Merge remote-tracking branch 'origin/master' into only-chubbs

# Conflicts:
#	common/params_keys.h
#	opendbc_repo
#	selfdrive/ui/mici/onroad/model_renderer.py
#	selfdrive/ui/onroad/model_renderer.py
#	sunnypilot/modeld_v2/camera_offset_helper.py
#	sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
#	sunnypilot/sunnylink/params_metadata.json

common/params_keys.h

@@ -221,7 +221,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnypilot model params
-    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
     {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},

selfdrive/ui/layouts/sidebar.py

@@ -9,6 +9,8 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.layouts.sidebar import SidebarSP
+
 SIDEBAR_WIDTH = 300
 METRIC_HEIGHT = 126
 METRIC_WIDTH = 240
@@ -62,9 +64,10 @@ class MetricData:
     self.color = color
 
 
-class Sidebar(Widget):
+class Sidebar(Widget, SidebarSP):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    SidebarSP.__init__(self)
     self._net_type = NETWORK_TYPES.get(NetworkType.none)
     self._net_strength = 0
 
@@ -112,6 +115,7 @@ class Sidebar(Widget):
     self._update_temperature_status(device_state)
     self._update_connection_status(device_state)
     self._update_panda_status()
+    SidebarSP._update_sunnylink_status(self)
 
   def _update_network_status(self, device_state):
     self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, tr_noop("Unknown"))
@@ -200,6 +204,13 @@ class Sidebar(Widget):
     rl.draw_text_ex(self._font_regular, tr(self._net_type), text_pos, FONT_SIZE, 0, Colors.WHITE)
 
   def _draw_metrics(self, rect: rl.Rectangle):
+    if gui_app.sunnypilot_ui():
+      metrics, start_y, spacing = SidebarSP._draw_metrics_w_sunnylink(self, rect, self._temp_status, self._panda_status, self._connect_status)
+      for idx, metric in enumerate(metrics):
+        self._draw_metric(rect, metric, start_y + idx * spacing)
+
+      return
+
     metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
 
     for metric, y_offset in metrics:

selfdrive/ui/mici/onroad/model_renderer.py

@@ -81,9 +81,7 @@ class ModelRenderer(Widget):
     self._clip_region = None
 
     self._counter = -1
-    self._camera_offset = 0.0
-    if camera_offset := ui_state.params.get("CameraOffset"):
-      self._camera_offset = float(camera_offset)
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
 
     self._exp_gradient = Gradient(
       start=(0.0, 1.0),  # Bottom of path
@@ -104,9 +102,8 @@ class ModelRenderer(Widget):
   def _render(self, rect: rl.Rectangle):
     sm = ui_state.sm
 
-    if self._counter % 180 == 0:  # This mf runs at 60fps, so every 3 seconds...
-      if camera_offset := ui_state.params.get("CameraOffset"):
-        self._camera_offset = float(camera_offset)
+    if self._counter % 180 == 0:  # This runs at 60fps, so we query every 3 seconds
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
     self._counter += 1
 
     self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)

selfdrive/ui/onroad/model_renderer.py

@@ -57,10 +57,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
     self._path_offset_z = HEIGHT_INIT[0]
     self._counter = -1
-    self._camera_offset = 0.0
-    if camera_offset := ui_state.params.get("CameraOffset"):
-      self._camera_offset = float(camera_offset)
-
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
     # Initialize ModelPoints objects
     self._path = ModelPoints()
     self._lane_lines = [ModelPoints() for _ in range(4)]
@@ -108,8 +105,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
 
     if self._counter % 60 == 0:
-      if camera_offset := ui_state.params.get("CameraOffset"):
-        self._camera_offset = float(camera_offset)
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
     self._counter += 1
 
     if sm.updated['carParams']:

