Merge branch 'master' into rl-tree-dialog

system/hardware/tici/agnos.json

@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b.img.xz",
-    "hash": "e9e99988d78c7287f29ad840130f65d5a11fa2301463d5298f1072399406f889",
-    "hash_raw": "8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img.xz",
+    "hash": "a068d4d692ec770884f0a15e1a6d7aba52385ecae138f6d43fb0a9b1643ed5cd",
+    "hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "21d3726fcdd39d126c9ecf05ccc43a104c8486b929045a63bf7e3ac8a8bb7a50",
+    "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4",
     "alt": {
-      "hash": "8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b.img",
+      "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img",
       "size": 4718592000
     }
   }

system/hardware/tici/all-partitions.json

@@ -350,51 +350,51 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b.img.xz",
-    "hash": "e9e99988d78c7287f29ad840130f65d5a11fa2301463d5298f1072399406f889",
-    "hash_raw": "8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img.xz",
+    "hash": "a068d4d692ec770884f0a15e1a6d7aba52385ecae138f6d43fb0a9b1643ed5cd",
+    "hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "21d3726fcdd39d126c9ecf05ccc43a104c8486b929045a63bf7e3ac8a8bb7a50",
+    "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4",
     "alt": {
-      "hash": "8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-8757f4a9d2489585249970142578029ab1dfdc5851da75fd703d2376b6f2a26b.img",
+      "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-1d461d8be17827735a28c2588bb9fcad27d4b80fba15cd2740f3a04c8f29cc90.img.xz",
-    "hash": "763c7366049b3c0ad71bd19abbbf5c68d2c43597d4da5dafad890507ff489899",
-    "hash_raw": "1d461d8be17827735a28c2588bb9fcad27d4b80fba15cd2740f3a04c8f29cc90",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f9ea618ac97a86da49733ce66cd5e3aa19aa917666ee90de301cd746664e4d22.img.xz",
+    "hash": "dfc6812e76bd1583ed77a86eedf48cafdc306037d2a85c5d0aa7cdb23033b736",
+    "hash_raw": "f9ea618ac97a86da49733ce66cd5e3aa19aa917666ee90de301cd746664e4d22",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "90a265b8756b18caf1be4b8dc9b8b3104898170104ed87ec3274f77acc6c28e3"
+    "ondevice_hash": "ff95f994e9ed6504632f4b7c6daecef582f0a4e5261b8240d4474f16059faef4"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-ec37fcfb7d707d26d5fbc64994e20cfdbb73a27eeedfe37778559824a2032a27.img.xz",
-    "hash": "de475b604b63fbeb1841c6564fb8eb496da46c9a9564ec73e5d7c8045fc88ebc",
-    "hash_raw": "ec37fcfb7d707d26d5fbc64994e20cfdbb73a27eeedfe37778559824a2032a27",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-393956e255c277b895bdb98bf65cfa3907e4b57822740ff82f857ac4e1a2f11e.img.xz",
+    "hash": "b5e2f05d31fc18fff18e82dcebfc2bf04de624baeca0511b93e50b3198b8a9ab",
+    "hash_raw": "393956e255c277b895bdb98bf65cfa3907e4b57822740ff82f857ac4e1a2f11e",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "03f6cbddc3bfbd2d0cd316d87d488434a03095c12870c8c6fe3bc4a2946ff0ef"
+    "ondevice_hash": "db64c6abc72bfcddc1682c73cc73c7230ed2f6e835d292fd38d054a9d242b8fc"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-3501f34c28f0e5ffe224f192b4a3a35a00a039980ca29a5c35d31449f3e918d6.img.xz",
-    "hash": "5bda2cb099b14f4944b476995d84dcb943af1858a57fdd62d5920b6e7b74fb80",
-    "hash_raw": "3501f34c28f0e5ffe224f192b4a3a35a00a039980ca29a5c35d31449f3e918d6",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a4b3e2a2fc3612a37322b7b1a4c5737765841dc3b8d6d3bb58b1e5a271023068.img.xz",
+    "hash": "ecec713cf7d8f1f616f122a16b138931f818290447e36a5925da6a4fc0fc7bf3",
+    "hash_raw": "a4b3e2a2fc3612a37322b7b1a4c5737765841dc3b8d6d3bb58b1e5a271023068",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "d1da6f8d928093dec15590b5c1740c0062031d0068a11962bdb28dca2104d8c6"
+    "ondevice_hash": "48fefa5a1880a4fd3dd50e1f9ddee297122053556816baca310d495129bc8893"
   }
 ]

system/hardware/tici/updater_magic

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7990262878becdf2eaed40ffcc96835a6fc6bc4bdf52f4df88e8b6fcadd1bff8
-size 13664323
+oid sha256:c44fb88b3b1643b6b44ae8ac9880348bd0257ff90f4084cbe889de91d71653fe
+size 25111329

system/manager/manager.py

@@ -17,7 +17,7 @@ from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import get_build_metadata, terms_version, training_version
+from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
 
 
@@ -58,8 +58,6 @@ def manager_init() -> None:
   # set params
   serial = HARDWARE.get_serial()
   params.put("Version", build_metadata.openpilot.version)
-  params.put("TermsVersion", terms_version)
-  params.put("TrainingVersion", training_version)
   params.put("GitCommit", build_metadata.openpilot.git_commit)
   params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
   params.put("GitBranch", build_metadata.channel)

system/manager/process_config.py

@@ -127,7 +127,7 @@ procs = [
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
   PythonProcess("ui", "selfdrive.ui.ui", always_run),
-  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
+  PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),

system/sensord/sensord.py

@@ -11,6 +11,7 @@ from openpilot.common.util import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
+from openpilot.system.hardware import HARDWARE
 
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
@@ -95,8 +96,11 @@ def main() -> None:
     (LSM6DS3_Accel(I2C_BUS_IMU), "accelerometer", True),
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
-    (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
   ]
+  if HARDWARE.get_device_type() == "tizi":
+    sensors_cfg.append(
+      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
+    )
 
   # Reset sensors
   for sensor, _, _ in sensors_cfg:

system/ui/README.md

@@ -3,9 +3,14 @@
 The user interfaces here are built with [raylib](https://www.raylib.com/).
 
 Quick start:
+* set `BIG=1` to run the comma 3X UI (comma four UI runs by default)
 * set `SHOW_FPS=1` to show the FPS
 * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps
 * set `SCALE=1.5` to scale the entire UI by 1.5x
+* set `BURN_IN=1` to get a burn-in heatmap version of the UI
+* set `GRID=50` to show a 50-pixel alignment grid overlay
+* set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
+* set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
 

system/ui/lib/application.py

@@ -6,6 +6,7 @@ import signal
 import sys
 import pyray as rl
 import threading
+import platform
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
@@ -18,6 +19,8 @@ from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.multilang import multilang
 from openpilot.common.realtime import Ratekeeper
 
+from openpilot.system.ui.sunnypilot.lib.application import GuiApplicationExt
+
 _DEFAULT_FPS = int(os.getenv("FPS", {'tizi': 20}.get(HARDWARE.get_device_type(), 60)))
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
@@ -26,20 +29,59 @@ MOUSE_THREAD_RATE = 140  # touch controller runs at 140Hz
 MAX_TOUCH_SLOTS = 2
 TOUCH_HISTORY_TIMEOUT = 3.0  # Seconds before touch points fade out
 
+BIG_UI = os.getenv("BIG", "0") == "1"
 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
 SHOW_FPS = os.getenv("SHOW_FPS") == "1"
 SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == "1"
 STRICT_MODE = os.getenv("STRICT_MODE") == "1"
 SCALE = float(os.getenv("SCALE", "1.0"))
+GRID_SIZE = int(os.getenv("GRID", "0"))
 PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
 
