpha)",
+        description="",
+        initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
+        callback=self._on_alpha_long_enabled,
+      ),
+    ]
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
+
+  def _on_enable_adb(self): pass
+  def _on_joystick_debug_mode(self): pass
+  def _on_long_maneuver_mode(self): pass
+  def _on_alpha_long_enabled(self): pass

selfdrive/ui/layouts/settings/device.py

@@ -0,0 +1,47 @@
+from openpilot.system.ui.lib.list_view import ListView, text_item, button_item
+from openpilot.common.params import Params
+from openpilot.system.hardware import TICI
+
+# Description constants
+DESCRIPTIONS = {
+  'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.",
+  'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+  'reset_calibration': (
+    "openpilot requires the device to be mounted within 4° left or right and within 5° " +
+    "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
+  ),
+  'review_guide': "Review the rules, features, and limitations of openpilot",
+}
+
+
+class DeviceLayout:
+  def __init__(self):
+    params = Params()
+    dongle_id = params.get("DongleId", encoding="utf-8") or "N/A"
+    serial = params.get("HardwareSerial") or "N/A"
+
+    items = [
+      text_item("Dongle ID", dongle_id),
+      text_item("Serial", serial),
+      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device),
+      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera),
+      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration),
+      button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
+    ]
+
+    if TICI:
+      items.append(button_item("Regulatory", "VIEW", callback=self._on_regulatory))
+
+    items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language))
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
+
+  def _on_pair_device(self): pass
+  def _on_driver_camera(self): pass
+  def _on_reset_calibration(self): pass
+  def _on_review_training_guide(self): pass
+  def _on_regulatory(self): pass
+  def _on_change_language(self): pass

selfdrive/ui/layouts/settings/settings.py

@@ -3,8 +3,14 @@ from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.label import gui_text_box
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 
 # Import individual panels
 
@@ -46,18 +52,16 @@ class SettingsLayout:
   def __init__(self):
     self._params = Params()
     self._current_panel = PanelType.DEVICE
-    self._close_btn_pressed = False
-    self._scroll_offset = 0.0
     self._max_scroll = 0.0
 
     # Panel configuration
     self._panels = {
-      PanelType.DEVICE: PanelInfo("Device", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.TOGGLES: PanelInfo("Toggles", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.SOFTWARE: PanelInfo("Software", None, rl.Rectangle(0, 0, 0, 0)),
+      PanelType.DEVICE: PanelInfo("Device", DeviceLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)),
       PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.DEVELOPER: PanelInfo("Developer", None, rl.Rectangle(0, 0, 0, 0)),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
@@ -89,12 +93,15 @@ class SettingsLayout:
       rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 45, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE
     )
 
-    close_color = CLOSE_BTN_PRESSED if self._close_btn_pressed else CLOSE_BTN_COLOR
-    rl.draw_rectangle_rounded(close_btn_rect, 0.5, 20, close_color)
-    close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0)
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    close_text_size = measure_text_cached(self._font_bold, SETTINGS_CLOSE_TEXT, 140)
     close_text_pos = rl.Vector2(
       close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2,
-      close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2 - 20,
+      close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2,
     )
     rl.draw_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, close_text_pos, 140, 0, TEXT_SELECTED)
 
@@ -117,9 +124,8 @@ class SettingsLayout:
       # Button styling
       is_selected = panel_type == self._current_panel
       text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL
-
       # Draw button text (right-aligned)
-      text_size = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0)
+      text_size = measure_text_cached(self._font_medium, panel_info.name, 65)
       text_pos = rl.Vector2(
         button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2
       )
@@ -130,21 +136,27 @@ class SettingsLayout:
       i += 1
 
   def _draw_current_panel(self, rect: rl.Rectangle):
-    content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50)
-    rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR)
-    gui_text_box(
-      content_rect,
-      f"Demo {self._panels[self._current_panel].name} Panel",
-      font_size=170,
-      color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+    rl.draw_rectangle_rounded(
+      rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20), 0.04, 30, PANEL_COLOR
     )
+    content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50)
+    # rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR)
+    panel = self._panels[self._current_panel]
+    if panel.instance:
+      panel.instance.render(content_rect)
+    else:
+      gui_text_box(
+        content_rect,
+        f"Demo {self._panels[self._current_panel].name} Panel",
+        font_size=170,
+        color=rl.WHITE,
+        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+      )
 
   def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
-      self._close_btn_pressed = True
       if self._close_callback:
         self._close_callback()
       return True
@@ -160,9 +172,6 @@ class SettingsLayout:
   def _switch_to_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
       self._current_panel = panel_type
-      self._scroll_offset = 0.0  # Reset scroll when switching panels
-      self._transition_progress = 0.0
-      self._transitioning = True
 
   def set_current_panel(self, index: int, param: str = ""):
     panel_types = list(self._panels.keys())

selfdrive/ui/layouts/settings/software.py

@@ -0,0 +1,21 @@
+from openpilot.system.ui.lib.list_view import ListView, button_item, text_item
+
+class SoftwareLayout:
+  def __init__(self):
+    items = [
+      text_item("Current Version", ""),
+      button_item("Download", "CHECK", callback=self._on_download_update),
+      button_item("Install Update", "INSTALL", callback=self._on_install_update),
+      button_item("Target Branch", "SELECT", callback=self._on_select_branch),
+      button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall),
+    ]
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
+
+  def _on_download_update(self): pass
+  def _on_install_update(self): pass
+  def _on_select_branch(self): pass
+  def _on_uninstall(self): pass

selfdrive/ui/layouts/settings/toggles.py

@@ -0,0 +1,68 @@
+from openpilot.system.ui.lib.list_view import ListView, toggle_item
+from openpilot.common.params import Params
+
+# Description constants
+DESCRIPTIONS = {
+  "OpenpilotEnabledToggle": (
+    "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Your attention is required at all times to use this feature."
+  ),
+  "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.",
+  "IsLdwEnabled": (
+    "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)."
+  ),
+  "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
+  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+  "IsMetric": "Display speed in km/h instead of mph.",
+}
+
+
+class TogglesLayout:
+  def __init__(self):
+    self._params = Params()
+    items = [
+      toggle_item(
+        "Enable openpilot",
+        DESCRIPTIONS["OpenpilotEnabledToggle"],
+        self._params.get_bool("OpenpilotEnabledToggle"),
+        icon="chffr_wheel.png",
+      ),
+      toggle_item(
+        "Experimental Mode",
+        initial_state=self._params.get_bool("ExperimentalMode"),
+        icon="experimental_white.png",
+      ),
+      toggle_item(
+        "Disengage on Accelerator Pedal",
+        DESCRIPTIONS["DisengageOnAccelerator"],
+        self._params.get_bool("DisengageOnAccelerator"),
+        icon="disengage_on_accelerator.png",
+      ),
+      toggle_item(
+        "Enable Lane Departure Warnings",
+        DESCRIPTIONS["IsLdwEnabled"],
+        self._params.get_bool("IsLdwEnabled"),
+        icon="warning.png",
+      ),
+      toggle_item(
+        "Always-On Driver Monitoring",
+        DESCRIPTIONS["AlwaysOnDM"],
+        self._params.get_bool("AlwaysOnDM"),
+        icon="monitoring.png",
+      ),
+      toggle_item(
+        "Record and Upload Driver Camera",
+        DESCRIPTIONS["RecordFront"],
+        self._params.get_bool("RecordFront"),
+        icon="monitoring.png",
+      ),
+      toggle_item(
+        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png"
+      ),
+    ]
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)

selfdrive/ui/layouts/sidebar.py

@@ -5,6 +5,7 @@ from collections.abc import Callable
 from cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 SIDEBAR_WIDTH = 300
 METRIC_HEIGHT = 126
@@ -199,7 +200,7 @@ class Sidebar:
 
     # Draw text
     text = f"{metric.label}\n{metric.value}"
-    text_size = rl.measure_text_ex(self._font_bold, text, 35, 0)
+    text_size = measure_text_cached(self._font_bold, text, 35)
     text_pos = rl.Vector2(
       metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2,
       metric_rect.y + (metric_rect.height - text_size.y) / 2

selfdrive/ui/onroad/augmented_road_view.py

@@ -16,6 +16,8 @@ from openpilot.common.transformations.orientation import rot_from_euler
 
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
+ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
 DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
 
 BORDER_COLORS = {
@@ -28,6 +30,7 @@ BORDER_COLORS = {
 class AugmentedRoadView(CameraView):
   def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
     super().__init__("camerad", stream_type)
+    self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
 
     self.device_camera: DeviceCameraConfig | None = None
     self.view_from_calib = view_frame_from_device_frame.copy()
@@ -35,6 +38,7 @@ class AugmentedRoadView(CameraView):
 
     self._last_calib_time: float = 0
     self._last_rect_dims = (0.0, 0.0)
+    self._last_stream_type = stream_type
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
 
@@ -119,6 +123,7 @@ class AugmentedRoadView(CameraView):
     current_dims = (self._content_rect.width, self._content_rect.height)
     if (self._last_calib_time == calib_time and
         self._last_rect_dims == current_dims and
+        self._last_stream_type == self.stream_type and
         self._cached_matrix is not None):
       return self._cached_matrix
 
@@ -154,9 +159,10 @@ class AugmentedRoadView(CameraView):
     except (ZeroDivisionError, OverflowError):
       x_offset, y_offset = 0, 0
 
-    # Update cache values
+    # Cache the computed transformation matrix to avoid recalculations
     self._last_calib_time = calib_time
     self._last_rect_dims = current_dims
+    self._last_stream_type = self.stream_type
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],
@@ -175,14 +181,15 @@ class AugmentedRoadView(CameraView):
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
-  road_camera_view = AugmentedRoadView(VisionStreamType.VISION_STREAM_ROAD)
+  road_camera_view = AugmentedRoadView(ROAD_CAM)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
       ui_state.update()
       if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
-        is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
-        road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD)
+        if WIDE_CAM in road_camera_view.available_streams:
+          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          road_camera_view.switch_stream(stream)
       road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     road_camera_view.close()

selfdrive/ui/onroad/cameraview.py

@@ -57,9 +57,17 @@ else:
 
 class CameraView:
   def __init__(self, name: str, stream_type: VisionStreamType):
-    self.client = VisionIpcClient(name, stream_type, conflate=True)
     self._name = name
+    # Primary stream
+    self.client = VisionIpcClient(name, stream_type, conflate=True)
     self._stream_type = stream_type
+    self.available_streams: list[VisionStreamType] = []
+
+    # Target stream for switching
+    self._target_client: VisionIpcClient | None = None
+    self._target_stream_type: VisionStreamType | None = None
+    self._switching: bool = False
+
 
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
@@ -74,6 +82,8 @@ class CameraView:
     self.egl_images: dict[int, EGLImage] = {}
     self.egl_texture: rl.Texture | None = None
 
+    self._placeholder_color : rl.Color | None = None
+
     # Initialize EGL for zero-copy rendering on TICI
     if TICI:
       if not init_egl():
@@ -84,13 +94,25 @@ class CameraView:
       self.egl_texture = rl.load_texture_from_image(temp_image)
       rl.unload_image(temp_image)
 
+  def _set_placeholder_color(self, color: rl.Color):
+    """Set a placeholder color to be drawn when no frame is available."""
+    self._placeholder_color = color
+
   def switch_stream(self, stream_type: VisionStreamType) -> None:
-    if self._stream_type != stream_type:
-      cloudlog.debug(f'switching stream from {self._stream_type} to {stream_type}')
-      self._clear_textures()
-      self.frame = None
-      self._stream_type = stream_type
-      self.client = VisionIpcClient(self._name, stream_type, conflate=True)
+    if self._stream_type == stream_type:
+      return
+
+    if self._switching and self._target_stream_type == stream_type:
+      return
+
+    cloudlog.debug(f'Preparing switch from {self._stream_type} to {stream_type}')
+
+    if self._target_client:
+      del self._target_client
+
+    self._target_stream_type = stream_type
+    self._target_client = VisionIpcClient(self._name, stream_type, conflate=True)
+    self._switching = True
 
   @property
   def stream_type(self) -> VisionStreamType:
@@ -129,7 +151,11 @@ class CameraView:
     ])
 
   def render(self, rect: rl.Rectangle):
+    if self._switching:
+      self._handle_switch()
+
     if not self._ensure_connection():
+      self._draw_placeholder(rect)
       return
 
     # Try to get a new buffer without blocking
@@ -139,6 +165,7 @@ class CameraView:
       self.frame = buffer
 
     if not self.frame:
+      self._draw_placeholder(rect)
       return
 
     transform = self._calc_frame_matrix(rect)
@@ -163,6 +190,10 @@ class CameraView:
     else:
       self._render_textures(src_rect, dst_rect)
 
+  def _draw_placeholder(self, rect: rl.Rectangle):
+    if self._placeholder_color:
+      rl.draw_rectangle_rec(rect, self._placeholder_color)
+
   def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
     """Render using EGL for direct buffer access"""
     if self.frame is None or self.egl_texture is None:
@@ -214,6 +245,7 @@ class CameraView:
   def _ensure_connection(self) -> bool:
     if not self.client.is_connected():
       self.frame = None
+      self.available_streams.clear()
 
       # Throttle connection attempts
       current_time = rl.get_time()
@@ -225,16 +257,57 @@ class CameraView:
         return False
 
       cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}")
-      self._clear_textures()
+      self._initialize_textures()
+      self.available_streams = self.client.available_streams(self._name, block=False)
 
+    return True
+
+  def _handle_switch(self) -> None:
+    """Check if target stream is ready and switch immediately."""
+    if not self._target_client or not self._switching:
+        return
+
+    # Try to connect target if needed
+    if not self._target_client.is_connected():
+      if not self._target_client.connect(False) or not self._target_client.num_buffers:
+        return
+
+      cloudlog.debug(f"Target stream connected: {self._target_stream_type}")
+
+    # Check if target has frames ready
+    target_frame = self._target_client.recv(timeout_ms=0)
+    if target_frame:
+      self.frame = target_frame # Update current frame to target frame
+      self._complete_switch()
+
+  def _complete_switch(self) -> None:
+      """Instantly switch to target stream."""
+      cloudlog.debug(f"Switching to {self._target_stream_type}")
+      # Clean up current resources
+      if self.client:
+        del self.client
+
+      # Switch to target
+      self.client = self._target_client
+      self._stream_type = self._target_stream_type
+      self._texture_needs_update = True
+
+      # Reset state
+      self._target_client = None
+      self._target_stream_type = None
+      self._switching = False
+
+      # Initialize textures for new stream
+      self._initialize_textures()
+
+  def _initialize_textures(self):
+      self._clear_textures()
       if not TICI:
         self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
           int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
         self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
           int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
-    return True
-
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:
       rl.unload_texture(self.texture_y)

selfdrive/ui/onroad/model_renderer.py

@@ -7,6 +7,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import DEFAULT_FPS
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
+from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 
 
 CLIP_MARGIN = 500
@@ -51,7 +52,7 @@ class ModelRenderer:
     self._lane_line_probs = np.zeros(4, dtype=np.float32)
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
-    self._path_offset_z = 1.22
+    self._path_offset_z = HEIGHT_INIT[0]
 
     # Initialize ModelPoints objects
     self._path = ModelPoints()
@@ -99,7 +100,10 @@ class ModelRenderer:
 
     # Update state
     self._experimental_mode = sm['selfdriveState'].experimentalMode
-    self._path_offset_z = sm['liveCalibration'].height[0]
+
+    live_calib = sm['liveCalibration']
+    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+
     if sm.updated['carParams']:
       self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
 

selfdrive/ui/qt/offroad/offroad_home.cc

@@ -18,7 +18,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   main_layout->setContentsMargins(40, 40, 40, 40);
 
   // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
+  header_layout = new QHBoxLayout();
   header_layout->setContentsMargins(0, 0, 0, 0);
   header_layout->setSpacing(16);
 

selfdrive/ui/qt/offroad/offroad_home.h

@@ -39,11 +39,13 @@ public:
 
 protected:
   QHBoxLayout *home_layout;
+  QHBoxLayout *header_layout;
+
+  void showEvent(QShowEvent *event) override;
+  void refresh();
 
 private:
-  void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
-  void refresh();
 
   Params params;
 

selfdrive/ui/sunnypilot/SConscript

@@ -19,12 +19,15 @@ qt_src = [
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
+  "sunnypilot/qt/offroad/exit_offroad_button.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
+  "sunnypilot/qt/offroad/settings/brightness.cc",
   "sunnypilot/qt/offroad/settings/models_panel.cc",
+  "sunnypilot/qt/offroad/settings/osm_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
@@ -53,6 +56,10 @@ network_src = [
   "sunnypilot/qt/network/sunnylink/services/user_service.cc",
 ]
 
+osm_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/osm/models_fetcher.cc",
+]
+
 vehicle_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
   "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
@@ -74,8 +81,9 @@ brand_settings_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
 ]
 
+
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + osm_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")

selfdrive/ui/sunnypilot/qt/common/json_fetcher.h

@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QNetworkReply>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QEventLoop>
+
+class JsonFetcher {
+public:
+  static QJsonObject getJsonFromURL(const QString &url) {
+    const auto qurl = QUrl(url);
+    QNetworkAccessManager manager;
+    const QNetworkRequest request(qurl);
+    QNetworkReply *reply = manager.get(request);
+    QEventLoop loop;
+
+    // Send GET request
+
+    QObject::connect(reply, &QNetworkReply::finished, &loop, &QEventLoop::quit);
+    loop.exec();
+
+    if (reply->error() != QNetworkReply::NoError) {
+      qWarning() << "Failed to fetch data from URL: " << reply->errorString();
+      return QJsonObject();
+    }
+
+    const QByteArray responseData = reply->readAll();
+    const QJsonDocument doc = QJsonDocument::fromJson(responseData);
+    QJsonObject json = doc.object();
+
+    reply->deleteLater();
+    return json;
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc

@@ -0,0 +1,100 @@
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QPainterPath>
+#include <QStyle>
+
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h"
+
+
+ExitOffroadButton::ExitOffroadButton(QWidget *parent) : QPushButton(parent), glowTimer(new QTimer(this)) {
+  setMouseTracking(true);
+
+  connect(glowTimer, &QTimer::timeout, this, [this]() {
+    // Pulse alpha up and down
+    glowAlpha += glowDelta;
+    if (glowAlpha > 220 || glowAlpha < 10) {
+      glowDelta *= -1;
+    }
+    update(); // trigger repaint
+  });
+
+  glowTimer->start(45);
+  
+  pixmap = QPixmap("../../sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png").scaledToWidth(img_width, Qt::SmoothTransformation);
+
+  // go to toggles and expand experimental mode description
+  connect(this, &QPushButton::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
+      params.remove("OffroadMode");
+    }
+  });
+
+  setFixedHeight(125);
+  QHBoxLayout *main_layout = new QHBoxLayout;
+  main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0);
+
+  mode_label = new QLabel(tr("EXIT ALWAYS OFFROAD MODE"));
+  mode_icon = new QLabel;
+  mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+  mode_icon->setPixmap(pixmap);
+
+  main_layout->addWidget(mode_label, 1, Qt::AlignLeft);
+  main_layout->addWidget(mode_icon, 0, Qt::AlignRight);
+
+  setLayout(main_layout);
+
+  setStyleSheet(R"(
+    QPushButton {
+      border: none;
+    }
+
+    QLabel {
+      font-size: 45px;
+      font-weight: 300;
+      text-align: left;
+      font-family: JetBrainsMono;
+      color: #000000;
+    }
+  )");
+}
+
+void drawPulsingGlowOverlay(QPainter &p, QPainterPath path, int glowAlpha) {
+  // Draw pulsing glow effect clipped to button area
+  p.save();
+  p.setClipPath(path);
+  p.setCompositionMode(QPainter::CompositionMode_HardLight);
+
+  const QColor animatedGlowColor(255, 255, 255, std::min(255, glowAlpha));
+  QPen glowPen(animatedGlowColor, 8);
+  glowPen.setJoinStyle(Qt::RoundJoin);
+  p.setPen(glowPen);
+  p.drawPath(path);
+  
+  p.restore();
+}
+
+void ExitOffroadButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  QPainterPath path;
+  path.addRoundedRect(rect(), 10, 10);
+
+  // gradient
+  bool pressed = isDown();
+  QLinearGradient gradient(rect().left(), 0, rect().right(), 0);
+  gradient.setColorAt(0, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(0.3, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(1, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
+  p.fillPath(path, gradient);
+
+  drawPulsingGlowOverlay(p, path, glowAlpha);
+
+  // vertical line
+  p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine));
+  int line_x = rect().right() - img_width - (2 * horizontal_padding);
+  p.drawLine(line_x, rect().bottom(), line_x, rect().top());
+}

selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/params.h"
+
+class ExitOffroadButton : public QPushButton {
+  Q_OBJECT
+
+private:
+  QTimer *glowTimer;
+  int glowAlpha = 100;  // Current alpha of glow
+  int glowDelta = 10;    // Change per tick
+  
+public:
+  explicit ExitOffroadButton(QWidget* parent = 0);
+
+  Params params;
+  bool offroad_mode;
+  int img_width = 100;
+  int horizontal_padding = 30;
+  QPixmap pixmap;
+  QLabel *mode_label;
+  QLabel *mode_icon;
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+};

selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc

@@ -5,16 +5,45 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
-
 #include <QStackedWidget>
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
 
 OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
-  QStackedWidget *left_widget = new QStackedWidget(this);
-  left_widget->addWidget(new DriveStats(this));
+  QFrame *left_widget = new QFrame(this);
+  QVBoxLayout *left_layout = new QVBoxLayout(left_widget);
+  left_layout->setContentsMargins(0, 0, 0, 0);
+  left_layout->setSpacing(30);
+
+  btn_exit_offroad = new ExitOffroadButton(this);
+  QObject::connect(btn_exit_offroad, &ExitOffroadButton::clicked, [=]() {
+    refreshOffroadStatus();
+  });
+  left_layout->addWidget(btn_exit_offroad);
+
+  left_layout->addWidget(new DriveStats(this));
   left_widget->setStyleSheet("border-radius: 10px;");
 
   home_layout->insertWidget(0, left_widget);
+
+  offroad_notif = new QPushButton(tr("ALWAYS OFFROAD ACTIVE"));
+  offroad_notif->setVisible(false);
+  offroad_notif->setStyleSheet("background-color: #E22C2C;");
+  header_layout->insertWidget(0, offroad_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  QObject::connect(deviceSP(), &DeviceSP::displayPowerChanged, this, &OffroadHomeSP::refreshOffroadStatus);
+
+}
+
+void OffroadHomeSP::showEvent(QShowEvent *event) {
+  refreshOffroadStatus();
+  OffroadHome::showEvent(event);
+}
+
+void OffroadHomeSP::refreshOffroadStatus() {
+  bool is_offroad = params.getBool("OffroadMode");
+  btn_exit_offroad->setVisible(is_offroad);
+  offroad_notif->setVisible(is_offroad);
+  OffroadHome::refresh();
 }

selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h

@@ -8,10 +8,19 @@
 #pragma once
 
 #include "selfdrive/ui/qt/offroad/offroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h"
 
 class OffroadHomeSP : public OffroadHome {
   Q_OBJECT
 
 public:
   explicit OffroadHomeSP(QWidget *parent = 0);
+
+private:
+  ExitOffroadButton *btn_exit_offroad;
+  QPushButton *offroad_notif;
+  Params params;
+
+  void showEvent(QShowEvent *event) override;
+  void refreshOffroadStatus();
 };

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

@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
+
+// Map of Brightness Options
+const QMap<QString, QString> Brightness::brightness_options = {
+  {"0", "1"},  // Auto (Dark)
+  {"1", "0"},  // Auto
+  {"2", "10"},
+  {"3", "20"},
+  {"4", "30"},
+  {"5", "40"},
+  {"6", "50"},
+  {"7", "60"},
+  {"8", "70"},
+  {"9", "80"},
+  {"10", "90"},
+  {"11", "100"}
+};
+
+Brightness::Brightness() : OptionControlSP(
+  "Brightness",
+  tr("Brightness"),
+  tr("Overrides the brightness of the device."),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &brightness_options) {
+
+  refresh();
+}
+
+void Brightness::refresh() {
+  const int brightness = QString::fromStdString(params.get("Brightness")).toInt();
+  
+  QString label;
+  if (brightness == 1) {
+    label = tr("Auto (Dark)");
+  } else if (brightness == 0) {
+    label = tr("Auto");
+  } else {
+    const int value = brightness;
+    label = QString("%1").arg(value);
+  }
+  
+  setLabel(label);
+}

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

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class Brightness : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> brightness_options;
+
+  Brightness();
+  void refresh();
+
+private:
+  Params params;
+};

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

@@ -80,6 +80,19 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
+    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  addItem(toggleDeviceBootMode);
+
+  connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
+    params.put("DeviceBootMode", QString::number(index).toStdString());
+    updateState();
+  });
+  
+  // Brightness
+  brightness = new Brightness();
+  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
+  addItem(brightness);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
@@ -179,4 +192,10 @@ void DevicePanelSP::updateState() {
   bool offroad_mode_param = params.getBool("OffroadMode");
   offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
+
+  DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
+  if (params.get("DeviceBootMode") == "1") {
+    currStatus = DeviceSleepModeStatus::OFFROAD;
+  }
+  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 }

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

@@ -8,9 +8,15 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+enum class DeviceSleepModeStatus {
+  DEFAULT,
+  OFFROAD,
+};
+
 class DevicePanelSP : public DevicePanel {
   Q_OBJECT
 
@@ -25,6 +31,8 @@ private:
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
+  ButtonParamControlSP *toggleDeviceBootMode;
+  Brightness *brightness;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {
@@ -85,4 +93,20 @@ private:
       background-color: #FF2424;
     }
   )";
+
+  static QString deviceSleepModeDescription(DeviceSleepModeStatus status = DeviceSleepModeStatus::DEFAULT) {
+    QString def_str = tr("⁍ Default: Device will boot/wake-up normally & will be ready to engage.");
+    QString offrd_str = tr("⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.");
+
+    if (status == DeviceSleepModeStatus::DEFAULT) {
+      def_str = "<font color='white'><b>" + def_str + "</b></font>";
+    } else if (status == DeviceSleepModeStatus::OFFROAD) {
+      offrd_str = "<font color='white'><b>" + offrd_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3")
+             .arg(tr("Controls state of the device after boot/sleep."))
+             .arg(def_str)
+             .arg(offrd_str);
+  }
 };

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

@@ -31,6 +31,13 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
     });
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
+
+  // LiveDelay toggle
+  list->addItem(new ParamControlSP("LagdToggle",
+                                   tr("Live Learning Steer Delay"),
+                                   tr("Enable this for the car to learn and adapt its steering response time. "
+                                      "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
+                                   "../assets/offroad/icon_shell.png"));
 }
 
 
@@ -141,7 +148,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   // Sort bundles by index in descending order
   QStringList bundleNames;
   // Add "Default" as the first option
-  bundleNames.append(tr("Use Default"));
+  bundleNames.append(DEFAULT_MODEL);
 
   auto indices = index_to_bundle.keys();
   std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
@@ -159,7 +166,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   }
 
   // Handle "Stock" selection differently
-  if (selectedBundleName == tr("Use Default")) {
+  if (selectedBundleName == DEFAULT_MODEL) {
     params.remove("ModelManager_ActiveBundle");
     currentModelLblBtn->setValue(tr("Default"));
     showResetParamsDialog();

selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h

@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <algorithm>  // for std::sort
+#include <deque>
+#include <vector>
+#include <tuple>
+
+#include <QDir>
+#include <QJsonObject>
+
+#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h"
+
+static const std::tuple<QString, QString> defaultLocation = std::make_tuple("== None ==", "");
+
+// New class LocationsFetcher that handles web requests and JSON parsing
+class LocationsFetcher {
+public:
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getLocationsFromURL(const QUrl &url, const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    // Initialize an empty vector to hold the locations
+    std::vector<std::tuple<QString, QString, QString, QString> > locations;
+
+    JsonFetcher fetcher;
+    QJsonObject json = fetcher.getJsonFromURL(url.toString());
+
+    for (auto it = json.begin(); it != json.end(); ++it) {
+      QString code = it.key();
+      QJsonObject obj = it.value().toObject();
+      QString fullName = obj["full_name"].toString();
+
+      locations.push_back(std::make_tuple(fullName, code, QString(), QString()));
+    }
+    // Sort locations by full name
+    std::sort(locations.begin(), locations.end(), [](const auto &lhs, const auto &rhs) {
+      return std::get<0>(lhs) < std::get<0>(rhs); // Compare full names
+    });
+    // Optionally, you can now add defaultName entry at the beginning
+    locations.insert(locations.begin(), std::tuple_cat(customLocation, std::make_tuple("", "")));
+    return locations;
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getLocationsFromURL(const QString &url, const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL(QUrl(url), customLocation);
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getOsmLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/nation_bounding_boxes.json", customLocation);
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getUsStatesLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/us_states_bounding_boxes.json", customLocation);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc

@@ -0,0 +1,158 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h"
+
+#include <QThread>
+
+ModelsFetcher::ModelsFetcher(QObject *parent) : QObject(parent) {
+  manager = new QNetworkAccessManager(this);
+}
+
+QByteArray ModelsFetcher::verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches) {
+  hashMatches = false; // Default to false
+  QByteArray fileData;
+
+  if (expectedHash.isEmpty()) {
+    // If no hash is provided, assume verification isn't required but return the file data
+    hashMatches = true;
+  } else {
+    QFile file(filePath);
+    if (file.open(QIODevice::ReadOnly)) {
+      QCryptographicHash hash(QCryptographicHash::Sha256); // Or your chosen algorithm
+      fileData = file.readAll(); // Read the file data once
+      hash.addData(fileData);
+      file.close();
+
+      QString currentHash = QString(hash.result().toHex());
+      hashMatches = (currentHash == expectedHash);
+    }
+  }
+
+  // Return the file data if hash matches or no hash was provided; empty otherwise
+  return hashMatches ? fileData : QByteArray();
+}
+
+
+void ModelsFetcher::download(const DownloadInfo &downloadInfo, const QString &filename, const QString &destinationPath) {
+  QString fullPath = destinationPath + "/" + filename;
+  QFileInfo fileInfo(fullPath);
+  bool hashMatches = false;
+  QByteArray data = verifyFileHash(fullPath, downloadInfo.sha256, hashMatches);
+
+  if (fileInfo.exists() && hashMatches) {
+    // Hash matches or no hash provided, and we have the file data
+    LOGD("File already downloaded and verified: %s", filename.toStdString().c_str());
+    emit downloadProgress(100);
+    emit downloadComplete(data, true); // Use the data returned from verifyFileHash
+    return; // Exit early
+  }
+
+  // Proceed with download if file does not exist or hash verification failed
+  QNetworkRequest request(downloadInfo.url);
+  QNetworkReply *reply = manager->get(request);
+  connect(reply, &QNetworkReply::downloadProgress, this, &ModelsFetcher::onDownloadProgress);
+  connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename, downloadInfo]() {
+    onFinished(reply, destinationPath, filename, downloadInfo.sha256);
+  });
+}
+
+QString extractFileName(const QString &contentDisposition) {
+  const QString filenameTag = "filename=";
+  const int idx = contentDisposition.indexOf(filenameTag);
+  if (idx < 0) {
+    return QString();
+  }
+
+  QString filename = contentDisposition.mid(idx + filenameTag.length());
+  if (filename.startsWith("\"") && filename.endsWith("\"")) {
+    return filename.mid(1, filename.size() - 2);
+  }
+
+  return filename;
+}
+
+void ModelsFetcher::onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, const QString &expectedHash) {
+  // Handle download error
+  if (reply->error()) {
+    return; // Possibly emit a signal or log an error as per your error handling policy
+  }
+
+  const QByteArray data = reply->readAll();
+
+  QString finalFilename = filename;
+  if (finalFilename.isEmpty()) {
+    finalFilename = extractFileName(reply->header(QNetworkRequest::ContentDispositionHeader).toString());
+  }
+
+  QString finalPath = QDir(destinationPath).filePath(finalFilename);
+
+  // Save the downloaded file
+  QFile file(finalPath);
+  //ensure if the path exists and if not create it 
+  if (!QDir().mkpath(destinationPath)) {
+    LOGE("Unable to create directory: %s", destinationPath.toStdString().c_str());
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  //Retry the file open and write 3 times with a little delay between each retry
+  for (int i = 0; i < 3; i++) {
+    if (file.isOpen()) break;
+
+    file.open(QIODevice::WriteOnly);
+    if (!file.isOpen()) QThread::msleep(100);
+  }
+
+  // If the file is still not open, log an error and emit a failure signal
+  if (!file.isOpen()) {
+    LOGE("Unable to open file for writing: %s", finalPath.toStdString().c_str());
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  file.write(data);
+  file.close();
+
+  bool hashMatches = false;
+  verifyFileHash(finalPath, expectedHash, hashMatches);
+
+  // Verify the file hash if expectedHash is provided
+  if (!expectedHash.isEmpty() && !hashMatches) {
+    LOGE("The downloaded file didn't pass the hash validation!: %s", filename.toStdString().c_str());
+    // Hash verification failed, handle accordingly
+    // This could involve deleting the file, logging an error, or emitting a failure signal
+    QFile::remove(finalPath); // Example action: Remove the invalid file
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  emit downloadComplete(data, false); // Emit your success signal
+}
+
+void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) {
+  const double progress = (bytesReceived * 100.0) / bytesTotal;
+  emit downloadProgress(progress);
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL(const QUrl &url) {
+  std::vector<Model> models;
+  JsonFetcher fetcher;
+  QJsonObject json = fetcher.getJsonFromURL(url.toString());
+  for (auto it = json.begin(); it != json.end(); ++it) {
+    models.push_back(Model(it.value().toObject()));
+  }
+  return models;
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL(const QString &url) {
+  return getModelsFromURL(QUrl(url));
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL() {
+  return getModelsFromURL("https://docs.sunnypilot.ai/models_v5.json");
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h

@@ -0,0 +1,143 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <algorithm>  // for std::sort
+#include <cassert>
+#include <deque>
+#include <vector>
+
+#include <QDir>
+#include <QJsonObject>
+#include <QTimer>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+#include "system/hardware/hw.h"
+
+static const QString MODELS_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/models/" : "/data/media/0/models/";
+
+struct DownloadInfo {
+  QString url;
+  QString sha256;
+};
+
+// New class ModelsFetcher with a new function that handles web requests and JSON parsing for the new JSON structure
+class Model {
+public:
+  explicit Model(const QJsonObject &json) {
+    displayName = json["display_name"].toString();
+    fullName = json["full_name"].toString();
+    fileName = json["file_name"].toString();
+
+    // Parse downloadUri as an object
+    QJsonObject downloadUriObj = json["download_uri"].toObject();
+    downloadUri.url = downloadUriObj["url"].toString();
+    downloadUri.sha256 = downloadUriObj["sha256"].toString();
+
+    fullNameNav = json["full_name_nav"].toString();
+    fileNameNav = json["file_name_nav"].toString();
+
+    // Parse downloadUriNav as an object
+    QJsonObject downloadUriNavObj = json["download_uri_nav"].toObject();
+    downloadUriNav.url = downloadUriNavObj["url"].toString();
+    downloadUriNav.sha256 = downloadUriNavObj["sha256"].toString();
+
+    fullNameMetadata = json["full_name_metadata"].toString();
+    fileNameMetadata = json["file_name_metadata"].toString();
+
+    // Parse downloadUriMetadata as an object
+    QJsonObject downloadUriMetadataObj = json["download_uri_metadata"].toObject();
+    downloadUriMetadata.url = downloadUriMetadataObj["url"].toString();
+    downloadUriMetadata.sha256 = downloadUriMetadataObj["sha256"].toString();
+
+    index = json["index"].toString();
+    environment = json["environment"].toString();
+    generation = json["generation"].toString();
+  }
+
+  // Method to convert model back to QJsonObject, if needed
+  QJsonObject toJson() const {
+    QJsonObject json;
+    json["display_name"] = displayName;
+    json["full_name"] = fullName;
+    json["file_name"] = fileName;
+
+    QJsonObject uriObj;
+    uriObj["url"] = downloadUri.url;
+    uriObj["sha256"] = downloadUri.sha256;
+    json["download_uri"] = uriObj;
+
+    QJsonObject uriNavObj;
+    uriNavObj["url"] = downloadUriNav.url;
+    uriNavObj["sha256"] = downloadUriNav.sha256;
+    json["download_uri_nav"] = uriNavObj;
+
+    QJsonObject uriMetadataObj;
+    uriMetadataObj["url"] = downloadUriMetadata.url;
+    uriMetadataObj["sha256"] = downloadUriMetadata.sha256;
+    json["download_uri_metadata"] = uriMetadataObj;
+
+    json["full_name_nav"] = fullNameNav;
+    json["file_name_nav"] = fileNameNav;
+    json["full_name_metadata"] = fullNameMetadata;
+    json["file_name_metadata"] = fileNameMetadata;
+    json["index"] = index;
+    json["environment"] = environment;
+    json["generation"] = generation;
+    return json;
+  }
+
+  QString displayName;
+  QString fullName;
+  QString fileName;
+  DownloadInfo downloadUri;
+  DownloadInfo downloadUriNav;
+  DownloadInfo downloadUriMetadata;
+
+  QString fullNameNav;
+  QString fileNameNav;
+  QString fullNameMetadata;
+  QString fileNameMetadata;
+  QString index;
+  QString environment;
+  QString generation;
+};
+
+class ModelsFetcher : public QObject {
+  Q_OBJECT
+
+public:
+  explicit ModelsFetcher(QObject *parent = nullptr);
+  void download(const DownloadInfo &url, const QString &filename = "", const QString &destinationPath = MODELS_PATH);
+  static std::vector<Model> getModelsFromURL(const QUrl &url);
+  static std::vector<Model> getModelsFromURL(const QString &url);
+  static std::vector<Model> getModelsFromURL();
+
+signals:
+  void downloadProgress(double percentage);
+  void downloadComplete(const QByteArray &data, bool fromCache = false);
+  void downloadFailed(const QString &filename);
+
+private:
+  //  static bool verifyFileHash(const QString& filePath, const QString& expectedHash);
+  static QByteArray verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches);
+  void onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal);
+  void onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename,
+                  const QString &expectedHash);
+
+  QNetworkAccessManager *manager;
+};

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

@@ -0,0 +1,283 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h"
+
+#include <tuple>
+#include <vector>
+#include <string>
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+
+  const auto list = new ListWidgetSP(this, false);
+  list->addItem(mapdVersion = new LabelControlSP(tr("Mapd Version"), "Loading..."));
+  list->addItem(setupOsmDeleteMapsButton(parent));
+  list->addItem(offlineMapsETA = new LabelControlSP(tr("Offline Maps ETA"), ""));
+  list->addItem(offlineMapsElapsed = new LabelControlSP(tr("Time Elapsed"), ""));
+  list->addItem(setupOsmUpdateButton(parent));
+  list->addItem(setupOsmDownloadButton(parent));
+  list->addItem(setupUsStatesButton(parent));
+
+  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
+    updateLabels();
+  });
+
+  timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, QOverload<>::of(&OsmPanel::updateLabels));
+  timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds.
+  updateLabels();
+
+  osmScreen = new QWidget(this);
+  auto *vlayout = new QVBoxLayout(osmScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+  vlayout->addWidget(new ScrollViewSP(list, this), 1);
+  main_layout->addWidget(osmScreen);
+}
+
+ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) {
+  osmDeleteMapsBtn = new ButtonControlSP(tr("Downloaded Maps"), tr("DELETE")); // Updated on updateLabels()
+  connect(osmDeleteMapsBtn, &ButtonControlSP::clicked, [=]() {
+    if (showConfirmationDialog(parent, tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all the maps?"), tr("Yes, delete all the maps."))) {
+      QtConcurrent::run([=]() {
+        QDir dir(MAP_PATH);
+        osmDeleteMapsBtn->setEnabled(false);
+        osmDeleteMapsBtn->setText("⌛");
+        dir.removeRecursively();
+        updateMapSize();
+        osmDeleteMapsBtn->setEnabled(true);
+        osmDeleteMapsBtn->setText(tr("DELETE"));
+      });
+      updateLabels();
+    }
+  });
+  return osmDeleteMapsBtn;
+}
+
+ButtonControlSP *OsmPanel::setupOsmUpdateButton(QWidget *parent) {
+  osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels()
+  connect(osmUpdateBtn, &ButtonControlSP::clicked, [=]() {
+    if (osm_download_in_progress && !download_failed_state) {
+      updateLabels();
+    } else if (showConfirmationDialog(parent)) {
+      osm_download_in_progress = true;
+      params.putBool("OsmDbUpdatesCheck", true);
+      updateLabels();
+    }
+  });
+  return osmUpdateBtn;
+}
+
+ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) {
+  osmDownloadBtn = new ButtonControlSP(tr("Country"), tr("SELECT"));
+  connect(osmDownloadBtn, &ButtonControlSP::clicked, [=]() {
+    osmDownloadBtn->setEnabled(false);
+    osmDownloadBtn->setValue(tr("Fetching Country list..."));
+    const std::vector<std::tuple<QString, QString, QString, QString> > locations = getOsmLocations();
+    osmDownloadBtn->setEnabled(true);
+    osmDownloadBtn->setValue("");
+    const QString initTitle = QString::fromStdString(params.get("OsmLocationTitle"));
+    const QString currentTitle = ((initTitle == "== None ==") || (initTitle.length() == 0)) ? "== None ==" : initTitle;
+
+    QStringList locationTitles;
+    for (auto &loc: locations) {
+      locationTitles.push_back(std::get<0>(loc));
+    }
+
+    const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this);
+    if (!selection.isEmpty()) {
+      params.put("OsmLocal", "1");
+      params.put("OsmLocationTitle", selection.toStdString());
+      for (auto &loc: locations) {
+        if (std::get<0>(loc) == selection) {
+          params.put("OsmLocationName", std::get<1>(loc).toStdString());
+          break;
+        }
+      }
+      if (params.get("OsmLocationName") == "US") {
+        usStatesBtn->click();
+        return;
+      } else if (selection != "== None ==") {
+        if (showConfirmationDialog(parent)) {
+          osm_download_in_progress = true;
+          params.putBool("OsmDbUpdatesCheck", true);
+          updateLabels();
+        }
+      }
+    }
+    updateLabels();
+  });
+  return osmDownloadBtn;
+}
+
+ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) {
+  usStatesBtn = new ButtonControlSP(tr("State"), tr("SELECT"));
+  connect(usStatesBtn, &ButtonControlSP::clicked, [=]() {
+    const std::tuple<QString, QString> allStatesOption = std::make_tuple("All States (~4.8 GB)", "All");
+    usStatesBtn->setEnabled(false);
+    usStatesBtn->setValue(tr("Fetching State list..."));
+    const std::vector<std::tuple<QString, QString, QString, QString> > locations =
+        getUsStatesLocations(allStatesOption);
+    usStatesBtn->setEnabled(true);
+    usStatesBtn->setValue("");
+    const QString initTitle = QString::fromStdString(params.get("OsmStateTitle"));
+    const QString currentTitle = ((initTitle == std::get<0>(allStatesOption)) || (initTitle.length() == 0)) ? tr("All") : initTitle;
+
+    QStringList locationTitles;
+    for (auto &loc: locations) {
+      locationTitles.push_back(std::get<0>(loc));
+    }
+
+    const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this);
+    if (!selection.isEmpty()) {
+      params.put("OsmStateTitle", selection.toStdString());
+      for (auto &loc: locations) {
+        if (std::get<0>(loc) == selection) {
+          params.put("OsmStateName", std::get<1>(loc).toStdString());
+          break;
+        }
+      }
+      usStatesBtn->setValue(selection);
+      if (showConfirmationDialog(parent)) {
+        osm_download_in_progress = true;
+        params.putBool("OsmDbUpdatesCheck", true);
+        updateLabels();
+      }
+    }
+    updateLabels();
+  });
+  usStatesBtn->setVisible(false); // initially hidden
+  return usStatesBtn;
+}
+
+void OsmPanel::showEvent(QShowEvent *event) {
+  updateLabels(); // For snappier feeling
+  if (!timer->isActive()) {
+    timer->start(FAST_REFRESH_INTERVAL);
+  }
+}
+
+void OsmPanel::hideEvent(QHideEvent *event) {
+  if (timer->isActive()) {
+    timer->stop();
+  }
+}
+
+
+void OsmPanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+  mapd_version = params.get("MapdVersion");
+  mapdVersion->setText(mapd_version.c_str());
+
+  updateMapSize();
+  osm_download_locations = mem_params.get("OSMDownloadLocations");
+  osm_download_in_progress = !osm_download_locations.empty();
+
+  timer->setInterval(osm_download_in_progress ? FAST_REFRESH_INTERVAL : SLOW_REFRESH_INTERVAL);
+  LOGT("Timer Interval %d", timer->interval());
+
+  const std::string osmLastDownloadTimeStr = params.get("OsmDownloadedDate");
+  if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) {
+    const double osmLastDownloadTime = std::stod(osmLastDownloadTimeStr);
+    lastDownloadedTimePoint = std::chrono::system_clock::from_time_t(static_cast<std::time_t>(osmLastDownloadTime));
+  }
+
+  osmDownloadBtn->setEnabled(!osm_download_in_progress);
+  usStatesBtn->setEnabled(!osm_download_in_progress);
+
+  updateDownloadProgress();
+
+  const QString locationName = QString::fromStdString(params.get("OsmLocationName"));
+  const bool isUs = !locationName.isEmpty() && locationName == "US";
+  usStatesBtn->setVisible(isUs);
+
+  if (!locationName.isEmpty()) {
+    if (!isUs) {
+      params.remove("OsmStateName");
+      params.remove("OsmStateTitle");
+    }
+    osmUpdateBtn->setVisible(true);
+  } else {
+    params.remove("OsmLocal");
+    params.remove("OsmLocationName");
+    params.remove("OsmLocationTitle");
+    params.remove("OsmStateName");
+    params.remove("OsmStateTitle");
+    osmUpdateBtn->setVisible(false);
+    usStatesBtn->setVisible(false);
+  }
+
+  osmDownloadBtn->setValue(QString::fromStdString(params.get("OsmLocationTitle")));
+  usStatesBtn->setValue(QString::fromStdString(params.get("OsmStateTitle")));
+  update();
+}
+
+void OsmPanel::updateDownloadProgress() {
+  const auto pending_update_check = params.getBool("OsmDbUpdatesCheck");
+  const QJsonObject osmDownloadProgress = QJsonDocument::fromJson(params.get("OSMDownloadProgress").c_str()).object();
+  if (osm_download_in_progress && lastDownloadedTimePoint.has_value()) {
+    offlineMapsETA->setVisible(true);
+    offlineMapsElapsed->setVisible(true);
+    offlineMapsETA->setText(calculateETA(osmDownloadProgress, lastDownloadedTimePoint.value()));
+    offlineMapsElapsed->setText(calculateElapsedTime(osmDownloadProgress, lastDownloadedTimePoint.value()));
+  } else {
+    offlineMapsETA->setVisible(false);
+    offlineMapsElapsed->setVisible(false);
+  }
+
+  const int total_files = extractIntFromJson(osmDownloadProgress, "total_files");
+  const int downloaded_files = extractIntFromJson(osmDownloadProgress, "downloaded_files");
+  download_failed_state = total_files && osm_download_in_progress && !lastDownloadedTimePoint.has_value() && downloaded_files < total_files;
+
+  QString updateButtonText = processUpdateStatus(pending_update_check, total_files, downloaded_files, osmDownloadProgress, download_failed_state);
+
+  osmUpdateBtn->setValue(updateButtonText);
+  osmUpdateBtn->setText(osm_download_in_progress && !download_failed_state ? tr("REFRESH") : tr("UPDATE"));
+  osmDeleteMapsBtn->setValue(formatSize(mapsDirSize));
+}
+
+int OsmPanel::extractIntFromJson(const QJsonObject &json, const QString &key) {
+  return (json.contains(key)) ? json[key].toInt() : 0;
+}
+
+QString OsmPanel::processUpdateStatus(bool pending_update, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state) {
+  if (pending_update && !osm_download_in_progress && !total_files) {
+    lastDownloadedTimePoint.reset();
+    return tr("Download starting...");
+  } else if (failed_state) {
+    return tr("Error: Invalid download. Retry.");
+  } else if (osm_download_in_progress && total_files > downloaded_files) {
+    return formatDownloadStatus(json);
+  } else if (osm_download_in_progress && downloaded_files >= total_files) {
+    osm_download_in_progress = false;
+    lastDownloadedTimePoint.reset();
+    return tr("Download complete!");
+  }
+
+  if (lastDownloadedTimePoint.has_value()) {
+    QDateTime dateTime = QDateTime::fromTime_t(std::chrono::system_clock::to_time_t(lastDownloadedTimePoint.value())); //fromMSecsSinceEpoch(duration);
+    dateTime = dateTime.toLocalTime();
+    return QString("%1").arg(dateTime.toString("yyyy-MM-dd HH:mm:ss"));
+  }
+
+  return "";
+}
+
+void OsmPanel::updateMapSize() {
+  if (mapSizeFuture.has_value() && mapSizeFuture.value().isFinished()) {
+    mapsDirSize = mapSizeFuture.value().result();
+  }
+
+  if (!mapSizeFuture.has_value() || !mapSizeFuture.value().isRunning()) {
+    mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH);
+  }
+}