selfdrive/ui/sunnypilot/layouts/sidebar.py

@@ -0,0 +1,87 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+import time
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.multilang import tr_noop
+
+
+PING_TIMEOUT_NS = 80_000_000_000  # 80 seconds in nanoseconds
+METRIC_HEIGHT = 126
+METRIC_MARGIN = 30
+METRIC_START_Y = 300
+HOME_BTN = rl.Rectangle(60, 860, 180, 180)
+
+
+# Color scheme
+class Colors:
+  WHITE = rl.WHITE
+  WHITE_DIM = rl.Color(255, 255, 255, 85)
+  GRAY = rl.Color(84, 84, 84, 255)
+
+  # Status colors
+  GOOD = rl.WHITE
+  WARNING = rl.Color(218, 202, 37, 255)
+  DANGER = rl.Color(201, 34, 49, 255)
+  PROGRESS = rl.Color(0, 134, 233, 255)
+  DISABLED = rl.Color(128, 128, 128, 255)
+
+  # UI elements
+  METRIC_BORDER = rl.Color(255, 255, 255, 85)
+  BUTTON_NORMAL = rl.WHITE
+  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
+
+
+@dataclass(slots=True)
+class MetricData:
+  label: str
+  value: str
+  color: rl.Color
+
+  def update(self, label: str, value: str, color: rl.Color):
+    self.label = label
+    self.value = value
+    self.color = color
+
+
+class SidebarSP:
+  def __init__(self):
+    self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING)
+
+  def _update_sunnylink_status(self):
+    if not ui_state.params.get_bool("SunnylinkEnabled"):
+      self._sunnylink_status.update(tr_noop("SUNNYLINK"), tr_noop("DISABLED"), Colors.DISABLED)
+      return
+
+    last_ping = ui_state.params.get("LastSunnylinkPingTime") or 0
+    dongle_id = ui_state.params.get("SunnylinkDongleId")
+
+    is_online = last_ping and (time.monotonic_ns() - last_ping) < PING_TIMEOUT_NS
+    is_temp_fault = ui_state.params.get_bool("SunnylinkTempFault")
+    is_registering = not is_temp_fault and dongle_id in (None, "", UNREGISTERED_SUNNYLINK_DONGLE_ID)
+
+    # Determine status/color pair based on priority
+    if last_ping:
+      status, color = (tr_noop("ONLINE"), Colors.GOOD) if is_online else (tr_noop("ERROR"), Colors.DANGER)
+    elif is_temp_fault:
+      status, color = (tr_noop("FAULT"), Colors.WARNING)
+    elif is_registering:
+      status, color = (tr_noop("REGIST..."), Colors.PROGRESS)
+    else:
+      status, color = (tr_noop("OFFLINE"), Colors.DANGER)
+
+    self._sunnylink_status.update(tr_noop("SUNNYLINK"), status, color)
+
+  def _draw_metrics_w_sunnylink(self, rect: rl.Rectangle, _temp, _panda, _connect):
+    metrics = [_temp, _panda, _connect, self._sunnylink_status]
+    start_y = int(rect.y) + METRIC_START_Y
+    available_height = max(0, int(HOME_BTN.y) - METRIC_MARGIN - METRIC_HEIGHT - start_y)
+    spacing = available_height / max(1, len(metrics) - 1)
+
+    return metrics, start_y, spacing

selfdrive/ui/sunnypilot/ui_state.py

@@ -37,6 +37,9 @@ class UIStateSP:
   def on_param_change(self, param_name):
     self.changed_params.add(param_name)
 
+    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
+    self.global_brightness_override: int = self.params.get("Brightness", return_default=True)
+
   def update(self) -> None:
     if self.sunnylink_enabled:
       self.sunnylink_state.start()
@@ -100,6 +103,9 @@ class UIStateSP:
     self.developer_ui = self.params.get("DevUIInfo")
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
+    self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
+    self.global_brightness_override = self.params.get("Brightness", return_default=True)
 
 
 class DeviceSP:

selfdrive/ui/ui_state.py

@@ -219,6 +219,9 @@ class Device(DeviceSP):
     if self._override_interactive_timeout is not None:
       return self._override_interactive_timeout
 
+    if gui_app.sunnypilot_ui() and ui_state.custom_interactive_timeout != 0:
+      return ui_state.custom_interactive_timeout
+
     ignition_timeout = 10 if gui_app.big_ui() else 5
     return ignition_timeout if ui_state.ignition else 30
 
@@ -253,9 +256,18 @@ class Device(DeviceSP):
       else:
         clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
 