+GL_VERSION = """
+#version 300 es
+precision highp float;
+"""
+if platform.system() == "Darwin":
+  GL_VERSION = """
+    #version 330 core
+  """
+
+BURN_IN_MODE = "BURN_IN" in os.environ
+BURN_IN_VERTEX_SHADER = GL_VERSION + """
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+uniform mat4 mvp;
+out vec2 fragTexCoord;
+void main() {
+  fragTexCoord = vertexTexCoord;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+BURN_IN_FRAGMENT_SHADER = GL_VERSION + """
+in vec2 fragTexCoord;
+uniform sampler2D texture0;
+out vec4 fragColor;
+void main() {
+  vec4 sampled = texture(texture0, fragTexCoord);
+  float intensity = sampled.b;
+  // Map blue intensity to green -> yellow -> red to highlight burn-in risk.
+  vec3 start = vec3(0.0, 1.0, 0.0);
+  vec3 middle = vec3(1.0, 1.0, 0.0);
+  vec3 end = vec3(1.0, 0.0, 0.0);
+  vec3 gradient = mix(start, middle, clamp(intensity * 2.0, 0.0, 1.0));
+  gradient = mix(gradient, end, clamp((intensity - 0.5) * 2.0, 0.0, 1.0));
+  fragColor = vec4(gradient, sampled.a);
+}
+"""
+
 DEFAULT_TEXT_SIZE = 60
 DEFAULT_TEXT_COLOR = rl.WHITE
 
 # Qt draws fonts accounting for ascent/descent differently, so compensate to match old styles
 # The real scales for the fonts below range from 1.212 to 1.266
-FONT_SCALE = 1.242
+FONT_SCALE = 1.242 if BIG_UI else 1.16
 
 ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
 FONT_DIR = ASSETS_DIR.joinpath("fonts")
@@ -47,12 +89,17 @@ FONT_DIR = ASSETS_DIR.joinpath("fonts")
 
 class FontWeight(StrEnum):
   LIGHT = "Inter-Light.fnt"
-  NORMAL = "Inter-Regular.fnt"
+  NORMAL = "Inter-Regular.fnt" if BIG_UI else "Inter-Medium.fnt"
   MEDIUM = "Inter-Medium.fnt"
-  SEMI_BOLD = "Inter-SemiBold.fnt"
   BOLD = "Inter-Bold.fnt"
+  SEMI_BOLD = "Inter-SemiBold.fnt"
   UNIFONT = "unifont.fnt"
 
+  # Small UI fonts
+  DISPLAY_REGULAR = "Inter-Regular.fnt"
+  ROMAN = "Inter-Regular.fnt"
+  DISPLAY = "Inter-Bold.fnt"
+
 
 def font_fallback(font: rl.Font) -> rl.Font:
   """Fall back to unifont for languages that require it."""
@@ -141,11 +188,11 @@ class MouseState:
         self._prev_mouse_event[slot] = ev
 
 
-class GuiApplication:
-  def __init__(self, width: int, height: int):
+class GuiApplication(GuiApplicationExt):
+  def __init__(self, width: int | None = None, height: int | None = None):
     self._fonts: dict[FontWeight, rl.Font] = {}
-    self._width = width
-    self._height = height
+    self._width = width if width is not None else GuiApplication._default_width()
+    self._height = height if height is not None else GuiApplication._default_height()
 
     if PC and os.getenv("SCALE") is None:
       self._scale = self._calculate_auto_scale()
@@ -155,6 +202,7 @@ class GuiApplication:
     self._scaled_width = int(self._width * self._scale)
     self._scaled_height = int(self._height * self._scale)
     self._render_texture: rl.RenderTexture | None = None
+    self._burn_in_shader: rl.Shader | None = None
     self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
@@ -174,6 +222,7 @@ class GuiApplication:
     self._mouse_history: deque[MousePosWithTime] = deque(maxlen=MOUSE_THREAD_RATE)
     self._show_touches = SHOW_TOUCHES
     self._show_fps = SHOW_FPS
+    self._grid_size = GRID_SIZE
     self._profile_render_frames = PROFILE_RENDER
     self._render_profiler = None
     self._render_profile_start_time = None
@@ -212,8 +261,10 @@ class GuiApplication:
       rl.set_config_flags(flags)
 
       rl.init_window(self._scaled_width, self._scaled_height, title)
+      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
+      if needs_render_texture:
         self._render_texture = rl.load_render_texture(self._width, self._height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
       rl.set_target_fps(fps)
@@ -222,6 +273,8 @@ class GuiApplication:
       self._set_styles()
       self._load_fonts()
       self._patch_text_functions()
+      if BURN_IN_MODE and self._burn_in_shader is None:
+        self._burn_in_shader = rl.load_shader_from_memory(BURN_IN_VERTEX_SHADER, BURN_IN_FRAGMENT_SHADER)
 
       if not PC:
         self._mouse.start()
@@ -337,6 +390,10 @@ class GuiApplication:
       rl.unload_render_texture(self._render_texture)
       self._render_texture = None
 
+    if self._burn_in_shader:
+      rl.unload_shader(self._burn_in_shader)
+      self._burn_in_shader = None
+
     if not PC:
       self._mouse.stop()
 
@@ -395,7 +452,14 @@ class GuiApplication:
           rl.clear_background(rl.BLACK)
           src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
           dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
-          rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+          texture = self._render_texture.texture
+          if texture:
+            if BURN_IN_MODE and self._burn_in_shader:
+              rl.begin_shader_mode(self._burn_in_shader)
+              rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+              rl.end_shader_mode()
+            else:
+              rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
 
         if self._show_fps:
           rl.draw_fps(10, 10)
@@ -403,6 +467,9 @@ class GuiApplication:
         if self._show_touches:
           self._draw_touch_points()
 
+        if self._grid_size > 0:
+          self._draw_grid()
+
         rl.end_drawing()
         self._monitor_fps()
         self._frame += 1
@@ -551,6 +618,19 @@ class GuiApplication:
         color = rl.Color(min(int(255 * (1.5 - perc)), 255), int(min(255 * (perc + 0.5), 255)), 50, 255)
         rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 5, color)
 
+  def _draw_grid(self):
+    grid_color = rl.Color(60, 60, 60, 255)
+    # Draw vertical lines
+    x = 0
+    while x <= self._scaled_width:
+      rl.draw_line(x, 0, x, self._scaled_height, grid_color)
+      x += self._grid_size
+    # Draw horizontal lines
+    y = 0
+    while y <= self._scaled_height:
+      rl.draw_line(0, y, self._scaled_width, y, grid_color)
+      y += self._grid_size
+
   def _output_render_profile(self):
     import io
     import pstats
@@ -582,5 +662,17 @@ class GuiApplication:
     # Apply 0.95 factor for window decorations/taskbar margin
     return max(0.3, min(w / self._width, h / self._height) * 0.95)
 
+  @staticmethod
+  def _default_width() -> int:
+    return 2160 if GuiApplication.big_ui() else 536
 