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

@@ -0,0 +1,232 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <deque>
+#include <chrono>
+#include <map>
+#include <optional>
+#include <string>
+#include <tuple>
+#include <vector>
+#include <QDir>
+#include <QFileInfo>
+#include <QtConcurrent/QtConcurrent>
+
+#include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "system/hardware/hw.h"
+
+constexpr int FAST_REFRESH_INTERVAL = 1000; // ms
+constexpr int SLOW_REFRESH_INTERVAL = 5000; // ms
+
+static const QString MAP_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/osm/offline/" : "/data/media/0/osm/offline/";
+
+class OsmPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OsmPanel(QWidget *parent = nullptr);
+
+private:
+  QStackedLayout *main_layout = nullptr;
+  QWidget *osmScreen = nullptr;
+  Params params;
+  Params mem_params{Hardware::PC() ? "" : "/dev/shm/params"};
+  std::map<std::string, ParamControlSP *> toggles;
+  std::optional<QFuture<quint64> > mapSizeFuture;
+  const SubMaster &sm = *uiStateSP()->sm;
+
+
+  bool is_onroad = false;
+  std::string mapd_version;
+
+  bool isWifi() const { return sm["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI; }
+  bool isMetered() const { return sm["deviceState"].getDeviceState().getNetworkMetered(); }
+  bool osm_download_in_progress = false;
+  bool download_failed_state = false;
+  quint64 mapsDirSize = 0;
+
+  QLabel *osmUpdateLbl;
+  ButtonControlSP *osmDownloadBtn;
+  ButtonControlSP *osmUpdateBtn;
+  ButtonControlSP *usStatesBtn;
+  ButtonControlSP *osmDeleteMapsBtn;
+
+  ButtonControlSP *setupOsmDeleteMapsButton(QWidget *parent);;
+  ButtonControlSP *setupOsmUpdateButton(QWidget *parent);
+  ButtonControlSP *setupOsmDownloadButton(QWidget *parent);
+  ButtonControlSP *setupUsStatesButton(QWidget *parent);
+
+  QTimer *timer;
+  std::string osm_download_locations;
+  //  void updateButtonControlSP(ButtonControlSP *btnControl, QWidget *parent, const QString &initTitle, const QString &allStatesOption);
+
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void updateLabels();
+  void updateDownloadProgress();
+  static int extractIntFromJson(const QJsonObject &json, const QString &key);
+  QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state);
+
+  ConfirmationDialog *confirmationDialog;
+  LabelControlSP *mapdVersion;
+  LabelControlSP *offlineMapsStatus;
+  LabelControlSP *offlineMapsETA;
+  LabelControlSP *offlineMapsElapsed;
+  std::optional<std::chrono::system_clock::time_point> lastDownloadedTimePoint;
+  LocationsFetcher locationsFetcher;
+
+  void updateMapSize();
+
+  bool showConfirmationDialog(QWidget *parent,
+                              const QString &message = QString(),
+                              const QString &confirmButtonText = QString()) const {
+    const auto _is_metered = isMetered();
+    const QString warning_message = _is_metered ? tr("\n\nWarning: You are on a metered connection!") : QString();
+    QString final_message = message.isEmpty() ? tr("This will start the download process and it might take a while to complete.") : message;
+    final_message += warning_message; // Append the warning message if the connection is metered
+
+    const QString final_buttonText = confirmButtonText.isEmpty() ? (_is_metered ? tr("Continue on Metered") : tr("Start Download")) : confirmButtonText;
+
+    return ConfirmationDialog::confirm(final_message, final_buttonText, parent);
+  }
+
+  // Refactored methods
+  std::vector<std::tuple<QString, QString, QString, QString> > getOsmLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return locationsFetcher.getOsmLocations(customLocation);
+  }
+
+  std::vector<std::tuple<QString, QString, QString, QString> > getUsStatesLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return locationsFetcher.getUsStatesLocations(customLocation);
+  }
+
+  static QString formatTime(const long timeInSeconds) {
+    const long minutes = timeInSeconds / 60;
+    const long seconds = timeInSeconds % 60;
+
+    QString formattedTime;
+    if (minutes > 0) {
+      formattedTime = QString::number(minutes) + tr("m ");
+    }
+    formattedTime += QString::number(seconds) + tr("s");
+    return formattedTime;
+  }
+
+  static QString calculateElapsedTime(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) {
+    using namespace std::chrono;
+    if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files"))
+      return tr("Calculating...");
+
+    const int totalFiles = jsonData["total_files"].toInt();
+    const int downloadedFiles = jsonData["downloaded_files"].toInt();
+
+    if (downloadedFiles >= totalFiles || totalFiles <= 0) return tr("Downloaded");
+
+    const long elapsed = duration_cast<seconds>(system_clock::now() - startTime).count();
+
+    if (elapsed == 0 || downloadedFiles == 0) return tr("Calculating...");
+
+    return formatTime(elapsed);
+  }
+
+  static QString calculateETA(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) {
+    using namespace std::chrono;
+    static steady_clock::time_point lastUpdateTime = steady_clock::now();
+    static std::deque<double> rateHistory;
+
+    constexpr int minDataPoints = 3;
+    constexpr int historySize = 10;
+
+    static QString lastETA = tr("Calculating ETA...");
+
+    if (duration_cast<seconds>(steady_clock::now() - lastUpdateTime).count() < 1) {
+      return lastETA;
+    }
+
+    if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files"))
+      return lastETA;
+
+    const int totalFiles = jsonData["total_files"].toInt();
+    const int downloadedFiles = jsonData["downloaded_files"].toInt();
+
+    if (totalFiles <= 0 || downloadedFiles >= totalFiles) {
+      return totalFiles <= 0 ? tr("Ready") : tr("Downloaded");
+    }
+
+    const long elapsed = duration_cast<seconds>(system_clock::now() - startTime).count();
+    if (elapsed == 0 || downloadedFiles == 0) return lastETA;
+
+    const double rate = downloadedFiles / static_cast<double>(elapsed);
+    if (rateHistory.size() >= historySize) rateHistory.pop_front();
+    rateHistory.push_back(rate);
+
+    if (rateHistory.size() < minDataPoints) return lastETA;
+
+    double weightedSum = 0;
+    for (int i = 0, weight = 1; i < rateHistory.size(); ++i, ++weight) {
+      weightedSum += rateHistory[i] * weight;
+    }
+    const double avgRate = 2 * weightedSum / (rateHistory.size() * (rateHistory.size() + 1));
+
+    const long remainingTime = static_cast<long>((totalFiles - downloadedFiles) / avgRate);
+    if (remainingTime <= 0) return lastETA;
+
+    lastETA = tr("Time remaining: ") + formatTime(remainingTime);
+    lastUpdateTime = steady_clock::now();
+    return lastETA;
+  }
+
+  static QString formatDownloadStatus(const QJsonObject &json) {
+    if (!json.contains("total_files") || !json.contains("downloaded_files"))
+      return "";
+
+    const int total_files = json["total_files"].toInt();
+    const int downloaded_files = json["downloaded_files"].toInt();
+
+    if (total_files <= 0) return tr("Ready");
+    if (downloaded_files >= total_files) return tr("Downloaded");
+
+    const int percentage = static_cast<int>(100.0 * downloaded_files / total_files);
+    return QString::asprintf("%d/%d (%d%%)", downloaded_files, total_files, percentage);
+  }
+
+  QString formatSize(quint64 size) const {
+    if (size == 0 && (!mapSizeFuture.has_value() || mapSizeFuture.value().isRunning())) {
+      return tr("Calculating...");
+    }
+
+    constexpr qint64 kb = 1024;
+    constexpr qint64 mb = 1024 * kb;
+    constexpr qint64 gb = 1024 * mb;
+
+    if (size < gb) {
+      const double sizeMB = size / static_cast<double>(mb);
+      return QString::number(sizeMB, 'f', 2) + " MB";
+    } else {
+      const double sizeGB = size / static_cast<double>(gb);
+      return QString::number(sizeGB, 'f', 2) + " GB";
+    }
+  }
+
+  static quint64 getDirSize(QString dirPath) {
+    quint64 size = 0;
+    const QString actualDirPath = dirPath.startsWith("~") ? dirPath.replace(0, 1, QDir::homePath()) : dirPath;
+    QDirIterator it(actualDirPath, QDir::Files | QDir::Dirs | QDir::NoDotAndDotDot | QDir::NoSymLinks, QDirIterator::Subdirectories);
+    while (it.hasNext()) {
+      it.next();
+      if (it.fileInfo().isFile()) {
+        size += it.fileInfo().size();
+      }
+    }
+    return size;
+  }
+};

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

@@ -18,6 +18,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
@@ -85,6 +86,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+    PanelInfo("   " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),

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

@@ -8,5 +8,63 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
 
 VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh();
+  });
+  
+  main_layout = new QStackedLayout(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
 
+  sunnypilotScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  std::vector<std::tuple<QString, QString, QString, QString, bool> > toggle_defs{
+    {
+      "BlindSpot",
+      tr("Show Blind Spot Warnings"),
+      tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
+  };
+
+  for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+
+    bool locked = params.getBool((param + "Lock").toStdString());
+    toggle->setEnabled(!locked);
+
+    if (needs_restart && !locked) {
+      toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on."));
+
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle->setEnabled(!engaged);
+      });
+
+      QObject::connect(toggle, &ParamControlSP::toggleFlipped, [=](bool state) {
+        params.putBool("OnroadCycleRequested", true);
+      });
+    }
+
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+    param_watcher->addParam(param);
+  }
+
+  sunnypilotScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnypilotScroller);
+  
+  main_layout->addWidget(sunnypilotScreen);
+}
+
+void VisualsPanel::paramsRefresh() {
+  if (!isVisible()) {
+    return;
+  }
+
+  for (auto toggle : toggles) {
+    toggle.second->refresh();
+  }
 }

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

@@ -8,6 +8,9 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class ScrollViewSP;
 
 class VisualsPanel : public QWidget {
  Q_OBJECT
@@ -15,4 +18,13 @@ class VisualsPanel : public QWidget {
 public:
  explicit VisualsPanel(QWidget *parent = nullptr);
 
+ void paramsRefresh();
+
+protected:
+ QStackedLayout* main_layout = nullptr;
+ QWidget* sunnypilotScreen = nullptr;
+ ScrollViewSP *sunnypilotScroller = nullptr;
+ Params params;
+ std::map<std::string, ParamControlSP*> toggles;
+ ParamWatcher * param_watcher;
 };

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

@@ -6,3 +6,47 @@
  */
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
+
+
+void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  ModelRenderer::update_model(model, lead);
+  const auto &model_position = model.getPosition();
+  const auto &lane_lines = model.getLaneLines();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  // update blindspot vertices
+  float max_distance_barrier = 100;
+  int max_idx_barrier = std::min(max_idx, get_path_length_idx(lane_lines[0], max_distance_barrier));
+  mapLineToPolygon(model.getLaneLines()[1], 0.2, -0.05, &left_blindspot_vertices, max_idx_barrier);
+  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
+}
+
+void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  bool blindspot = Params().getBool("BlindSpot");
+
+  if (blindspot) {
+    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
+    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
+
+    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
+
+    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(left_blindspot_vertices);
+    }
+
+    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(right_blindspot_vertices);
+    }
+  }
+  ModelRenderer::drawPath(painter, model, surface_rect.height());
+}

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

@@ -12,4 +12,11 @@
 class ModelRendererSP : public ModelRenderer {
 public:
   ModelRendererSP() = default;
+
+private:
+  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+
+  QPolygonF left_blindspot_vertices;
+  QPolygonF right_blindspot_vertices;
 };

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

@@ -247,14 +247,11 @@ public:
     if (inline_layout) {
       button_param_layout->setMargin(0);
       button_param_layout->setSpacing(0);
+      spacingItem = nullptr;
       if (!title.isEmpty()) {
         main_layout->removeWidget(title_label);
         hlayout->addWidget(title_label, 1);
       }
-      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
-        main_layout->removeItem(spacingItem);
-        spacingItem = nullptr;
-      }
     }
 
     button_group = new QButtonGroup(this);

selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc

@@ -34,7 +34,7 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
 
     int row = 0;
     grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+    grid_layout->addItem(new QSpacerItem(0, 30), row++, 0, 1, 1);
 
     grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);

selfdrive/ui/sunnypilot/ui.cc

@@ -41,6 +41,7 @@ void UIStateSP::update() {
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
+  QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
 }
 