-      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
+      if gui_app.sunnypilot_ui():
+        if ui_state.global_brightness_override <= 0:
+          min_global_brightness = 1 if ui_state.global_brightness_override < 0 else 30
+          clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_global_brightness, 100]))
+      else:
+        clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
 
     brightness = round(self._brightness_filter.update(clipped_brightness))
+
+    if gui_app.sunnypilot_ui() and ui_state.global_brightness_override > 0:
+      brightness = ui_state.global_brightness_override
+
     if not self._awake:
       brightness = 0
 

sunnypilot/modeld_v2/camera_offset_helper.py

@@ -1,3 +1,9 @@
+"""
+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 numpy as np
 
 from openpilot.common.transformations.camera import DEVICE_CAMERAS

sunnypilot/modeld_v2/modeld.py

@@ -288,6 +288,7 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
+      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)

sunnypilot/modeld_v2/tests/test_camera_offset_helper.py

@@ -1,8 +1,13 @@
+"""
+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 numpy as np
 
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
 
@@ -31,22 +36,18 @@ class TestCameraOffset:
 
     intrinsics_main = self.dc.fcam.intrinsics
     intrinsics_extra = self.dc.ecam.intrinsics
-
     device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
-
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
 
     self.camera_offset.update(main_transform, extra_transform, sm, False)
     np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.02)
-
     self.camera_offset.update(main_transform, extra_transform, sm, False)
     np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
 
   def test_camera_offset_(self):
     intrinsics = self.dc.fcam.intrinsics
     transform = np.eye(3, dtype=np.float32)
-
     height = 1.22
     offset = 0.1
 
@@ -58,7 +59,7 @@ class TestCameraOffset:
     result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
     np.testing.assert_array_almost_equal(result, expected_shear)
 
-  def test_integration_update(self):
+  def test_update(self):
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
       roadCameraState=MockStruct(sensor='os04c10'),
@@ -66,17 +67,18 @@ class TestCameraOffset:
     )
     intrinsics_main = self.dc.fcam.intrinsics
     intrinsics_extra = self.dc.ecam.intrinsics
-
     device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
 
-    self.camera_offset.set_offset(0.2)
-
+    self.camera_offset.set_offset(0.0)  # test default offset doesn't change transformation
     main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_array_equal(main_out, main_transform)
+    np.testing.assert_array_equal(extra_out, extra_transform)
 
+    self.camera_offset.set_offset(0.2)  # test valid offset changes transformation
+    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
     assert not np.array_equal(main_out, main_transform)
     assert not np.array_equal(extra_out, extra_transform)
-
     assert main_out[0, 1] != 0.0
     assert main_out[0, 2] != 0.0