-gui_app = GuiApplication(2160, 1080)
+  @staticmethod
+  def _default_height() -> int:
+    return 1080 if GuiApplication.big_ui() else 240
+
+  @staticmethod
+  def big_ui() -> bool:
+    return HARDWARE.get_device_type() in ('tici', 'tizi') or BIG_UI
+
+
+gui_app = GuiApplication()

system/ui/lib/scroll_panel2.py

@@ -0,0 +1,219 @@
+import os
+import math
+import pyray as rl
+from collections.abc import Callable
+from enum import Enum
+from typing import cast
+from openpilot.system.ui.lib.application import gui_app, MouseEvent
+from openpilot.system.hardware import TICI
+from collections import deque
+
+MIN_VELOCITY = 2  # px/s, changes from auto scroll to steady state
+MIN_VELOCITY_FOR_CLICKING = 2 * 60  # px/s, accepts clicks while auto scrolling below this velocity
+MIN_DRAG_PIXELS = 12
+AUTO_SCROLL_TC_SNAP = 0.025
+AUTO_SCROLL_TC = 0.18
+BOUNCE_RETURN_RATE = 10.0
+REJECT_DECELERATION_FACTOR = 3
+MAX_SPEED = 10000.0  # px/s
+
+DEBUG = os.getenv("DEBUG_SCROLL", "0") == "1"
+
+
+# from https://ariya.io/2011/10/flick-list-with-its-momentum-scrolling-and-deceleration
+class ScrollState(Enum):
+  STEADY = 0
+  PRESSED = 1
+  MANUAL_SCROLL = 2
+  AUTO_SCROLL = 3
+
+
+class GuiScrollPanel2:
+  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+    self._horizontal = horizontal
+    self._handle_out_of_bounds = handle_out_of_bounds
+    self._AUTO_SCROLL_TC = AUTO_SCROLL_TC_SNAP if not self._handle_out_of_bounds else AUTO_SCROLL_TC
+    self._state = ScrollState.STEADY
+    self._offset: rl.Vector2 = rl.Vector2(0, 0)
+    self._initial_click_event: MouseEvent | None = None
+    self._previous_mouse_event: MouseEvent | None = None
+    self._velocity = 0.0  # pixels per second
+    self._velocity_buffer: deque[float] = deque(maxlen=12 if TICI else 6)
+    self._enabled: bool | Callable[[], bool] = True
+
+  def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    self._enabled = enabled
+
+  @property
+  def enabled(self) -> bool:
+    return self._enabled() if callable(self._enabled) else self._enabled
+
+  def update(self, bounds: rl.Rectangle, content_size: float) -> float:
+    if DEBUG:
+      print('Old state:', self._state)
+
+    bounds_size = bounds.width if self._horizontal else bounds.height
+
+    for mouse_event in gui_app.mouse_events:
+      self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
+      self._previous_mouse_event = mouse_event
+
+    self._update_state(bounds_size, content_size)
+
+    if DEBUG:
+      print('Velocity:', self._velocity)
+      print('Offset X:', self._offset.x, 'Y:', self._offset.y)
+      print('New state:', self._state)
+      print()
+    return self.get_offset()
+
+  def _update_state(self, bounds_size: float, content_size: float) -> None:
+    """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
+    if self._state == ScrollState.AUTO_SCROLL:
+      # simple exponential return if out of bounds
+      out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+      if out_of_bounds and self._handle_out_of_bounds:
+        if self.get_offset() < (bounds_size - content_size):  # too far right
+          target = bounds_size - content_size
+        else:  # too far left
+          target = 0.0
+
+        dt = rl.get_frame_time() or 1e-6
+        factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
+
+        dist = target - self.get_offset()
+        self.set_offset(self.get_offset() + dist * factor)  # ease toward the edge
+        self._velocity *= (1.0 - factor)  # damp any leftover fling
+
+        # Steady once we are close enough to the target
+        if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
+          self.set_offset(target)
+          self._state = ScrollState.STEADY
+
+      elif abs(self._velocity) < MIN_VELOCITY:
+        self._velocity = 0.0
+        self._state = ScrollState.STEADY
+
+      # Update the offset based on the current velocity
+      dt = rl.get_frame_time()
+      self.set_offset(self.get_offset() + self._velocity * dt)  # Adjust the offset based on velocity
+      alpha = 1 - (dt / (self._AUTO_SCROLL_TC + dt))
+      self._velocity *= alpha
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
+                          content_size: float) -> None:
+    out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+    if DEBUG:
+      print('Mouse event:', mouse_event)
+
+    mouse_pos = self._get_mouse_pos(mouse_event)
+
+    if not self.enabled:
+      # Reset state if not enabled
+      self._state = ScrollState.STEADY
+      self._velocity = 0.0
+      self._velocity_buffer.clear()
+
+    elif self._state == ScrollState.STEADY:
+      if rl.check_collision_point_rec(mouse_event.pos, bounds):
+        if mouse_event.left_pressed:
+          self._state = ScrollState.PRESSED
+          self._initial_click_event = mouse_event
+
+    elif self._state == ScrollState.PRESSED:
+      initial_click_pos = self._get_mouse_pos(cast(MouseEvent, self._initial_click_event))
+      diff = abs(mouse_pos - initial_click_pos)
+      if mouse_event.left_released:
+        # Special handling for down and up clicks across two frames
+        # TODO: not sure what that means or if it's accurate anymore
+        if out_of_bounds:
+          self._state = ScrollState.AUTO_SCROLL
+        elif diff <= MIN_DRAG_PIXELS:
+          self._state = ScrollState.STEADY
+        else:
+          self._state = ScrollState.MANUAL_SCROLL
+      elif diff > MIN_DRAG_PIXELS:
+        self._state = ScrollState.MANUAL_SCROLL
+
+    elif self._state == ScrollState.MANUAL_SCROLL:
+      if mouse_event.left_released:
+        # Touch rejection: when releasing finger after swiping and stopping, panel
+        # reports a few erroneous touch events with high velocity, try to ignore.
+
+        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll
+        high_decel = False
+        if len(self._velocity_buffer) > 2:
+          # We limit max to first half since final few velocities can surpass first few
+          abs_velocity_buffer = [(abs(v), i) for i, v in enumerate(self._velocity_buffer)]
+          max_idx = max(abs_velocity_buffer[:len(abs_velocity_buffer) // 2])[1]
+          min_idx = min(abs_velocity_buffer)[1]
+          if DEBUG:
+            print('min_idx:', min_idx, 'max_idx:', max_idx, 'velocity buffer:', self._velocity_buffer)
+          if (abs(self._velocity_buffer[min_idx]) * REJECT_DECELERATION_FACTOR < abs(self._velocity_buffer[max_idx]) and
+              max_idx < min_idx):
+            if DEBUG:
+              print('deceleration too high, going to STEADY')
+            high_decel = True
+
+        # If final velocity is below some threshold, switch to steady state too
+        low_speed = abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING * 1.5  # plus some margin
+
+        if out_of_bounds or not (high_decel or low_speed):
+          self._state = ScrollState.AUTO_SCROLL
+        else:
+          # TODO: we should just set velocity and let autoscroll go back to steady. delays one frame but who cares
+          self._velocity = 0.0
+          self._state = ScrollState.STEADY
+        self._velocity_buffer.clear()
+      else:
+        # Update velocity for when we release the mouse button.
+        # Do not update velocity on the same frame the mouse was released
+        previous_mouse_pos = self._get_mouse_pos(cast(MouseEvent, self._previous_mouse_event))
+        delta_x = mouse_pos - previous_mouse_pos
+        self._velocity = delta_x / (mouse_event.t - cast(MouseEvent, self._previous_mouse_event).t)
+        self._velocity = max(-MAX_SPEED, min(MAX_SPEED, self._velocity))
+        self._velocity_buffer.append(self._velocity)
+
+        # rubber-banding: reduce dragging when out of bounds
+        # TODO: this drifts when dragging quickly
+        if out_of_bounds:
+          delta_x *= 0.25
+
+        # Update the offset based on the mouse movement
+        # Use internal _offset directly to preserve precision (don't round via get_offset())
+        # TODO: make get_offset return float
+        current_offset = self._offset.x if self._horizontal else self._offset.y
+        self.set_offset(current_offset + delta_x)
+
+    elif self._state == ScrollState.AUTO_SCROLL:
+      if mouse_event.left_pressed:
+        # Decide whether to click or scroll (block click if moving too fast)
+        if abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING:
+          # Traveling slow enough, click
+          self._state = ScrollState.PRESSED
+          self._initial_click_event = mouse_event
+        else:
+          # Go straight into manual scrolling to block erroneous input
+          self._state = ScrollState.MANUAL_SCROLL
+          # Reset velocity for touch down and up events that happen in back-to-back frames
+          self._velocity = 0.0
+
+  def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
+    return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
+
+  def get_offset(self) -> int:
+    return round(self._offset.x if self._horizontal else self._offset.y)
+
+  def set_offset(self, value: float) -> None:
+    if self._horizontal:
+      self._offset.x = value
+    else:
+      self._offset.y = value
+
+  @property
+  def state(self) -> ScrollState:
+    return self._state
+
+  def is_touch_valid(self) -> bool:
+    # MIN_VELOCITY_FOR_CLICKING is checked in auto-scroll state
+    return bool(self._state != ScrollState.MANUAL_SCROLL)

system/ui/lib/shader_polygon.py

@@ -1,9 +1,8 @@
-import platform
 import pyray as rl
 import numpy as np
 from dataclasses import dataclass
 from typing import Any, Optional, cast
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, GL_VERSION
 