 UIStateSP *uiStateSP() {
@@ -62,3 +63,10 @@ DeviceSP *deviceSP() {
   static DeviceSP _device;
   return &_device;
 }
+
+void DeviceSP::handleDisplayPowerChanged(bool on) {
+  // if enabled, trigger offroad mode when device goes to sleep
+  if (params.get("DeviceBootMode") == "1" && not on) {
+    params.putBool("OffroadMode", true);
+  }
+}

selfdrive/ui/sunnypilot/ui.h

@@ -84,6 +84,10 @@ class DeviceSP : public Device {
 
 public:
   DeviceSP(QObject *parent = 0);
+
+private:
+  Params params;
+  void handleDisplayPowerChanged(bool on);
 };
 
 DeviceSP *deviceSP();

selfdrive/ui/ui.cc

@@ -80,8 +80,12 @@ void UIState::updateStatus() {
       status = STATUS_OVERRIDE;
     } else {
       if (mads.getAvailable()) {
-        if (mads.getEnabled()) {
-          status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY;
+        if (mads.getEnabled() && ss.getEnabled()) {
+          status = STATUS_ENGAGED;
+        } else if (mads.getEnabled()) {
+          status = STATUS_LAT_ONLY;
+        } else if (ss.getEnabled()) {
+          status = STATUS_LONG_ONLY;
         } else {
           status = STATUS_DISENGAGED;
         }
@@ -167,6 +171,8 @@ void Device::resetInteractiveTimeout(int timeout) {
 }
 
 void Device::updateBrightness(const UIState &s) {
+  int brightness;
+  int brightness_override = QString::fromStdString(Params().get("Brightness")).toInt();
   float clipped_brightness = offroad_brightness;
   if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
@@ -178,11 +184,19 @@ void Device::updateBrightness(const UIState &s) {
       clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0);
     }
 
-    // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    if (brightness_override == 1) {
+      clipped_brightness = std::clamp(100.0f * clipped_brightness, 1.0f, 100.0f);  // Scale back to 1% to 100%
+    } else if (brightness_override == 0) {
+      clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);  // Scale back to 10% to 100%
+    }
+  }
+
+  if (brightness_override == 0 || brightness_override == 1) {
+    brightness = brightness_filter.update(clipped_brightness);
+  } else {
+    brightness = brightness_override;
   }
 
-  int brightness = brightness_filter.update(clipped_brightness);
   if (!awake) {
     brightness = 0;
   }

selfdrive/ui/ui.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 import pyray as rl
+from openpilot.common.watchdog import kick_watchdog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
+
 def main():
   gui_app.init_window("UI")
   main_layout = MainLayout()
@@ -15,6 +17,8 @@ def main():
 
     main_layout.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
+    kick_watchdog()
+
 
 if __name__ == "__main__":
   main()

selfdrive/ui/widgets/offroad_alerts.py

@@ -0,0 +1,328 @@
+import json
+import pyray as rl
+from abc import ABC, abstractmethod
+from collections.abc import Callable
+from dataclasses import dataclass
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+class AlertColors:
+  HIGH_SEVERITY = rl.Color(226, 44, 44, 255)
+  LOW_SEVERITY = rl.Color(41, 41, 41, 255)
+  BACKGROUND = rl.Color(57, 57, 57, 255)
+  BUTTON = rl.WHITE
+  BUTTON_TEXT = rl.BLACK
+  SNOOZE_BG = rl.Color(79, 79, 79, 255)
+  TEXT = rl.WHITE
+
+
+class AlertConstants:
+  BUTTON_SIZE = (400, 125)
+  SNOOZE_BUTTON_SIZE = (550, 125)
+  REBOOT_BUTTON_SIZE = (600, 125)
+  MARGIN = 50
+  SPACING = 30
+  FONT_SIZE = 48
+  BORDER_RADIUS = 30
+  ALERT_HEIGHT = 120
+  ALERT_SPACING = 20
+
+
+@dataclass
+class AlertData:
+  key: str
+  text: str
+  severity: int
+  visible: bool = False
+
+
+class AbstractAlert(ABC):
+  def __init__(self, has_reboot_btn: bool = False):
+    self.params = Params()
+    self.has_reboot_btn = has_reboot_btn
+    self.dismiss_callback: Callable | None = None
+
+    self.dismiss_btn_rect = rl.Rectangle(0, 0, *AlertConstants.BUTTON_SIZE)
+    self.snooze_btn_rect = rl.Rectangle(0, 0, *AlertConstants.SNOOZE_BUTTON_SIZE)
+    self.reboot_btn_rect = rl.Rectangle(0, 0, *AlertConstants.REBOOT_BUTTON_SIZE)
+
+    self.snooze_visible = False
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.scroll_panel_rect = rl.Rectangle(0, 0, 0, 0)
+    self.scroll_panel = GuiScrollPanel()
+
+  def set_dismiss_callback(self, callback: Callable):
+    self.dismiss_callback = callback
+
+  @abstractmethod
+  def refresh(self) -> bool:
+    pass
+
+  @abstractmethod
+  def get_content_height(self) -> float:
+    pass
+
+  def handle_input(self, mouse_pos: rl.Vector2, mouse_clicked: bool) -> bool:
+    # TODO: fix scroll_panel.is_click_valid()
+    if not mouse_clicked:
+      return False
+
+    if rl.check_collision_point_rec(mouse_pos, self.dismiss_btn_rect):
+      if self.dismiss_callback:
+        self.dismiss_callback()
+      return True
+
+    if self.snooze_visible and rl.check_collision_point_rec(mouse_pos, self.snooze_btn_rect):
+      self.params.put_bool("SnoozeUpdate", True)
+      if self.dismiss_callback:
+        self.dismiss_callback()
+      return True
+
+    if self.has_reboot_btn and rl.check_collision_point_rec(mouse_pos, self.reboot_btn_rect):
+      HARDWARE.reboot()
+      return True
+
+    return False
+
+  def render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.width, 10, AlertColors.BACKGROUND)
+
+    footer_height = AlertConstants.BUTTON_SIZE[1] + AlertConstants.SPACING
+    content_height = rect.height - 2 * AlertConstants.MARGIN - footer_height
+
+    self.content_rect = rl.Rectangle(
+      rect.x + AlertConstants.MARGIN,
+      rect.y + AlertConstants.MARGIN,
+      rect.width - 2 * AlertConstants.MARGIN,
+      content_height,
+    )
+    self.scroll_panel_rect = rl.Rectangle(
+      self.content_rect.x, self.content_rect.y, self.content_rect.width, self.content_rect.height
+    )
+
+    self._render_scrollable_content()
+    self._render_footer(rect)
+
+  def _render_scrollable_content(self):
+    content_total_height = self.get_content_height()
+    content_bounds = rl.Rectangle(0, 0, self.scroll_panel_rect.width, content_total_height)
+    scroll_offset = self.scroll_panel.handle_scroll(self.scroll_panel_rect, content_bounds)
+
+    rl.begin_scissor_mode(
+      int(self.scroll_panel_rect.x),
+      int(self.scroll_panel_rect.y),
+      int(self.scroll_panel_rect.width),
+      int(self.scroll_panel_rect.height),
+    )
+
+    content_rect_with_scroll = rl.Rectangle(
+      self.scroll_panel_rect.x,
+      self.scroll_panel_rect.y + scroll_offset.y,
+      self.scroll_panel_rect.width,
+      content_total_height,
+    )
+
+    self._render_content(content_rect_with_scroll)
+    rl.end_scissor_mode()
+
+  @abstractmethod
+  def _render_content(self, content_rect: rl.Rectangle):
+    pass
+
+  def _render_footer(self, rect: rl.Rectangle):
+    footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_SIZE[1]
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    self.dismiss_btn_rect.x = rect.x + AlertConstants.MARGIN
+    self.dismiss_btn_rect.y = footer_y
+    rl.draw_rectangle_rounded(self.dismiss_btn_rect, 0.3, 10, AlertColors.BUTTON)
+
+    text = "Close"
+    text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
+    text_x = self.dismiss_btn_rect.x + (AlertConstants.BUTTON_SIZE[0] - text_width) // 2
+    text_y = self.dismiss_btn_rect.y + (AlertConstants.BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
+    rl.draw_text_ex(
+      font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT
+    )
+
+    if self.snooze_visible:
+      self.snooze_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.SNOOZE_BUTTON_SIZE[0]
+      self.snooze_btn_rect.y = footer_y
+      rl.draw_rectangle_rounded(self.snooze_btn_rect, 0.3, 10, AlertColors.SNOOZE_BG)
+
+      text = "Snooze Update"
+      text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
+      text_x = self.snooze_btn_rect.x + (AlertConstants.SNOOZE_BUTTON_SIZE[0] - text_width) // 2
+      text_y = self.snooze_btn_rect.y + (AlertConstants.SNOOZE_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.TEXT)
+
+    elif self.has_reboot_btn:
+      self.reboot_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.REBOOT_BUTTON_SIZE[0]
+      self.reboot_btn_rect.y = footer_y
+      rl.draw_rectangle_rounded(self.reboot_btn_rect, 0.3, 10, AlertColors.BUTTON)
+
+      text = "Reboot and Update"
+      text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
+      text_x = self.reboot_btn_rect.x + (AlertConstants.REBOOT_BUTTON_SIZE[0] - text_width) // 2
+      text_y = self.reboot_btn_rect.y + (AlertConstants.REBOOT_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
+      rl.draw_text_ex(
+        font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT
+      )
+
+
+class OffroadAlert(AbstractAlert):
+  def __init__(self):
+    super().__init__(has_reboot_btn=False)
+    self.sorted_alerts: list[AlertData] = []
+
+  def refresh(self):
+    if not self.sorted_alerts:
+      self._build_alerts()
+
+    active_count = 0
+    connectivity_needed = False
+
+    for alert_data in self.sorted_alerts:
+      text = ""
+      bytes_data = self.params.get(alert_data.key)
+
+      if bytes_data:
+        try:
+          alert_json = json.loads(bytes_data)
+          text = alert_json.get("text", "").replace("{}", alert_json.get("extra", ""))
+        except json.JSONDecodeError:
+          text = ""
+
+      alert_data.text = text
+      alert_data.visible = bool(text)
+
+      if alert_data.visible:
+        active_count += 1
+
+      if alert_data.key == "Offroad_ConnectivityNeeded" and alert_data.visible:
+        connectivity_needed = True
+
+    self.snooze_visible = connectivity_needed
+    return active_count
+
+  def get_content_height(self) -> float:
+    if not self.sorted_alerts:
+      return 0
+
+    total_height = 20
+    font = gui_app.font(FontWeight.NORMAL)
+
+    for alert_data in self.sorted_alerts:
+      if not alert_data.visible:
+        continue
+
+      text_width = int(self.content_rect.width - 90)
+      wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width)
+      line_count = len(wrapped_lines)
+      text_height = line_count * (AlertConstants.FONT_SIZE + 5)
+      alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT)
+      total_height += alert_item_height + AlertConstants.ALERT_SPACING
+
+    if total_height > 20:
+      total_height = total_height - AlertConstants.ALERT_SPACING + 20
+
+    return total_height
+
+  def _build_alerts(self):
+    self.sorted_alerts = []
+    try:
+      with open("../selfdrived/alerts_offroad.json", "rb") as f:
+        alerts_config = json.load(f)
+        for key, config in sorted(alerts_config.items(), key=lambda x: x[1].get("severity", 0), reverse=True):
+          severity = config.get("severity", 0)
+          alert_data = AlertData(key=key, text="", severity=severity)
+          self.sorted_alerts.append(alert_data)
+    except (FileNotFoundError, json.JSONDecodeError):
+      pass
+
+  def _render_content(self, content_rect: rl.Rectangle):
+    y_offset = 20
+    font = gui_app.font(FontWeight.NORMAL)
+
+    for alert_data in self.sorted_alerts:
+      if not alert_data.visible:
+        continue
+
+      bg_color = AlertColors.HIGH_SEVERITY if alert_data.severity > 0 else AlertColors.LOW_SEVERITY
+      text_width = int(content_rect.width - 90)
+      wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width)
+      line_count = len(wrapped_lines)
+      text_height = line_count * (AlertConstants.FONT_SIZE + 5)
+      alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT)
+
+      alert_rect = rl.Rectangle(
+        content_rect.x + 10,
+        content_rect.y + y_offset,
+        content_rect.width - 30,
+        alert_item_height,
+      )
+
+      rl.draw_rectangle_rounded(alert_rect, 0.2, 10, bg_color)
+
+      text_x = alert_rect.x + 30
+      text_y = alert_rect.y + 20
+
+      for i, line in enumerate(wrapped_lines):
+        rl.draw_text_ex(
+          font,
+          line,
+          rl.Vector2(text_x, text_y + i * (AlertConstants.FONT_SIZE + 5)),
+          AlertConstants.FONT_SIZE,
+          0,
+          AlertColors.TEXT,
+        )
+
+      y_offset += alert_item_height + AlertConstants.ALERT_SPACING
+
+
+class UpdateAlert(AbstractAlert):
+  def __init__(self):
+    super().__init__(has_reboot_btn=True)
+    self.release_notes = ""
+    self._wrapped_release_notes = ""
+    self._cached_content_height: float = 0.0
+
+  def refresh(self) -> bool:
+    update_available: bool = self.params.get_bool("UpdateAvailable")
+    if update_available:
+      self.release_notes = self.params.get("UpdaterNewReleaseNotes", encoding='utf-8')
+      self._cached_content_height = 0
+
+    return update_available
+
+  def get_content_height(self) -> float:
+    if not self.release_notes:
+      return 100
+
+    if self._cached_content_height == 0:
+      self._wrapped_release_notes = self.release_notes
+      size = measure_text_cached(gui_app.font(FontWeight.NORMAL), self._wrapped_release_notes, AlertConstants.FONT_SIZE)
+      self._cached_content_height = max(size.y + 60, 100)
+
+    return self._cached_content_height
+
+  def _render_content(self, content_rect: rl.Rectangle):
+    if self.release_notes:
+      rl.draw_text_ex(
+        gui_app.font(FontWeight.NORMAL),
+        self._wrapped_release_notes,
+        rl.Vector2(content_rect.x + 30, content_rect.y + 30),
+        AlertConstants.FONT_SIZE,
+        0.0,
+        AlertColors.TEXT,
+      )
+    else:
+      no_notes_text = "No release notes available."
+      text_width = rl.measure_text(no_notes_text, AlertConstants.FONT_SIZE)
+      text_x = content_rect.x + (content_rect.width - text_width) // 2
+      text_y = content_rect.y + 50
+      rl.draw_text(no_notes_text, int(text_x), int(text_y), AlertConstants.FONT_SIZE, AlertColors.TEXT)

sunnypilot/mapd/live_map_data/__init__.py

@@ -0,0 +1,22 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.swaglog import cloudlog
+
+LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg.
+_DEBUG = False
+_CLOUDLOG_DEBUG = False
+ROAD_NAME_TIMEOUT = 30  # secs
+R = 6373000.0  # approximate radius of earth in mts
+QUERY_RADIUS = 3000  # mts. Radius to use on OSM data queries.
+QUERY_RADIUS_OFFLINE = 2250  # mts. Radius to use on offline OSM data queries.
+
+
+def get_debug(msg, log_to_cloud=True):
+  if _CLOUDLOG_DEBUG and log_to_cloud:
+    cloudlog.debug(msg)
+  if _DEBUG:
+    print(msg)