sunnypilot/sunnylink/params_metadata.json

@@ -123,7 +123,7 @@
   },
   "CameraOffset": {
     "title": "Adjust Camera Offset",
-    "description": "Adjust this to center the car in its lane by virtually shifting the camera's perspective. Negative Values: Shears the image to the left, moving the model's center to the Right; Positive Values: Shears the image to the right, moving the model's center to the Left. Note: these values are in meters.",
+    "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
     "min": -0.35,
     "max": 0.35,
     "step": 0.01
@@ -193,7 +193,7 @@
     "description": ""
   },
   "CustomAccIncrementsEnabled": {
-    "title": "Custom ACC Increments Enabled",
+    "title": "Custom ACC Increments",
     "description": ""
   },
   "CustomAccLongPressIncrement": {
@@ -211,8 +211,8 @@
     "step": 1
   },
   "CustomTorqueParams": {
-    "title": "Custom Torque Params",
-    "description": ""
+    "title": "Enable Custom Torque Tuning",
+    "description": "Enables custom tuning for Torque lateral control"
   },
   "DevUIInfo": {
     "title": "Developer UI Info",
@@ -286,7 +286,7 @@
   },
   "EnforceTorqueControl": {
     "title": "Enforce Torque Control",
-    "description": ""
+    "description": "Enable this to enforce sunnypilot to steer with Torque lateral control."
   },
   "ExperimentalMode": {
     "title": "Experimental Mode",
@@ -451,12 +451,15 @@
     "description": ""
   },
   "LagdToggle": {
-    "title": "LaGD Toggle",
-    "description": ""
+    "title": "Live Learning Steer Delay",
+    "description": "Allow device to learn and adapt car's steering response time"
   },
   "LagdToggleDelay": {
-    "title": "LaGD Toggle Delay",
-    "description": ""
+    "title": "Manual Software Delay",
+    "description": "Software delay to use when Live Learning Steer Delay is toggled off",
+    "min": 0.05,
+    "max": 0.5,
+    "step": 0.01
   },
   "LagdValueCache": {
     "title": "LaGD Value Cache",
@@ -464,11 +467,11 @@
   },
   "LaneTurnDesire": {
     "title": "Lane Turn Desire",
-    "description": ""
+    "description": "Force model to plan an intent to turn based on blinker"
   },
   "LaneTurnValue": {
-    "title": "Lane Turn Value",
-    "description": "",
+    "title": "Lane Turn Speed",
+    "description": "Maximum speed for lane turn desire",
     "min": 0,
     "max": 20,
     "step": 1
@@ -546,12 +549,12 @@
     "description": ""
   },
   "LiveTorqueParamsRelaxedToggle": {
-    "title": "Live Torque Params Relaxed Toggle",
-    "description": ""
+    "title": "Less Restrict Settings for Self-Tune (Beta)",
+    "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."
   },
   "LiveTorqueParamsToggle": {
-    "title": "Live Torque Params Toggle",
-    "description": ""
+    "title": "Self-Tune",
+    "description": "Enables self-tune for Torque lateral control"
   },
   "LocationFilterInitialState": {
     "title": "Location Filter Initial State",
@@ -704,7 +707,7 @@
     "description": ""
   },
   "OffroadMode": {
-    "title": "Offroad Mode",
+    "title": "Force Offroad Mode",
     "description": ""
   },
   "Offroad_CarUnrecognized": {
@@ -768,18 +771,18 @@
     "description": ""
   },
   "OnroadScreenOffBrightness": {
-    "title": "Onroad Screen Off Brightness",
+    "title": "Onroad Brightness",
     "description": "",
     "min": 0,
     "max": 100,
     "step": 5
   },
   "OnroadScreenOffControl": {
-    "title": "Onroad Screen Off Control",
-    "description": ""
+    "title": "Onroad Screen: Reduced Brightness",
+    "description": "Turn off device screen or reduce brightness after driving starts"
   },
   "OnroadScreenOffTimer": {
-    "title": "Onroad Screen Off Timer",
+    "title": "Onroad Brightness Delay",
     "description": "",
     "min": 0,
     "max": 60,
@@ -885,7 +888,7 @@
     "description": ""
   },
   "RoadNameToggle": {
-    "title": "Road Name Toggle",
+    "title": "Display Road Name",
     "description": ""
   },
   "RouteCount": {
@@ -898,7 +901,7 @@
   },
   "ShowAdvancedControls": {
     "title": "Show Advanced Controls",
-    "description": ""
+    "description": "Enable to show advanced controls on device"
   },
   "ShowDebugInfo": {
     "title": "UI Debug Mode",
@@ -909,11 +912,11 @@
     "description": ""
   },
   "SmartCruiseControlMap": {
-    "title": "Smart Cruise Control Map",
+    "title": "Smart Cruise Control - Map",
     "description": ""
   },
   "SmartCruiseControlVision": {
-    "title": "Smart Cruise Control Vision",
+    "title": "Smart Cruise Control - Vision",
     "description": ""
   },
   "SnoozeUpdate": {
@@ -921,7 +924,7 @@
     "description": ""
   },
   "SpeedLimitMode": {
-    "title": "Speed Limit Mode",
+    "title": "Speed Limit Assist Mode",
     "description": "",
     "options": [
       {
@@ -961,7 +964,7 @@
     ]
   },
   "SpeedLimitPolicy": {
-    "title": "Speed Limit Policy",
+    "title": "Speed Limit Source",
     "description": "",
     "options": [
       {
@@ -987,7 +990,7 @@
     ]
   },
   "SpeedLimitValueOffset": {
-    "title": "Speed Limit Value Offset",
+    "title": "Speed Limit Offset Value",
     "description": "",
     "min": -30,
     "max": 30,
@@ -1042,18 +1045,18 @@
     "description": ""
   },
   "TorqueParamsOverrideEnabled": {
-    "title": "Torque Params Override Enabled",
+    "title": "Manual Real-Time Tuning",
     "description": ""
   },
   "TorqueParamsOverrideFriction": {
-    "title": "Torque Params Override Friction",
+    "title": "Manual Tune - Friction",
     "description": "",
     "min": 0.0,
     "max": 1.0,
     "step": 0.01
   },
   "TorqueParamsOverrideLatAccelFactor": {
-    "title": "Torque Params Override Lat Accel Factor",
+    "title": "Manual Tune - Lateral Acceleration Factor",
     "description": "",
     "min": 0.1,
     "max": 5.0,