 MAX_GRADIENT_COLORS = 20  # includes stops as well
 
@@ -29,16 +28,7 @@ class Gradient:
       self.stops = [i / max(1, color_count - 1) for i in range(color_count)]
 
 
-VERSION = """
-#version 300 es
-precision highp float;
-"""
-if platform.system() == "Darwin":
-  VERSION = """
-    #version 330 core
-  """
-
-FRAGMENT_SHADER = VERSION + """
+FRAGMENT_SHADER = GL_VERSION + """
 in vec2 fragTexCoord;
 out vec4 finalColor;
 
@@ -83,7 +73,7 @@ void main() {
 """
 
 # Default vertex shader
-VERTEX_SHADER = VERSION + """
+VERTEX_SHADER = GL_VERSION + """
 in vec3 vertexPosition;
 in vec2 vertexTexCoord;
 out vec2 fragTexCoord;
@@ -162,7 +152,7 @@ class ShaderState:
     self.initialized = False
 
 
-def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],  # noqa: UP045
+def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],
                             gradient: Gradient | None, origin_rect: rl.Rectangle):
   assert (color is not None) != (gradient is not None), "Either color or gradient must be provided"
 
@@ -201,7 +191,9 @@ def triangulate(pts: np.ndarray) -> list[tuple[float, float]]:
 
   # TODO: consider deduping close screenspace points
   # interleave points to produce a triangle strip
-  assert len(pts) % 2 == 0, "Interleaving expects even number of points"
+  # assert len(pts) % 2 == 0, "Interleaving expects even number of points"
+  if len(pts) % 2 != 0:
+    pts = pts[:-1]
 
   tri_strip = []
   for i in range(len(pts) // 2):
@@ -212,7 +204,7 @@ def triangulate(pts: np.ndarray) -> list[tuple[float, float]]:
 
 
 def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray,
-                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):  # noqa: UP045
+                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):
 
   """
   Draw a ribbon polygon (two chains) with a triangle strip and gradient.

system/ui/lib/text_measure.py

@@ -5,9 +5,10 @@ from openpilot.system.ui.lib.emoji import find_emoji
 _cache: dict[int, rl.Vector2] = {}
 
 
-def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: int = 0) -> rl.Vector2:
+def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: float = 0) -> rl.Vector2:
   """Caches text measurements to avoid redundant calculations."""
   font = font_fallback(font)
+  spacing = round(spacing, 4)
   key = hash((font.texture.id, text, font_size, spacing))
   if key in _cache:
     return _cache[key]

system/ui/lib/wifi_manager.py

@@ -35,7 +35,7 @@ except Exception:
 TETHERING_IP_ADDRESS = "192.168.43.1"
 DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
 SIGNAL_QUEUE_SIZE = 10
-SCAN_PERIOD_SECONDS = 10
+SCAN_PERIOD_SECONDS = 5
 
 
 class SecurityType(IntEnum):
@@ -75,6 +75,7 @@ class Network:
   is_connected: bool
   security_type: SecurityType
   is_saved: bool
+  ip_address: str = ""  # TODO: implement
 
   @classmethod
   def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network":
@@ -137,6 +138,8 @@ class WifiManager:
       self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE)
     except FileNotFoundError:
       cloudlog.exception("Failed to connect to system D-Bus")
+      self._router_main = None
+      self._conn_monitor = None
       self._exit = True
 
     # Store wifi device path
@@ -627,7 +630,7 @@ class WifiManager:
 
       known_connections = self._get_connections()
       networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()]
-      networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower()))
+      networks.sort(key=lambda n: (-n.is_connected, n.ssid.lower()))
       self._networks = networks
 
       self._update_ipv4_address()
@@ -751,6 +754,8 @@ class WifiManager:
       if self._state_thread.is_alive():
         self._state_thread.join()
 
-      self._router_main.close()
-      self._router_main.conn.close()
-      self._conn_monitor.close()
+      if self._router_main is not None:
+        self._router_main.close()
+        self._router_main.conn.close()
+      if self._conn_monitor is not None:
+        self._conn_monitor.close()

system/ui/lib/wrap_text.py

@@ -3,7 +3,7 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.application import font_fallback
 
 
-def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -> list[str]:
+def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int, spacing: float = 0) -> list[str]:
   if not word:
     return []
 
@@ -11,7 +11,7 @@ def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -
   remaining = word
 
   while remaining:
-    if measure_text_cached(font, remaining, font_size).x <= max_width:
+    if measure_text_cached(font, remaining, font_size, spacing).x <= max_width:
       parts.append(remaining)
       break
 
@@ -22,7 +22,7 @@ def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -
     while left <= right:
       mid = (left + right) // 2
       substring = remaining[:mid]
-      width = measure_text_cached(font, substring, font_size).x
+      width = measure_text_cached(font, substring, font_size, spacing).x
 
       if width <= max_width:
         best_fit = mid
@@ -40,9 +40,10 @@ def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -
 _cache: dict[int, list[str]] = {}
 
 
-def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[str]:
+def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int, spacing: float = 0) -> list[str]:
   font = font_fallback(font)
-  key = hash((font.texture.id, text, font_size, max_width))
+  spacing = round(spacing, 4)
+  key = hash((font.texture.id, text, font_size, max_width, spacing))
   if key in _cache:
     return _cache[key]
 
@@ -69,7 +70,7 @@ def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[
     current_line: list[str] = []
 
     for word in words:
-      word_width = int(measure_text_cached(font, word, font_size).x)
+      word_width = measure_text_cached(font, word, font_size, spacing).x
 
       # Check if word alone exceeds max width (need to break the word)
       if word_width > max_width:
@@ -79,12 +80,12 @@ def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[
           current_line = []
 
         # Break the long word into parts
-        lines.extend(_break_long_word(font, word, font_size, max_width))
+        lines.extend(_break_long_word(font, word, font_size, max_width, spacing))
         continue
 
       # Measure the actual joined string to get accurate width (accounts for kerning, etc.)
       test_line = " ".join(current_line + [word]) if current_line else word
-      test_width = int(measure_text_cached(font, test_line, font_size).x)
+      test_width = measure_text_cached(font, test_line, font_size, spacing).x
 