sunnypilot/mapd/live_map_data/base_map_data.py

@@ -0,0 +1,76 @@
+"""
+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 time
+from abc import abstractmethod, ABC
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
+
+
+class BaseMapData(ABC):
+  def __init__(self):
+    self.params = Params()
+
+    self.gps_location_service = get_gps_location_service(self.params)
+    self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
+    self.pm = messaging.PubMaster(['liveMapDataSP'])
+
+    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
+    self.last_altitude = None
+
+  @abstractmethod
+  def update_location(self) -> None:
+    pass
+
+  @abstractmethod
+  def get_current_speed_limit(self) -> float:
+    pass
+
+  @abstractmethod
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    pass
+
+  @abstractmethod
+  def get_current_road_name(self) -> str:
+    pass
+
+  def get_current_location(self) -> None:
+    gps = self.sm[self.gps_location_service]
+
+    # ignore the message if the fix is invalid
+    gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK:
+      return None
+
+    # livePose has these data, but aren't on cereal
+    self.last_position = Coordinate(gps.latitude, gps.longitude)
+    self.last_altitude = gps.altitude
+
+  def publish(self) -> None:
+    speed_limit = self.get_current_speed_limit()
+    next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
+
+    mapd_sp_send = messaging.new_message('liveMapDataSP')
+    mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
+    live_map_data = mapd_sp_send.liveMapDataSP
+
+    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimit = speed_limit
+    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAhead = next_speed_limit
+    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
+    live_map_data.roadName = self.get_current_road_name()
+
+    self.pm.send('liveMapDataSP', mapd_sp_send)
+
+  def tick(self) -> None:
+    self.sm.update()
+    self.get_current_location()
+    self.update_location()
+    self.publish()

sunnypilot/mapd/live_map_data/debug.py

@@ -0,0 +1,57 @@
+"""
+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.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
+  while True:
+    live_map_data_sp_thread_debug(gps_location_service)
+
+
+def live_map_data_sp_thread_debug(gps_location_service):
+  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service])
+  _sub_master.update()
+
+  v_ego = _sub_master['carState'].vEgo
+  long_spl = _sub_master['longitudinalPlanSP'].speedLimit
+  _policy = Policy.car_state_priority
+  _resolver = SpeedLimitResolver(_policy)
+  _speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master)
+  print(_speed_limit, _distance, _source, " <-> ", long_spl)
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()

sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -0,0 +1,51 @@
+"""
+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 platform
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class OsmMapData(BaseMapData):
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+
+  def update_location(self) -> None:
+    if self.last_position is None or self.last_altitude is None:
+      return
+
+    params = {
+      "latitude": self.last_position.latitude,
+      "longitude": self.last_position.longitude,
+      "altitude": self.last_altitude,
+    }
+
+    self.mem_params.put("LastGPSPosition", json.dumps(params))
+
+  def get_current_speed_limit(self) -> float:
+    return float(self.mem_params.get("MapSpeedLimit", encoding='utf8') or 0.0)
+
+  def get_current_road_name(self) -> str:
+    return self.mem_params.get("RoadName", encoding='utf8') or ""
+
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit", encoding='utf8')
+    next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {}
+    next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
+    next_speed_limit_latitude = next_speed_limit_section.get('latitude')
+    next_speed_limit_longitude = next_speed_limit_section.get('longitude')
+    next_speed_limit_distance = 0.0
+
+    if next_speed_limit_latitude and next_speed_limit_longitude:
+      next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude)
+      next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates)
+
+    return next_speed_limit, next_speed_limit_distance

sunnypilot/mapd/live_map_data/standalone.py

@@ -0,0 +1,42 @@
+"""
+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.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  live_map_sp = OsmMapData()
+  rk = Ratekeeper(1, print_delay_threshold=None)
+
+  while True:
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()

sunnypilot/mapd/mapd_installer.py

@@ -0,0 +1,152 @@
+#!/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.
+"""
+import logging
+import os
+import stat
+import time
+import traceback
+import requests
+from pathlib import Path
+from urllib.request import urlopen
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.spinner import Spinner
+from openpilot.system.version import is_prebuilt
+import openpilot.system.sentry as sentry
+
+VERSION = 'v1.9.0'
+URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
+
+
+class MapdInstallManager:
+  def __init__(self, spinner_ref: Spinner):
+    self._spinner = spinner_ref
+
+  def download(self) -> None:
+    self.ensure_directories_exist()
+    self._download_file()
+    self.update_installed_version(VERSION)
+
+  def check_and_download(self) -> None:
+    if self.download_needed():
+      self.download()
+
+  @staticmethod
+  def download_needed() -> bool:
+    return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION
+
+  @staticmethod
+  def ensure_directories_exist() -> None:
+    if not os.path.exists(Paths.mapd_root()):
+      os.makedirs(Paths.mapd_root())
+    if not os.path.exists(MAPD_BIN_DIR):
+      os.makedirs(MAPD_BIN_DIR)
+
+  @staticmethod
+  def _safe_write_and_set_executable(file_path: Path, content: bytes) -> None:
+    with open(file_path, 'wb') as output:
+      output.write(content)
+      output.flush()
+      os.fsync(output.fileno())
+    current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode)
+    os.chmod(file_path, current_permissions | stat.S_IEXEC)
+
+  def _download_file(self, num_retries=5) -> None:
+    temp_file = Path(MAPD_PATH + ".tmp")
+    download_timeout = 60
+    for cnt in range(num_retries):
+      try:
+        response = requests.get(URL, stream=True, timeout=download_timeout)
+        response.raise_for_status()
+        self._safe_write_and_set_executable(temp_file, response.content)
+        # No exceptions encountered. Safe to replace original file.
+        temp_file.replace(MAPD_PATH)
+        return
+      except requests.exceptions.ReadTimeout:
+        self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+      except requests.exceptions.RequestException as e:
+        self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+
+    # Delete temp file if the process was not successful.
+    if temp_file.exists():
+      temp_file.unlink()
+    logging.error("Failed to download file after all retries")
+
+  @staticmethod
+  def update_installed_version(version: str) -> None:
+    Params().put("MapdVersion", version)
+
+  @staticmethod
+  def get_installed_version() -> str:
+    return Params().get("MapdVersion", encoding="utf-8") or ""
+
+  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
+    max_retries = 10
+    for retries in range(max_retries + 1):
+      self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]")
+      time.sleep(2)
+      try:
+        _ = urlopen('https://sentry.io', timeout=10)
+        return True
+      except Exception as e:
+        print(f'Wait for internet failed: {e}')
+        if return_on_failure and retries == max_retries:
+          return False
+
+    return False
+
+  def non_prebuilt_install(self) -> None:
+    sm = messaging.SubMaster(['deviceState'])
+    metered = sm['deviceState'].networkMetered
+
+    if metered:
+      self._spinner.update("Can't proceed with mapd install since network is metered!")
+      time.sleep(5)
+      return
+
+    try:
+      self.ensure_directories_exist()
+      if not self.download_needed():
+        self._spinner.update("Mapd is good!")
+        time.sleep(0.1)
+        return
+
+      if self.wait_for_internet_connection(return_on_failure=True):
+        self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].")
+        time.sleep(0.1)
+        self.check_and_download()
+      self._spinner.close()
+
+    except Exception:
+      for i in range(6):
+        self._spinner.update("Failed to download OSM maps won't work until properly downloaded!" +
+                             "Try again manually rebooting. " +
+                             f"Boot will continue in {5 - i}s...")
+        time.sleep(1)
+
+      sentry.init(sentry.SentryProject.SELFDRIVE)
+      traceback.print_exc()
+      sentry.capture_exception()
+
+
+if __name__ == "__main__":
+  spinner = Spinner()
+  install_manager = MapdInstallManager(spinner)
+  install_manager.ensure_directories_exist()
+  if is_prebuilt():
+    debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]"
+    spinner.update(debug_msg)
+    install_manager.update_installed_version(VERSION)
+  else:
+    spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
+    install_manager.non_prebuilt_install()

sunnypilot/mapd/mapd_manager.py

@@ -0,0 +1,147 @@
+#!/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.
+"""
+import json
+import time
+import platform
+import os
+import glob
+import shutil
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+from openpilot.system.hardware.hw import Paths
+
+# PFEIFER - MAPD {{
+params = Params()
+mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
+# }} PFEIFER - MAPD
+
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+
+def get_files_for_cleanup() -> list[str]:
+  paths = [
+    f"{Paths.mapd_root()}/db",
+    f"{Paths.mapd_root()}/v*"
+  ]
+  files_to_remove = []
+  for path in paths:
+    if os.path.exists(path):
+      files = glob.glob(path + '/**', recursive=True)
+      files_to_remove.extend(files)
+  # check for version and mapd files
+  if not os.path.isfile(MAPD_PATH):
+    files_to_remove.append(MAPD_PATH)
+  return files_to_remove
+
+
+def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
+  for file in files_to_remove:
+    # Remove trailing slash if path is file
+    if file.endswith('/') and os.path.isfile(file[:-1]):
+      file = file[:-1]
+    # Try to remove as file or symbolic link first
+    if os.path.islink(file) or os.path.isfile(file):
+      os.remove(file)
+    elif os.path.isdir(file):  # If it's a directory
+      shutil.rmtree(file, ignore_errors=False)
+
+
+def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
+  params.put("OsmDownloadedDate", str(time.time()))
+  params.put_bool("OsmDbUpdatesCheck", False)
+
+  osm_download_locations = json.dumps({
+    "nations": nations,
+    "states": states or []
+  })
+
+  print(f"Downloading maps for {osm_download_locations}")
+  mem_params.put("OSMDownloadLocations", osm_download_locations)
+
+
+def filter_nations_and_states(nations: list[str], states: list[str] = None) -> tuple[list[str], list[str]]:
+  """Filters and prepares nation and state data for OSM map download.
+
+  If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list.
+  If the nation is 'US' and the state is 'All', the 'All' is removed from the list.
+  The idea behind these filters is that if a specific state in the US is provided,
+  there's no need to download map data for the entire US. Conversely,
+  if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US,
+  and 'All' isn't a valid state name, so it's removed.
+
+  Parameters:
+  nations (list): A list of nations for which the map data is to be downloaded.
+  states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None.
+
+  Returns:
+  tuple: Two lists. The first list is filtered nations and the second list is filtered states.
+  """
+
+  if "US" in nations and states and not any(x.lower() == "all" for x in states):
+    # If a specific state in the US is provided, remove 'US' from nations
+    nations.remove("US")
+  elif "US" in nations and states and any(x.lower() == "all" for x in states):
+    # If 'All' is provided as a state (case invariant), remove those instances from states
+    states = [x for x in states if x.lower() != "all"]
+  elif "US" not in nations and states and any(x.lower() == "all" for x in states):
+    states.remove("All")
+  return nations, states or []
+
+
+def update_osm_db() -> None:
+  # last_downloaded_date = float(params.get('OsmDownloadedDate', encoding='utf-8') or 0.0)
+  # if params.get_bool("OsmDbUpdatesCheck") or time.time() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
+  if params.get_bool("OsmDbUpdatesCheck"):
+    cleanup_old_osm_data(get_files_for_cleanup())
+    country = params.get('OsmLocationName', encoding='utf-8')
+    state = params.get('OsmStateName', encoding='utf-8') or "All"
+    filtered_nations, filtered_states = filter_nations_and_states([country], [state])
+    request_refresh_osm_location_data(filtered_nations, filtered_states)
+
+  if not mem_params.get("OSMDownloadBounds"):
+    mem_params.put("OSMDownloadBounds", "")
+
+  if not mem_params.get("LastGPSPosition"):
+    mem_params.put("LastGPSPosition", "{}")
+
+
+def main_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  live_map_sp = OsmMapData()
+
+  # Create folder needed for OSM
+  try:
+    os.mkdir(Paths.mapd_root())
+  except FileExistsError:
+    pass
+  except PermissionError:
+    cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}")
+
+  while True:
+    show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal")
+    set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.")
+
+    update_osm_db()
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  main_thread()
+
+
+if __name__ == "__main__":
+  main()

sunnypilot/modeld/modeld.py

@@ -25,6 +25,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
+from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
 
@@ -201,8 +202,9 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = ModeldLagd()
+
   # Enable lagd support for sunnypilot modeld
-  steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
@@ -246,6 +248,8 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]

sunnypilot/modeld_v2/modeld.py

@@ -23,6 +23,7 @@ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFr
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -238,6 +239,9 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+
+  modeld_lagd = ModeldLagd()
+
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -282,7 +286,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]

sunnypilot/models/modeld_lagd.py

@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class ModeldLagd:
+  def __init__(self):
+    self.params = Params()
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
+      return result
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    result = (steer_actuator_delay + 0.2) + lat_smooth
+    cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
+    return result

sunnypilot/navd/helpers.py

@@ -0,0 +1,189 @@
+from __future__ import annotations
+
+import json
+import math
+import numpy as np
+from typing import Any, cast
+
+from openpilot.common.conversions import Conversions
+from openpilot.common.params import Params
+
+DIRECTIONS = ('left', 'right', 'straight')
+MODIFIABLE_DIRECTIONS = ('left', 'right')
+
+EARTH_MEAN_RADIUS = 6371007.2
+SPEED_CONVERSIONS = {
+  'km/h': Conversions.KPH_TO_MS,
+  'mph': Conversions.MPH_TO_MS,
+}
+
+
+class Coordinate:
+  def __init__(self, latitude: float, longitude: float) -> None:
+    self.latitude = latitude
+    self.longitude = longitude
+    self.annotations: dict[str, float] = {}
+
+  @classmethod
+  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
+    return cls(t[1], t[0])
+
+  def as_dict(self) -> dict[str, float]:
+    return {'latitude': self.latitude, 'longitude': self.longitude}
+
+  def __str__(self) -> str:
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
+
+  def __eq__(self, other) -> bool:
+    if not isinstance(other, Coordinate):
+      return False
+    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
+
+  def __sub__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
+
+  def __add__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
+
+  def __mul__(self, c: float) -> Coordinate:
+    return Coordinate(self.latitude * c, self.longitude * c)
+
+  def dot(self, other: Coordinate) -> float:
+    return self.latitude * other.latitude + self.longitude * other.longitude
+
+  def distance_to(self, other: Coordinate) -> float:
+    # Haversine formula
+    dlat = math.radians(other.latitude - self.latitude)
+    dlon = math.radians(other.longitude - self.longitude)
+
+    haversine_dlat = math.sin(dlat / 2.0)
+    haversine_dlat *= haversine_dlat
+    haversine_dlon = math.sin(dlon / 2.0)
+    haversine_dlon *= haversine_dlon
+
+    y = haversine_dlat \
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
+    x = 2 * math.asin(math.sqrt(y))
+    return x * EARTH_MEAN_RADIUS
+
+
+def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
+  if a.distance_to(b) < 0.01:
+    return a.distance_to(p)
+
+  ap = p - a
+  ab = b - a
+  t = np.clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
+  projection = a + ab * t
+  return projection.distance_to(p)
+
+
+def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
+  if len(geometry) <= 2:
+    return geometry[0].distance_to(pos)
+
+  # 1. Find segment that is closest to current position
+  # 2. Total distance is sum of distance to start of closest segment
+  #    + all previous segments
+  total_distance = 0.0
+  total_distance_closest = 0.0
+  closest_distance = 1e9
+
+  for i in range(len(geometry) - 1):
+    d = minimum_distance(geometry[i], geometry[i + 1], pos)
+
+    if d < closest_distance:
+      closest_distance = d
+      total_distance_closest = total_distance + geometry[i].distance_to(pos)
+
+    total_distance += geometry[i].distance_to(geometry[i + 1])
+
+  return total_distance_closest
+
+
+def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
+  if params is None:
+    params = Params()
+
+  json_str = params.get(param)
+  if json_str is None:
+    return None
+
+  pos = json.loads(json_str)
+  if 'latitude' not in pos or 'longitude' not in pos:
+    return None
+
+  return Coordinate(pos['latitude'], pos['longitude'])
+
+
+def string_to_direction(direction: str) -> str:
+  for d in DIRECTIONS:
+    if d in direction:
+      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'slight' + d.capitalize()
+      return d
+  return 'none'
+
+
+def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
+  unit = cast(str, maxspeed['unit'])
+  speed = cast(float, maxspeed['speed'])
+  return SPEED_CONVERSIONS[unit] * speed
+
+
+def field_valid(dat: dict, field: str) -> bool:
+  return field in dat and dat[field] is not None
+
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
+  if not len(banners):
+    return None
+
+  instruction = {}
+
+  # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
+  for banner in banners:
+    if distance_to_maneuver < banner['distanceAlongGeometry']:
+      current_banner = banner
+
+  # Only show banner when close enough to maneuver
+  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
+
+  # Primary
+  p = current_banner['primary']
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
+
+  # Secondary
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
+
+  # Lane lines
+  if field_valid(current_banner, 'sub'):
+    lanes = []
+    for component in current_banner['sub']['components']:
+      if component['type'] != 'lane':
+        continue
+
+      lane = {
+        'active': component['active'],
+        'directions': [string_to_direction(d) for d in component['directions']],
+      }
+
+      if field_valid(component, 'active_direction'):
+        lane['activeDirection'] = string_to_direction(component['active_direction'])
+
+      lanes.append(lane)
+    instruction['lanes'] = lanes
+
+  return instruction

sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbacb55581a5ea8cbcd5cea0560ec21d96ac7185463a40fff0f81bebf044ffa
+size 23187

sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44f71f7603b106986fff7835f35c4c18c4c619a29e6292f8626ae3eedd85e57
+size 7811

sunnypilot/selfdrive/assets/offroad/icon_map.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f
+size 28235

system/hardware/hardwared.py

@@ -323,7 +323,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     offroad_mode = params.get_bool("OffroadMode")
     startup_conditions["not_always_offroad"] = not offroad_mode
     onroad_conditions["not_always_offroad"] = not offroad_mode
-    set_offroad_alert("OffroadMode_Status", offroad_mode)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

system/hardware/hw.py

@@ -81,3 +81,10 @@ class Paths:
       return str(Path(Paths.comma_home()) / "community" / "crashes")
     else:
       return "/data/community/crashes"
+
+  @staticmethod
+  def mapd_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
+    else:
+      return "/data/media/0/osm"

system/manager/manager.py

@@ -18,6 +18,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.sunnypilot.mapd.mapd_installer import VERSION
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -44,21 +46,30 @@ def manager_init() -> None:
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
+    ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),
+    ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
+    ("LagdToggle", "1"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
+    ("MapdVersion", f"{VERSION}"),
     ("MaxTimeOffroad", "1800"),
+    ("Brightness", "0"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
     ("QuietMode", "0"),
   ]
 
+  # device boot mode
+  if params.get("DeviceBootMode") == b"1": # start in always offroad mode
+    params.put_bool("OffroadMode", True)
+
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 

system/manager/process.py

@@ -16,9 +16,8 @@ import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.watchdog import WATCHDOG_FN
 
-WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
 

system/manager/process_config.py

@@ -1,10 +1,14 @@
 import os
 import operator
+import platform
 
 from cereal import car, custom
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
 
 from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
@@ -100,8 +104,8 @@ procs = [
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad, platform.system() != "Darwin"),
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
@@ -156,6 +160,10 @@ procs += [
 
   # Backup
   PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
+
+  # mapd
+  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run),
+  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 ]
 
 if os.path.exists("./github_runner.sh"):

system/ui/lib/button.py

@@ -1,6 +1,7 @@
 import pyray as rl
 from enum import IntEnum
 from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
 class ButtonStyle(IntEnum):
@@ -99,7 +100,7 @@ def gui_button(
 
   # Handle icon and text positioning
   font = gui_app.font(font_weight)
-  text_size = rl.measure_text_ex(font, text, font_size, 0)
+  text_size = measure_text_cached(font, text, font_size)
   text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2)  # Vertical centering
 
   # Draw icon if provided

system/ui/lib/inputbox.py

@@ -1,6 +1,7 @@
 import pyray as rl
 import time
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
 PASSWORD_MASK_CHAR = "•"
@@ -60,7 +61,7 @@ class InputBox:
     padding = 10
 
     if self._cursor_position > 0:
-      cursor_x = rl.measure_text_ex(font, display_text[: self._cursor_position], self._font_size, 0).x
+      cursor_x = measure_text_cached(font, display_text[: self._cursor_position], self._font_size).x
     else:
       cursor_x = 0
 
@@ -141,7 +142,7 @@ class InputBox:
     if self._show_cursor:
       cursor_x = rect.x + padding
       if len(display_text) > 0 and self._cursor_position > 0:
-        cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x
+        cursor_x += measure_text_cached(font, display_text[: self._cursor_position], font_size).x
 
       # Apply text offset to cursor position
       cursor_x -= self._text_offset
@@ -182,7 +183,7 @@ class InputBox:
         min_distance = float('inf')
 
         for i in range(len(self._input_text) + 1):
-          char_width = rl.measure_text_ex(font, display_text[:i], font_size, 0).x
+          char_width = measure_text_cached(font, display_text[:i], font_size).x
           distance = abs(relative_x - char_width)
           if distance < min_distance:
             min_distance = distance

system/ui/lib/label.py

@@ -1,5 +1,6 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
 
 
@@ -14,7 +15,7 @@ def gui_label(
   elide_right: bool = True
 ):
   font = gui_app.font(font_weight)
-  text_size = rl.measure_text_ex(font, text, font_size, 0)
+  text_size = measure_text_cached(font, text, font_size)
   display_text = text
 
   # Elide text to fit within the rectangle
@@ -24,13 +25,13 @@ def gui_label(
     while left < right:
       mid = (left + right) // 2
       candidate = text[:mid] + ellipsis
-      candidate_size = rl.measure_text_ex(font, candidate, font_size, 0)
+      candidate_size = measure_text_cached(font, candidate, font_size)
       if candidate_size.x <= rect.width:
         left = mid + 1
       else:
         right = mid
     display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis
-    text_size = rl.measure_text_ex(font, display_text, font_size, 0)
+    text_size = measure_text_cached(font, display_text, font_size)
 
   # Calculate horizontal position based on alignment
   text_x = rect.x + {

system/ui/lib/list_view.py

@@ -0,0 +1,380 @@
+import os
+import pyray as rl
+from dataclasses import dataclass
+from collections.abc import Callable
+from abc import ABC, abstractmethod
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.button import gui_button
+from openpilot.system.ui.lib.toggle import Toggle
+from openpilot.system.ui.lib.toggle import WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT
+
+
+LINE_PADDING = 40
+LINE_COLOR = rl.GRAY
+ITEM_PADDING = 20
+ITEM_SPACING = 80
+ITEM_BASE_HEIGHT = 170
+ITEM_TEXT_FONT_SIZE = 50
+ITEM_TEXT_COLOR = rl.WHITE
+ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+ITEM_DESC_FONT_SIZE = 40
+ITEM_DESC_V_OFFSET = 130
+RIGHT_ITEM_PADDING = 20
+ICON_SIZE = 80
+BUTTON_WIDTH = 250
+BUTTON_HEIGHT = 100
+BUTTON_BORDER_RADIUS = 50
+BUTTON_FONT_SIZE = 35
+BUTTON_FONT_WEIGHT = FontWeight.MEDIUM
+
+
+# Abstract base class for right-side items
+class RightItem(ABC):
+  def __init__(self, width: int = 100):
+    self.width = width
+    self.enabled = True
+
+  @abstractmethod
+  def draw(self, rect: rl.Rectangle) -> bool:
+    pass
+
+  @abstractmethod
+  def get_width(self) -> int:
+    pass
+
+
+class ToggleRightItem(RightItem):
+  def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH):
+    super().__init__(width)
+    self.toggle = Toggle(initial_state=initial_state)
+    self.state = initial_state
+    self.enabled = True
+
+  def draw(self, rect: rl.Rectangle) -> bool:
+    if self.toggle.render(rl.Rectangle(rect.x, rect.y + (rect.height - TOGGLE_HEIGHT) / 2, self.width, TOGGLE_HEIGHT)):
+      self.state = not self.state
+      return True
+    return False
+
+  def get_width(self) -> int:
+    return self.width
+
+  def set_state(self, state: bool):
+    self.state = state
+    self.toggle.set_state(state)
+
+  def get_state(self) -> bool:
+    return self.state
+
+  def set_enabled(self, enabled: bool):
+    self.enabled = enabled
+
+
+class ButtonRightItem(RightItem):
+  def __init__(self, text: str, width: int = BUTTON_WIDTH):
+    super().__init__(width)
+    self.text = text
+    self.enabled = True
+
+  def draw(self, rect: rl.Rectangle) -> bool:
+    return (
+      gui_button(
+        rl.Rectangle(rect.x, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT),
+        self.text,
+        border_radius=BUTTON_BORDER_RADIUS,
+        font_weight=BUTTON_FONT_WEIGHT,
+        font_size=BUTTON_FONT_SIZE,
+        is_enabled=self.enabled,
+      )
+      == 1
+    )
+
+  def get_width(self) -> int:
+    return self.width
+
+  def set_enabled(self, enabled: bool):
+    self.enabled = enabled
+
+
+class TextRightItem(RightItem):
+  def __init__(self, text: str, color: rl.Color = ITEM_TEXT_COLOR, font_size: int = ITEM_TEXT_FONT_SIZE):
+    self.text = text
+    self.color = color
+    self.font_size = font_size
+
+    font = gui_app.font(FontWeight.NORMAL)
+    text_width = measure_text_cached(font, text, font_size).x
+    super().__init__(int(text_width + 20))
+
+  def draw(self, rect: rl.Rectangle) -> bool:
+    font = gui_app.font(FontWeight.NORMAL)
+    text_size = measure_text_cached(font, self.text, self.font_size)
+
+    # Center the text in the allocated rectangle
+    text_x = rect.x + (rect.width - text_size.x) / 2
+    text_y = rect.y + (rect.height - text_size.y) / 2
+
+    rl.draw_text_ex(font, self.text, rl.Vector2(text_x, text_y), self.font_size, 0, self.color)
+    return False
+
+  def get_width(self) -> int:
+    return self.width
+
+  def set_text(self, text: str):
+    self.text = text
+    font = gui_app.font(FontWeight.NORMAL)
+    text_width = measure_text_cached(font, text, self.font_size).x
+    self.width = int(text_width + 20)
+
+
+@dataclass
+class ListItem:
+  title: str
+  icon: str | None = None
+  description: str | None = None
+  description_visible: bool = False
+  rect: "rl.Rectangle | None" = None
+  callback: Callable | None = None
+  right_item: RightItem | None = None
+
+  # Cached properties for performance
+  _wrapped_description: str | None = None
+  _description_height: float = 0
+
+  def get_right_item(self) -> RightItem | None:
+    return self.right_item
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    if self.description_visible and self.description:
+      if not self._wrapped_description:
+        wrapped_lines = wrap_text(font, self.description, ITEM_DESC_FONT_SIZE, max_width)
+        self._wrapped_description = "\n".join(wrapped_lines)
+        self._description_height = len(wrapped_lines) * 20 + 10  # Line height + padding
+      return ITEM_BASE_HEIGHT + self._description_height - (ITEM_BASE_HEIGHT - ITEM_DESC_V_OFFSET) + ITEM_SPACING
+    return ITEM_BASE_HEIGHT
+
+  def get_content_width(self, total_width: int) -> int:
+    if self.right_item:
+      return total_width - self.right_item.get_width() - RIGHT_ITEM_PADDING
+    return total_width
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.right_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    right_width = self.right_item.get_width()
+    right_x = item_rect.x + item_rect.width - right_width
+    right_y = item_rect.y
+    return rl.Rectangle(right_x, right_y, right_width, ITEM_BASE_HEIGHT)
+
+
+class ListView:
+  def __init__(self, items: list[ListItem]):
+    self._items: list[ListItem] = items
+    self._last_dim: tuple[float, float] = (0, 0)
+    self.scroll_panel = GuiScrollPanel()
+
+    self._font_normal = gui_app.font(FontWeight.NORMAL)
+
+    # Interaction state
+    self._hovered_item: int = -1
+    self._last_mouse_pos = rl.Vector2(0, 0)
+
+    self._total_height: float = 0
+    self._visible_range = (0, 0)
+
+  def invalid_height_cache(self):
+    self._last_dim = (0, 0)
+
+  def render(self, rect: rl.Rectangle):
+    if self._last_dim != (rect.width, rect.height):
+      self._update_item_rects(rect)
+      self._last_dim = (rect.width, rect.height)
+
+    # Update layout and handle scrolling
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._total_height)
+    scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect)
+
+    # Handle mouse interaction
+    if self.scroll_panel.is_click_valid():
+      self._handle_mouse_interaction(rect, scroll_offset)
+
+    # Set scissor mode for clipping
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+
+    # Calculate visible range for performance
+    self._calculate_visible_range(rect, -scroll_offset.y)
+
+    # Render only visible items
+    for i in range(self._visible_range[0], min(self._visible_range[1], len(self._items))):
+      item = self._items[i]
+      if item.rect:
+        adjusted_rect = rl.Rectangle(item.rect.x, item.rect.y + scroll_offset.y, item.rect.width, item.rect.height)
+        self._render_item(item, adjusted_rect, i)
+
+        if i != len(self._items) - 1:
+          rl.draw_line_ex(
+            rl.Vector2(adjusted_rect.x + LINE_PADDING, adjusted_rect.y + adjusted_rect.height - 1),
+            rl.Vector2(
+              adjusted_rect.x + adjusted_rect.width - LINE_PADDING * 2, adjusted_rect.y + adjusted_rect.height - 1
+            ),
+            1.0,
+            LINE_COLOR,
+          )
+    rl.end_scissor_mode()
+
+  def _render_item(self, item: ListItem, rect: rl.Rectangle, index: int):
+    content_x = rect.x + ITEM_PADDING
+    text_x = content_x
+
+    # Calculate available width for main content
+    content_width = item.get_content_width(int(rect.width - ITEM_PADDING * 2))
+
+    # Draw icon if present
+    if item.icon:
+      icon_texture = gui_app.texture(os.path.join("icons", item.icon), ICON_SIZE, ICON_SIZE)
+      rl.draw_texture(
+        icon_texture, int(content_x), int(rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE
+      )
+      text_x += ICON_SIZE + ITEM_PADDING
+
+    # Draw main text
+    text_size = measure_text_cached(self._font_normal, item.title, ITEM_TEXT_FONT_SIZE)
+    item_y = rect.y + (ITEM_BASE_HEIGHT - text_size.y) // 2
+    rl.draw_text_ex(self._font_normal, item.title, rl.Vector2(text_x, item_y), ITEM_TEXT_FONT_SIZE, 0, ITEM_TEXT_COLOR)
+
+    # Draw description if visible (adjust width for right item)
+    if item.description_visible and item._wrapped_description:
+      desc_y = rect.y + ITEM_DESC_V_OFFSET
+      desc_max_width = int(content_width - (text_x - content_x))
+
+      # Re-wrap description if needed due to right item
+      if (item.right_item and item.description) and not item._wrapped_description:
+        wrapped_lines = wrap_text(self._font_normal, item.description, ITEM_DESC_FONT_SIZE, desc_max_width)
+        item._wrapped_description = "\n".join(wrapped_lines)
+
+      rl.draw_text_ex(
+        self._font_normal,
+        item._wrapped_description,
+        rl.Vector2(text_x, desc_y),
+        ITEM_DESC_FONT_SIZE,
+        0,
+        ITEM_DESC_TEXT_COLOR,
+      )
+
+    # Draw right item if present
+    if item.right_item:
+      right_rect = item.get_right_item_rect(rect)
+      # Adjust for scroll offset
+      right_rect.y = right_rect.y
+      if item.right_item.draw(right_rect):
+        # Right item was clicked/activated
+        if item.callback:
+          item.callback()
+
+  def _update_item_rects(self, container_rect: rl.Rectangle) -> None:
+    current_y: float = 0.0
+    self._total_height = 0
+
+    for item in self._items:
+      content_width = item.get_content_width(int(container_rect.width - ITEM_PADDING * 2))
+      item_height = item.get_item_height(self._font_normal, content_width)
+      item.rect = rl.Rectangle(container_rect.x, container_rect.y + current_y, container_rect.width, item_height)
+      current_y += item_height
+      self._total_height += item_height
+
+  def _calculate_visible_range(self, rect: rl.Rectangle, scroll_offset: float):
+    if not self._items:
+      self._visible_range = (0, 0)
+      return
+
+    visible_top = scroll_offset
+    visible_bottom = scroll_offset + rect.height
+
+    start_idx = 0
+    end_idx = len(self._items)
+
+    # Find first visible item
+    for i, item in enumerate(self._items):
+      if item.rect and item.rect.y + item.rect.height >= visible_top:
+        start_idx = max(0, i - 1)
+        break
+
+    # Find last visible item
+    for i in range(start_idx, len(self._items)):
+      item = self._items[i]
+      if item.rect and item.rect.y > visible_bottom:
+        end_idx = min(len(self._items), i + 2)
+        break
+
+    self._visible_range = (start_idx, end_idx)
+
+  def _handle_mouse_interaction(self, rect: rl.Rectangle, scroll_offset: rl.Vector2):
+    mouse_pos = rl.get_mouse_position()
+
+    self._hovered_item = -1
+    if not rl.check_collision_point_rec(mouse_pos, rect):
+      return
+
+    content_mouse_y = mouse_pos.y - rect.y - scroll_offset.y
+
+    for i, item in enumerate(self._items):
+      if item.rect:
+        # Check if mouse is within this item's bounds in content space
+        if (
+          mouse_pos.x >= rect.x
+          and mouse_pos.x <= rect.x + rect.width
+          and content_mouse_y >= item.rect.y
+          and content_mouse_y <= item.rect.y + item.rect.height
+        ):
+          item_screen_y = item.rect.y + scroll_offset.y
+          if item_screen_y < rect.height and item_screen_y + item.rect.height > 0:
+            self._hovered_item = i
+            break
+
+    # Handle click on main item (not right item)
+    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._hovered_item >= 0:
+      item = self._items[self._hovered_item]
+
+      # Check if click was on right item area
+      if item.right_item and item.rect:
+        adjusted_rect = rl.Rectangle(item.rect.x, item.rect.y + scroll_offset.y, item.rect.width, item.rect.height)
+        right_rect = item.get_right_item_rect(adjusted_rect)
+        if rl.check_collision_point_rec(mouse_pos, right_rect):
+          # Click was handled by right item, don't process main item click
+          return
+
+      # Toggle description visibility if item has description
+      if item.description:
+        item.description_visible = not item.description_visible
+        # Force layout update when description visibility changes
+        self._last_dim = (0, 0)
+
+      # Call item callback
+      if item.callback:
+        item.callback()
+
+
+# Factory functions
+def simple_item(title: str, callback: Callable | None = None) -> ListItem:
+  return ListItem(title=title, callback=callback)
+
+
+def toggle_item(
+  title: str, description: str = None, initial_state: bool = False, callback: Callable | None = None, icon: str = ""
+) -> ListItem:
+  toggle = ToggleRightItem(initial_state=initial_state)
+  return ListItem(title=title, description=description, right_item=toggle, icon=icon, callback=callback)
+
+
+def button_item(title: str, button_text: str, description: str = None, callback: Callable | None = None) -> ListItem:
+  button = ButtonRightItem(text=button_text)
+  return ListItem(title=title, description=description, right_item=button, callback=callback)
+
+
+def text_item(title: str, value: str, description: str = None, callback: Callable | None = None) -> ListItem:
+  text_item = TextRightItem(text=value, color=rl.Color(170, 170, 170, 255))
+  return ListItem(title=title, description=description, right_item=text_item, callback=callback)