       # Check if word fits on current line
       if test_width <= max_width:

system/ui/mici_reset.py

@@ -0,0 +1,160 @@
+#!/usr/bin/env python3
+import os
+import sys
+import threading
+import time
+from enum import IntEnum
+
+import pyray as rl
+
+from openpilot.system.hardware import PC
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.slider import SmallSlider
+from openpilot.system.ui.widgets.button import SmallButton, FullRoundedButton
+from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+
+USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60
+
+
+class ResetMode(IntEnum):
+  USER_RESET = 0  # user initiated a factory reset from openpilot
+  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
+  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
+
+
+class ResetState(IntEnum):
+  NONE = 0
+  RESETTING = 1
+  FAILED = 2
+
+
+class Reset(Widget):
+  def __init__(self, mode):
+    super().__init__()
+    self._mode = mode
+    self._previous_reset_state = None
+    self._reset_state = ResetState.NONE
+
+    self._cancel_button = SmallButton("cancel")
+    self._cancel_button.set_click_callback(self._cancel_callback)
+
+    self._reboot_button = FullRoundedButton("reboot")
+    self._reboot_button.set_click_callback(self._do_reboot)
+
+    self._confirm_slider = SmallSlider("reset", self._confirm)
+
+    self._render_status = True
+
+  def _cancel_callback(self):
+    self._render_status = False
+
+  def _do_reboot(self):
+    if PC:
+      return
+
+    os.system("sudo reboot")
+
+  def _do_erase(self):
+    if PC:
+      return
+
+    # Removing data and formatting
+    rm = os.system("sudo rm -rf /data/*")
+    os.system(f"sudo umount {USERDATA}")
+    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+
+    if rm == 0 or fmt == 0:
+      os.system("sudo reboot")
+    else:
+      self._reset_state = ResetState.FAILED
+
+  def start_reset(self):
+    self._reset_state = ResetState.RESETTING
+    threading.Timer(0.1, self._do_erase).start()
+
+  def _update_state(self):
+    if self._reset_state != self._previous_reset_state:
+      self._previous_reset_state = self._reset_state
+      self._timeout_st = time.monotonic()
+    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
+  def _render(self, rect: rl.Rectangle):
+    label_rect = rl.Rectangle(rect.x + 8, rect.y + 8, rect.width, 50)
+    gui_label(label_rect, "factory reset", 48, font_weight=FontWeight.BOLD,
+              color=rl.Color(255, 255, 255, int(255 * 0.9)))
+
+    text_rect = rl.Rectangle(rect.x + 8, rect.y + 56, rect.width - 8 * 2, rect.height - 80)
+    gui_text_box(text_rect, self._get_body_text(), 36, font_weight=FontWeight.ROMAN, line_scale=0.9)
+
+    if self._reset_state != ResetState.RESETTING:
+      # fade out cancel button as slider is moved, set visible to prevent pressing invisible cancel
+      self._cancel_button.set_opacity(1.0 - self._confirm_slider.slider_percentage)
+      self._cancel_button.set_visible(self._confirm_slider.slider_percentage < 0.8)
+
+      if self._mode == ResetMode.RECOVER:
+        self._cancel_button.set_text("reboot")
+        self._cancel_button.render(rl.Rectangle(
+          rect.x + 8,
+          rect.y + rect.height - self._cancel_button.rect.height,
+          self._cancel_button.rect.width,
+          self._cancel_button.rect.height))
+      elif self._mode == ResetMode.USER_RESET and self._reset_state != ResetState.FAILED:
+        self._cancel_button.render(rl.Rectangle(
+          rect.x + 8,
+          rect.y + rect.height - self._cancel_button.rect.height,
+          self._cancel_button.rect.width,
+          self._cancel_button.rect.height))
+
+      if self._reset_state != ResetState.FAILED:
+        self._confirm_slider.render(rl.Rectangle(
+          rect.x + rect.width - self._confirm_slider.rect.width,
+          rect.y + rect.height - self._confirm_slider.rect.height,
+          self._confirm_slider.rect.width,
+          self._confirm_slider.rect.height))
+      else:
+        self._reboot_button.render(rl.Rectangle(
+          rect.x + 8,
+          rect.y + rect.height - self._reboot_button.rect.height,
+          self._reboot_button.rect.width,
+          self._reboot_button.rect.height))
+
+    return self._render_status
+
+  def _confirm(self):
+    self.start_reset()
+
+  def _get_body_text(self):
+    if self._reset_state == ResetState.RESETTING:
+      return "Resetting device... This may take up to a minute."
+    if self._reset_state == ResetState.FAILED:
+      return "Reset failed. Reboot to try again."
+    if self._mode == ResetMode.RECOVER:
+      return "Unable to mount data partition. Partition may be corrupted."
+    return "All content and settings will be erased."
+
+
+def main():
+  mode = ResetMode.USER_RESET
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '--recover':
+      mode = ResetMode.RECOVER
+    elif sys.argv[1] == "--format":
+      mode = ResetMode.FORMAT
+
+  gui_app.init_window("System Reset")
+  reset = Reset(mode)
+
+  if mode == ResetMode.FORMAT:
+    reset.start_reset()
+
+  for should_render in gui_app.render():
+    if should_render:
+      if not reset.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)):
+        break
+
+
+if __name__ == "__main__":
+  main()

system/ui/mici_setup.py

@@ -0,0 +1,732 @@
+#!/usr/bin/env python3
+from abc import abstractmethod
+import os
+import re
+import threading
+import time
+import urllib.request
+import urllib.error
+from urllib.parse import urlparse
+from enum import IntEnum
+import shutil
+from collections.abc import Callable
+
+import pyray as rl
+
+from cereal import log
+from openpilot.common.utils import run_cmd
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.selfdrive.ui.ui_state import device
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton,
+                                                SmallCircleIconButton, WidishRoundedButton, SmallRedPillButton,
+                                                FullRoundedButton)
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.slider import LargerSlider
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+
+NetworkType = log.DeviceState.NetworkType
+
+OPENPILOT_URL = "https://openpilot.comma.ai"
+USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
+
+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""
+
+
+class NetworkConnectivityMonitor:
+  def __init__(self, should_check: Callable[[], bool] | None = None, check_interval: float = 0.5):
+    self.network_connected = threading.Event()
+    self.wifi_connected = threading.Event()
+    self._should_check = should_check or (lambda: True)
+    self._check_interval = check_interval
+    self._stop_event = threading.Event()
+    self._thread: threading.Thread | None = None
+
+  def start(self):
+    self._stop_event.clear()
+    if self._thread is None or not self._thread.is_alive():
+      self._thread = threading.Thread(target=self._run, daemon=True)
+      self._thread.start()
+
+  def stop(self):
+    if self._thread is not None:
+      self._stop_event.set()
+      self._thread.join()
+      self._thread = None
+
+  def reset(self):
+    self.network_connected.clear()
+    self.wifi_connected.clear()
+
+  def _run(self):
+    while not self._stop_event.is_set():
+      if self._should_check():
+        try:
+          request = urllib.request.Request(OPENPILOT_URL, method="HEAD")
+          urllib.request.urlopen(request, timeout=0.5)
+          self.network_connected.set()
+          if HARDWARE.get_network_type() == NetworkType.wifi:
+            self.wifi_connected.set()
+        except Exception:
+          self.reset()
+      else:
+        self.reset()
+
+      if self._stop_event.wait(timeout=self._check_interval):
+        break
+
+
+class SetupState(IntEnum):
+  GETTING_STARTED = 0
+  NETWORK_SETUP = 1
+  NETWORK_SETUP_CUSTOM_SOFTWARE = 8
+  SOFTWARE_SELECTION = 2
+  CUSTOM_SOFTWARE = 3
+  DOWNLOADING = 4
+  DOWNLOAD_FAILED = 5
+  CUSTOM_SOFTWARE_WARNING = 6
+
+
+class StartPage(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title = UnifiedLabel("start", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                               font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    self._start_bg_txt = gui_app.texture("icons_mici/setup/green_button.png", 520, 224)
+    self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/green_button_pressed.png", 520, 224)
+
+  def _render(self, rect: rl.Rectangle):
+    draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
+    draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
+    texture = self._start_bg_pressed_txt if self.is_pressed else self._start_bg_txt
+    rl.draw_texture(texture, int(draw_x), int(draw_y), rl.WHITE)
+
+    self._title.render(rect)
+
+
+class SoftwareSelectionPage(Widget):
+  def __init__(self, use_openpilot_callback: Callable,
+               use_custom_software_callback: Callable):
+    super().__init__()
+
+    self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback)
+    self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False)
+
+  def reset(self):
+    self._openpilot_slider.reset()
+    self._custom_software_slider.reset()
+
+  def _render(self, rect: rl.Rectangle):
+    self._openpilot_slider.set_opacity(1.0 - self._custom_software_slider.slider_percentage)
+    self._custom_software_slider.set_opacity(1.0 - self._openpilot_slider.slider_percentage)
+
+    openpilot_rect = rl.Rectangle(
+      rect.x + (rect.width - self._openpilot_slider.rect.width) / 2,
+      rect.y,
+      self._openpilot_slider.rect.width,
+      rect.height / 2,
+    )
+    self._openpilot_slider.render(openpilot_rect)
+
+    custom_software_rect = rl.Rectangle(
+      rect.x + (rect.width - self._custom_software_slider.rect.width) / 2,
+      rect.y + rect.height / 2,
+      self._custom_software_slider.rect.width,
+      rect.height / 2,
+    )
+    self._custom_software_slider.render(custom_software_rect)
+
+
+class TermsHeader(Widget):
+  def __init__(self, text: str, icon_texture: rl.Texture):
+    super().__init__()
+
+    self._title = UnifiedLabel(text, 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                               font_weight=FontWeight.BOLD, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                               line_height=0.8)
+    self._icon_texture = icon_texture
+
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width - 16 * 2, self._icon_texture.height))
+
+  def set_title(self, text: str):
+    self._title.set_text(text)
+
+  def set_icon(self, icon_texture: rl.Texture):
+    self._icon_texture = icon_texture
+
+  def _render(self, _):
+    rl.draw_texture_ex(self._icon_texture, rl.Vector2(self._rect.x, self._rect.y),
+                       0.0, 1.0, rl.WHITE)
+
+    # May expand outside parent rect
+    title_content_height = self._title.get_content_height(int(self._rect.width - self._icon_texture.width - 16))
+    title_rect = rl.Rectangle(
+      self._rect.x + self._icon_texture.width + 16,
+      self._rect.y + (self._rect.height - title_content_height) / 2,
+      self._rect.width - self._icon_texture.width - 16,
+      title_content_height,
+    )
+    self._title.render(title_rect)
+
+
+class TermsPage(Widget):
+  ITEM_SPACING = 20
+
+  def __init__(self, continue_callback: Callable, back_callback: Callable | None = None,
+               back_text: str = "back", continue_text: str = "accept"):
+    super().__init__()
+
+    # TODO: use Scroller
+    self._scroll_panel = GuiScrollPanel2(horizontal=False)
+
+    self._continue_text = continue_text
+    self._continue_button: WideRoundedButton | FullRoundedButton
+    if back_callback is not None:
+      self._continue_button = WideRoundedButton(continue_text)
+    else:
+      self._continue_button = FullRoundedButton(continue_text)
+    self._continue_button.set_enabled(False)
+    self._continue_button.set_opacity(0.0)
+    self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
+    self._continue_button.set_click_callback(continue_callback)
+
+    self._enable_back = back_callback is not None
+    self._back_button = SmallButton(back_text)
+    self._back_button.set_opacity(0.0)
+    self._back_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
+    self._back_button.set_click_callback(back_callback)
+
+    self._scroll_down_indicator = IconButton(gui_app.texture("icons_mici/setup/scroll_down_indicator.png", 64, 78))
+    self._scroll_down_indicator.set_enabled(False)
+
+  def reset(self):
+    self._scroll_panel.set_offset(0)
+    self._continue_button.set_enabled(False)
+    self._continue_button.set_opacity(0.0)
+    self._back_button.set_enabled(False)
+    self._back_button.set_opacity(0.0)
+    self._scroll_down_indicator.set_opacity(1.0)
+
+  def show_event(self):
+    super().show_event()
+    device.reset_interactive_timeout(300)
+
+  @property
+  @abstractmethod
+  def _content_height(self):
+    pass
+
+  @property
+  def _scrolled_down_offset(self):
+    return -self._content_height + (self._continue_button.rect.height + 16 + 30)
+
+  @abstractmethod
+  def _render_content(self, scroll_offset):
+    pass
+
+  def _render(self, _):
+    scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)
+
+    if scroll_offset <= self._scrolled_down_offset:
+      # don't show back if not enabled
+      if self._enable_back:
+        self._back_button.set_enabled(True)
+        self._back_button.set_opacity(1.0, smooth=True)
+      self._continue_button.set_enabled(True)
+      self._continue_button.set_opacity(1.0, smooth=True)
+      self._scroll_down_indicator.set_opacity(0.0, smooth=True)
+    else:
+      self._back_button.set_enabled(False)
+      self._back_button.set_opacity(0.0, smooth=True)
+      self._continue_button.set_enabled(False)
+      self._continue_button.set_opacity(0.0, smooth=True)
+      self._scroll_down_indicator.set_opacity(1.0, smooth=True)
+
+    # Render content
+    self._render_content(scroll_offset)
+
+    # black gradient at top and bottom for scrolling content
+    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y),
+                                 int(self._rect.width), 20, rl.BLACK, rl.BLANK)
+    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20),
+                                 int(self._rect.width), 20, rl.BLANK, rl.BLACK)
+
+    self._back_button.render(rl.Rectangle(
+      self._rect.x + 8,
+      self._rect.y + self._rect.height - self._back_button.rect.height,
+      self._back_button.rect.width,
+      self._back_button.rect.height,
+    ))
+
+    continue_x = self._rect.x + 8
+    if self._enable_back:
+      continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8
+    self._continue_button.render(rl.Rectangle(
+      continue_x,
+      self._rect.y + self._rect.height - self._continue_button.rect.height,
+      self._continue_button.rect.width,
+      self._continue_button.rect.height,
+    ))
+
+    self._scroll_down_indicator.render(rl.Rectangle(
+      self._rect.x + self._rect.width - self._scroll_down_indicator.rect.width - 8,
+      self._rect.y + self._rect.height - self._scroll_down_indicator.rect.height - 8,
+      self._scroll_down_indicator.rect.width,
+      self._scroll_down_indicator.rect.height,
+    ))
+
+
+class CustomSoftwareWarningPage(TermsPage):
+  def __init__(self, continue_callback: Callable, back_callback: Callable):
+    super().__init__(continue_callback, back_callback)
+
+    self._title_header = TermsHeader("use caution installing\n3rd party software",
+                                     gui_app.texture("icons_mici/setup/warning.png", 66, 60))
+    self._body = UnifiedLabel("• It has not been tested by comma.\n" +
+                              "• It may not comply with relevant safety standards.\n" +
+                              "• It may cause damage to your device and/or vehicle.\n", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                              font_weight=FontWeight.ROMAN)
+
+    self._restore_header = TermsHeader("how to backup &\nrestore", gui_app.texture("icons_mici/setup/restore.png", 60, 60))
+    self._restore_body = UnifiedLabel("To restore your device to a factory state later, use https://flash.comma.ai",
+                                      36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                      font_weight=FontWeight.ROMAN)
+
+  @property
+  def _content_height(self):
+    return self._restore_body.rect.y + self._restore_body.rect.height - self._scroll_panel.get_offset()
+
+  def _render_content(self, scroll_offset):
+    self._title_header.set_position(self._rect.x + 16, self._rect.y + 8 + scroll_offset)
+    self._title_header.render()
+
+    body_rect = rl.Rectangle(
+      self._rect.x + 8,
+      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
+      self._rect.width - 50,
+      self._body.get_content_height(int(self._rect.width - 50)),
+    )
+    self._body.render(body_rect)
+
+    self._restore_header.set_position(self._rect.x + 16, self._body.rect.y + self._body.rect.height + self.ITEM_SPACING)
+    self._restore_header.render()
+
+    self._restore_body.render(rl.Rectangle(
+      self._rect.x + 8,
+      self._restore_header.rect.y + self._restore_header.rect.height + self.ITEM_SPACING,
+      self._rect.width - 50,
+      self._restore_body.get_content_height(int(self._rect.width - 50)),
+    ))
+
+
+class DownloadingPage(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title_label = UnifiedLabel("downloading", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                     font_weight=FontWeight.DISPLAY)