system/ui/lib/text_measure.py

@@ -4,10 +4,11 @@ _cache: dict[int, rl.Vector2] = {}
 
 
 def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: int = 0) -> rl.Vector2:
+  """Caches text measurements to avoid redundant calculations."""
   key = hash((font.texture.id, text, font_size, spacing))
   if key in _cache:
     return _cache[key]
 
-  result = rl.measure_text_ex(font, text, font_size, spacing)
+  result = rl.measure_text_ex(font, text, font_size, spacing)  # noqa: TID251
   _cache[key] = result
   return result

system/ui/lib/toggle.py

@@ -1,56 +1,75 @@
 import pyray as rl
 
-ON_COLOR = rl.Color(0, 255, 0, 255)
+ON_COLOR = rl.Color(51, 171, 76, 255)
 OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
 KNOB_COLOR = rl.WHITE
+DISABLED_ON_COLOR = rl.Color(0x22, 0x77, 0x22, 255)  # Dark green when disabled + on
+DISABLED_OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
+DISABLED_KNOB_COLOR = rl.Color(0x88, 0x88, 0x88, 255)
 WIDTH, HEIGHT = 160, 80
 BG_HEIGHT = 60
 ANIMATION_SPEED = 8.0
 
 
 class Toggle:
-  def __init__(self, x, y, initial_state=False):
+  def __init__(self, initial_state=False):
     self._state = initial_state
-    self._rect = rl.Rectangle(x, y, WIDTH, HEIGHT)
+    self._enabled = True
+    self._rect = rl.Rectangle(0, 0, WIDTH, HEIGHT)
     self._progress = 1.0 if initial_state else 0.0
     self._target = self._progress
 
   def handle_input(self):
+    if not self._enabled:
+      return 0
+
     if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON):
       if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
         self._state = not self._state
         self._target = 1.0 if self._state else 0.0
+        return 1
+    return 0
 
   def get_state(self):
     return self._state
 
+  def set_state(self, state: bool):
+    self._state = state
+    self._target = 1.0 if state else 0.0
+
+  def set_enabled(self, enabled: bool):
+    self._enabled = enabled
+
+  def is_enabled(self):
+    return self._enabled
+
   def update(self):
     if abs(self._progress - self._target) > 0.01:
       delta = rl.get_frame_time() * ANIMATION_SPEED
       self._progress += delta if self._progress < self._target else -delta
       self._progress = max(0.0, min(1.0, self._progress))
 
-  def render(self):
-    self. update()
+  def render(self, rect: rl.Rectangle):
+    self._rect.x, self._rect.y = rect.x, rect.y
+    self.update()
+
+    if self._enabled:
+      bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress)
+      knob_color = KNOB_COLOR
+    else:
+      bg_color = self._blend_color(DISABLED_OFF_COLOR, DISABLED_ON_COLOR, self._progress)
+      knob_color = DISABLED_KNOB_COLOR
+
     # Draw background
     bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT)
-    bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress)
     rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
 
     # Draw knob
     knob_x = self._rect.x + HEIGHT / 2 + (WIDTH - HEIGHT) * self._progress
     knob_y = self._rect.y + HEIGHT / 2
-    rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, KNOB_COLOR)
+    rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, knob_color)
+
+    return self.handle_input()
 
   def _blend_color(self, c1, c2, t):
     return rl.Color(int(c1.r + (c2.r - c1.r) * t), int(c1.g + (c2.g - c1.g) * t), int(c1.b + (c2.b - c1.b) * t), 255)
-
-
-if __name__ == "__main__":
-  from openpilot.system.ui.lib.application import gui_app
-
-  gui_app.init_window("Text toggle example")
-  toggle = Toggle(100, 100)
-  for _ in gui_app.render():
-    toggle.handle_input()
-    toggle.render()

system/ui/lib/wrap_text.py

@@ -0,0 +1,87 @@
+import pyray as rl
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -> list[str]:
+  if not word:
+    return []
+
+  parts = []
+  remaining = word
+
+  while remaining:
+    if measure_text_cached(font, remaining, font_size).x <= max_width:
+      parts.append(remaining)
+      break
+
+    # Binary search for the longest substring that fits
+    left, right = 1, len(remaining)
+    best_fit = 1
+
+    while left <= right:
+      mid = (left + right) // 2
+      substring = remaining[:mid]
+      width = measure_text_cached(font, substring, font_size).x
+
+      if width <= max_width:
+        best_fit = mid
+        left = mid + 1
+      else:
+        right = mid - 1
+
+    # Add the part that fits
+    parts.append(remaining[:best_fit])
+    remaining = remaining[best_fit:]
+
+  return parts
+
+
+def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[str]:
+  if not text or max_width <= 0:
+    return []
+
+  words = text.split()
+  if not words:
+    return []
+
+  lines: list[str] = []
+  current_line: list[str] = []
+  current_width = 0
+  space_width = int(measure_text_cached(font, " ", font_size).x)
+
+  for word in words:
+    word_width = int(measure_text_cached(font, word, font_size).x)
+
+    # Check if word alone exceeds max width (need to break the word)
+    if word_width > max_width:
+      # Finish current line if it has content
+      if current_line:
+        lines.append(" ".join(current_line))
+        current_line = []
+        current_width = 0
+
+      # Break the long word into parts
+      lines.extend(_break_long_word(font, word, font_size, max_width))
+      continue
+
+    # Calculate width if we add this word
+    needed_width = current_width
+    if current_line:  # Need space before word
+      needed_width += space_width
+    needed_width += word_width
+
+    # Check if word fits on current line
+    if needed_width <= max_width:
+      current_line.append(word)
+      current_width = needed_width
+    else:
+      # Start new line with this word
+      if current_line:
+        lines.append(" ".join(current_line))
+      current_line = [word]
+      current_width = word_width
+
+  # Add remaining words
+  if current_line:
+    lines.append(" ".join(current_line))
+
+  return lines

system/ui/spinner.py

@@ -4,9 +4,12 @@ import threading
 import time
 
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.window import BaseWindow
 from openpilot.system.ui.text import wrap_text
 
+from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
+
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
@@ -24,7 +27,7 @@ def clamp(value, min_value, max_value):
 
 class SpinnerRenderer:
   def __init__(self):
-    self._comma_texture = gui_app.texture("images/spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
     self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
     self._rotation = 0.0
     self._progress: int | None = None
@@ -78,7 +81,7 @@ class SpinnerRenderer:
       rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
     elif wrapped_lines:
       for i, line in enumerate(wrapped_lines):
-        text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0)
+        text_size = measure_text_cached(gui_app.font(), line, FONT_SIZE)
         rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
                         FONT_SIZE, 0.0, rl.WHITE)
 

system/ui/sunnypilot/lib/application.py

@@ -0,0 +1,21 @@
+from openpilot.system.ui.lib.application import GuiApplication
+from importlib.resources import as_file, files
+
+ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
+
+class GuiApplicationSP(GuiApplication):
+
+    def __init__(self, width: int, height: int):
+        super().__init__(width, height)
+
+    def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
+        cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+        if cache_key in self._textures:
+            return self._textures[cache_key]
+
+        with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
+            texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+        self._textures[cache_key] = texture_obj
+        return texture_obj
+
+gui_app_sp = GuiApplicationSP(2160, 1080)

system/ui/text.py

@@ -3,6 +3,7 @@ import re
 import time
 import pyray as rl
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
@@ -33,7 +34,7 @@ def wrap_text(text, font_size, max_width):
     while len(words):
       word = words.pop(0)
       test_line = current_line + word + (words.pop(0) if words else "")
-      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+      if measure_text_cached(font, test_line, font_size).x <= max_width:
         current_line = test_line
       else:
         lines.append(current_line)

third_party/mapd_pfeiferj/README.md

@@ -0,0 +1,2 @@
+# MAPD implementation by pfeiferj
+https://github.com/pfeiferj/openpilot-mapd/releases/

tools/lib/framereader.py

@@ -209,7 +209,7 @@ class BaseFrameReader:
   def close(self):
     pass
 
-  def get(self, num, count=1, pix_fmt="yuv420p"):
+  def get(self, num, count=1, pix_fmt="rgb24"):
     raise NotImplementedError
 
 
@@ -497,7 +497,7 @@ class GOPFrameReader(BaseFrameReader):
 
       return self.frame_cache[(num, pix_fmt)]
 
-  def get(self, num, count=1, pix_fmt="yuv420p"):
+  def get(self, num, count=1, pix_fmt="rgb24"):
     assert self.frame_count is not None
 
     if num + count > self.frame_count:
@@ -523,12 +523,12 @@ class StreamFrameReader(StreamGOPReader, GOPFrameReader):
     GOPFrameReader.__init__(self, readahead, readbehind)
 
 
-def GOPFrameIterator(gop_reader, pix_fmt):
+def GOPFrameIterator(gop_reader, pix_fmt='rgb24'):
   dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
   yield from dec.read()
 
 
-def FrameIterator(fn, pix_fmt, **kwargs):
+def FrameIterator(fn, pix_fmt='rgb24', **kwargs):
   fr = FrameReader(fn, **kwargs)
   if isinstance(fr, GOPReader):
     yield from GOPFrameIterator(fr, pix_fmt)

tools/webcam/README.md

@@ -1,22 +1,22 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
 - GPU (recommended)
-- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
-- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
-- [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer
-That's it!
+- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60)
+- [Car harness](https://comma.ai/shop/products/comma-car-harness)
+- [panda](https://comma.ai/shop/panda)
+- USB-A to USB-A cable to connect panda to your computer
 
 ## Setup openpilot
 - Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver
+- Install OpenCL Driver (Ubuntu)
 ```
 sudo apt install pocl-opencl-icd
 ```
 
 ## Connect the hardware
-- Connect the road facing camera first, then the driver facing camera
+- Connect the camera first
 - Connect your computer to panda
 
 ## GO
@@ -24,12 +24,12 @@ sudo apt install pocl-opencl-icd
 USE_WEBCAM=1 system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams.
+- Adjust and secure the webcam
 - Finish calibration and engage!
 
 ## Specify Cameras
 
-Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
+Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
 ```
-USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
+USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
 ```

tools/webcam/camerad.py

@@ -9,14 +9,19 @@ from cereal import messaging
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
+ROAD_CAM = os.getenv("ROAD_CAM", "0")
 WIDE_CAM = os.getenv("WIDE_CAM")
+DRIVER_CAM = os.getenv("DRIVER_CAM")
+
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
+
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
 ]
 if WIDE_CAM:
   CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
+if DRIVER_CAM:
+  CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
 
 class Camerad:
   def __init__(self):