+    self._progress_label = UnifiedLabel("", 128, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.35)),
+                                        font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._progress = 0
+
+  def set_progress(self, progress: int):
+    self._progress = progress
+    self._progress_label.set_text(f"{progress}%")
+
+  def _render(self, rect: rl.Rectangle):
+    self._title_label.render(rl.Rectangle(
+      rect.x + 20,
+      rect.y + 10,
+      rect.width,
+      64,
+    ))
+
+    self._progress_label.render(rl.Rectangle(
+      rect.x + 20,
+      rect.y + 20,
+      rect.width,
+      rect.height,
+    ))
+
+
+class FailedPage(Widget):
+  def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
+    super().__init__()
+
+    self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                     font_weight=FontWeight.DISPLAY)
+    self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                      font_weight=FontWeight.ROMAN)
+
+    self._reboot_button = SmallRedPillButton("reboot")
+    self._reboot_button.set_click_callback(reboot_callback)
+
+    self._retry_button = WideRoundedButton("retry")
+    self._retry_button.set_click_callback(retry_callback)
+
+  def set_reason(self, reason: str):
+    self._reason_label.set_text(reason)
+
+  def _render(self, rect: rl.Rectangle):
+    self._title_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + 10,
+      rect.width,
+      64,
+    ))
+
+    self._reason_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + 10 + 64,
+      rect.width,
+      36,
+    ))
+
+    self._reboot_button.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + rect.height - self._reboot_button.rect.height,
+      self._reboot_button.rect.width,
+      self._reboot_button.rect.height,
+    ))
+
+    self._retry_button.render(rl.Rectangle(
+      rect.x + 8 + self._reboot_button.rect.width + 8,
+      rect.y + rect.height - self._retry_button.rect.height,
+      self._retry_button.rect.width,
+      self._retry_button.rect.height,
+    ))
+
+
+class NetworkSetupState(IntEnum):
+  MAIN = 0
+  WIFI_PANEL = 1
+
+
+class NetworkSetupPage(Widget):
+  def __init__(self, wifi_manager, continue_callback: Callable, back_callback: Callable):
+    super().__init__()
+    self._wifi_ui = WifiUIMici(wifi_manager, back_callback=lambda: self.set_state(NetworkSetupState.MAIN))
+
+    self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50)
+    self._waiting_text = "waiting for internet..."
+    self._network_header = TermsHeader(self._waiting_text, self._no_wifi_txt)
+
+    back_txt = gui_app.texture("icons_mici/setup/back_new.png", 37, 32)
+    self._back_button = SmallCircleIconButton(back_txt)
+    self._back_button.set_click_callback(back_callback)
+
+    self._wifi_button = SmallerRoundedButton("wifi")
+    self._wifi_button.set_click_callback(lambda: self.set_state(NetworkSetupState.WIFI_PANEL))
+
+    self._continue_button = WidishRoundedButton("continue")
+    self._continue_button.set_enabled(False)
+    self._continue_button.set_click_callback(continue_callback)
+
+    self._state = NetworkSetupState.MAIN
+
+  def set_state(self, state: NetworkSetupState):
+    self._state = state
+
+  def set_has_internet(self, has_internet: bool):
+    if has_internet:
+      self._network_header.set_title("connected to internet")
+      self._network_header.set_icon(self._wifi_full_txt)
+      self._continue_button.set_enabled(True)
+    else:
+      self._network_header.set_title(self._waiting_text)
+      self._network_header.set_icon(self._no_wifi_txt)
+      self._continue_button.set_enabled(False)
+
+  def show_event(self):
+    super().show_event()
+    self._state = NetworkSetupState.MAIN
+    self._wifi_ui.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_ui.hide_event()
+
+  def _render(self, _):
+    if self._state == NetworkSetupState.MAIN:
+      self._network_header.render(rl.Rectangle(
+        self._rect.x + 16,
+        self._rect.y + 16,
+        self._rect.width - 32,
+        self._network_header.rect.height,
+      ))
+
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
+
+      self._wifi_button.render(rl.Rectangle(
+        self._rect.x + 8 + self._back_button.rect.width + 10,
+        self._rect.y + self._rect.height - self._wifi_button.rect.height,
+        self._wifi_button.rect.width,
+        self._wifi_button.rect.height,
+      ))
+
+      self._continue_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._continue_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._continue_button.rect.height,
+        self._continue_button.rect.width,
+        self._continue_button.rect.height,
+      ))
+    else:
+      self._wifi_ui.render(self._rect)
+
+
+class Setup(Widget):
+  def __init__(self):
+    super().__init__()
+    self.state = SetupState.GETTING_STARTED
+    self.failed_url = ""
+    self.failed_reason = ""
+    self.download_url = ""
+    self.download_progress = 0
+    self.download_thread = None
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(True)
+    self._network_monitor = NetworkConnectivityMonitor(
+      lambda: self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
+    )
+
+    self._start_page = StartPage()
+    self._start_page.set_click_callback(self._getting_started_button_callback)
+
+    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_button_callback,
+                                                self._network_setup_back_button_callback)
+
+    self._software_selection_page = SoftwareSelectionPage(self._software_selection_continue_button_callback,
+                                                          self._software_selection_custom_software_button_callback)
+
+    self._download_failed_page = FailedPage(HARDWARE.reboot, self._download_failed_startover_button_callback)
+
+    self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue,
+                                                                   self._custom_software_warning_back_button_callback)
+
+    self._downloading_page = DownloadingPage()
+
+  def _update_state(self):
+    self._wifi_manager.process_callbacks()
+
+  def _set_state(self, state: SetupState):
+    self.state = state
+    if self.state == SetupState.SOFTWARE_SELECTION:
+      self._software_selection_page.reset()
+    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
+      self._custom_software_warning_page.reset()
+
+    if self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
+      self._network_setup_page.show_event()
+      self._network_monitor.reset()
+      self._network_monitor.start()
+    else:
+      self._network_setup_page.hide_event()
+      self._network_monitor.stop()
+
+  def _render(self, rect: rl.Rectangle):
+    if self.state == SetupState.GETTING_STARTED:
+      self._start_page.render(rect)
+    elif self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
+      self.render_network_setup(rect)
+    elif self.state == SetupState.SOFTWARE_SELECTION:
+      self._software_selection_page.render(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
+      self._custom_software_warning_page.render(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE:
+      self.render_custom_software()
+    elif self.state == SetupState.DOWNLOADING:
+      self.render_downloading(rect)
+    elif self.state == SetupState.DOWNLOAD_FAILED:
+      self._download_failed_page.render(rect)
+
+  def _custom_software_warning_back_button_callback(self):
+    self._set_state(SetupState.SOFTWARE_SELECTION)
+
+  def _custom_software_warning_continue_button_callback(self):
+    self._set_state(SetupState.CUSTOM_SOFTWARE)
+
+  def _getting_started_button_callback(self):
+    self._set_state(SetupState.SOFTWARE_SELECTION)
+
+  def _software_selection_back_button_callback(self):
+    self._set_state(SetupState.GETTING_STARTED)
+
+  def _software_selection_continue_button_callback(self):
+    self.use_openpilot()
+
+  def _software_selection_custom_software_button_callback(self):
+    self._set_state(SetupState.CUSTOM_SOFTWARE_WARNING)
+
+  def _software_selection_custom_software_continue(self):
+    self._set_state(SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
+
+  def _download_failed_startover_button_callback(self):
+    self._set_state(SetupState.GETTING_STARTED)
+
+  def _network_setup_back_button_callback(self):
+    self._set_state(SetupState.SOFTWARE_SELECTION)
+
+  def _network_setup_continue_button_callback(self):
+    self._network_monitor.stop()
+    if self.state == SetupState.NETWORK_SETUP:
+      self.download(OPENPILOT_URL)
+    elif self.state == SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE:
+      self._set_state(SetupState.CUSTOM_SOFTWARE)
+
+  def close(self):
+    self._network_monitor.stop()
+
+  def render_network_setup(self, rect: rl.Rectangle):
+    self._network_setup_page.render(rect)
+    self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set())
+
+  def render_downloading(self, rect: rl.Rectangle):
+    self._downloading_page.set_progress(self.download_progress)
+    self._downloading_page.render(rect)
+
+  def render_custom_software(self):
+    def handle_keyboard_result(text):
+      url = text.strip()
+      if url:
+        self.download(url)
+
+    def handle_keyboard_exit(result):
+      if result == DialogResult.CANCEL:
+        self._set_state(SetupState.SOFTWARE_SELECTION)
+
+    keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result)
+    gui_app.set_modal_overlay(keyboard, callback=handle_keyboard_exit)
+
+  def use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+    else:
+      self._set_state(SetupState.NETWORK_SETUP)
+
+  def download(self, url: str):
+    # autocomplete incomplete URLs
+    if re.match("^([^/.]+)/([^/]+)$", url):
+      url = f"https://installer.comma.ai/{url}"
+
+    parsed = urlparse(url, scheme='https')
+    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+
+    self._set_state(SetupState.DOWNLOADING)
+
+    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+    self.download_thread.start()
+
+  def _download_thread(self):
+    try:
+      import tempfile
+
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
+
+      headers = {"User-Agent": USER_AGENT,
+                 "X-openpilot-serial": HARDWARE.get_serial(),
+                 "X-openpilot-device-type": HARDWARE.get_device_type()}
+      req = urllib.request.Request(self.download_url, headers=headers)
+
+      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
+        total_size = int(response.headers.get('content-length', 0))
+        downloaded = 0
+        block_size = 8192
+
+        while True:
+          buffer = response.read(block_size)
+          if not buffer:
+            break
+
+          downloaded += len(buffer)
+          f.write(buffer)
+
+          if total_size:
+            self.download_progress = int(downloaded * 100 / total_size)
+            self._downloading_page.set_progress(self.download_progress)
+
+      is_elf = False
+      with open(tmpfile, 'rb') as f:
+        header = f.read(4)
+        is_elf = header == b'\x7fELF'
+
+      if not is_elf:
+        self.download_failed(self.download_url, "No custom software found at this URL.")
+        return
+
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
+
+      with open(INSTALLER_URL_PATH, "w") as f:
+        f.write(self.download_url)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+
+    except urllib.error.HTTPError as e:
+      if e.code == 409:
+        error_msg = "Incompatible openpilot version"
+        self.download_failed(self.download_url, error_msg)
+    except Exception:
+      error_msg = "Invalid URL"
+      self.download_failed(self.download_url, error_msg)
+
+  def download_failed(self, url: str, reason: str):
+    self.failed_url = url
+    self.failed_reason = reason
+    self._download_failed_page.set_reason(reason)
+    self._set_state(SetupState.DOWNLOAD_FAILED)
+
+
+def main():
+  try:
+    gui_app.init_window("Setup")
+    setup = Setup()
+    for should_render in gui_app.render():
+      if should_render:
+        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    setup.close()
+  except Exception as e:
+    print(f"Setup error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

system/ui/mici_updater.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+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.wifi_manager import WifiManager, Network
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import gui_text_box, gui_label, UnifiedLabel
+from openpilot.system.ui.widgets.button import FullRoundedButton
+from openpilot.system.ui.mici_setup import NetworkSetupPage, FailedPage, NetworkConnectivityMonitor
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+  FAILED = 3
+
+
+class Updater(Widget):
+  def __init__(self, updater_path, manifest_path):
+    super().__init__()
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+    self._current_network_strength = -1
+
+    self.progress_value = 0
+    self.progress_text = "loading"
+    self.process = None
+    self.update_thread = None
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(True)
+
+    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_callback,
+                                                self._network_setup_back_callback)
+
+    self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
+    self._network_monitor = NetworkConnectivityMonitor()
+    self._network_monitor.start()
+
+    # Buttons
+    self._continue_button = FullRoundedButton("continue")
+    self._continue_button.set_click_callback(lambda: self.set_current_screen(Screen.WIFI))
+
+    self._title_label = UnifiedLabel("update required", 48, text_color=rl.Color(255, 115, 0, 255),
+                                     font_weight=FontWeight.DISPLAY)
+    self._subtitle_label = UnifiedLabel("The download size is approximately 1GB.", 36,
+                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                        font_weight=FontWeight.ROMAN)
+
+    self._update_failed_page = FailedPage(HARDWARE.reboot, self._update_failed_retry_callback,
+                                          title="update failed")
+
+  def _network_setup_back_callback(self):
+    self.set_current_screen(Screen.PROMPT)
+
+  def _network_setup_continue_callback(self):
+    self.install_update()
+
+  def _update_failed_retry_callback(self):
+    self.set_current_screen(Screen.PROMPT)
+
+  def _on_network_updated(self, networks: list[Network]):
+    self._current_network_strength = next((net.strength for net in networks if net.is_connected), -1)
+
+  def set_current_screen(self, screen: Screen):
+    if self.current_screen != screen:
+      if screen == Screen.PROGRESS:
+        if self._network_setup_page:
+          self._network_setup_page.hide_event()
+      elif screen == Screen.WIFI:
+        if self._network_setup_page:
+          self._network_setup_page.show_event()
+      elif screen == Screen.PROMPT:
+        if self._network_setup_page:
+          self._network_setup_page.hide_event()
+      elif screen == Screen.FAILED:
+        if self._network_setup_page:
+          self._network_setup_page.hide_event()
+
+    self.current_screen = screen
+
+  def install_update(self):
+    self.set_current_screen(Screen.PROGRESS)
+    self.progress_value = 0
+    self.progress_text = "downloading"
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                    text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0].lower()
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.set_current_screen(Screen.FAILED)
+
+  def render_prompt_screen(self, rect: rl.Rectangle):
+    self._title_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y - 5,
+      rect.width,
+      48,
+    ))
+
+    subtitle_width = rect.width - 16
+    subtitle_height = self._subtitle_label.get_content_height(int(subtitle_width))
+    self._subtitle_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + 48,
+      subtitle_width,
+      subtitle_height,
+    ))
+
+    self._continue_button.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + rect.height - self._continue_button.rect.height,
+      self._continue_button.rect.width,
+      self._continue_button.rect.height,
+    ))
+
+  def render_progress_screen(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(self._rect.x + 6, self._rect.y - 5, self._rect.width - 12, self._rect.height - 8)
+    if ' ' in self.progress_text:
+      font_size = 62
+    else:
+      font_size = 82
+    gui_text_box(title_rect, self.progress_text, font_size, font_weight=FontWeight.DISPLAY,
+                 color=rl.Color(255, 255, 255, int(255 * 0.9)))
+
+    progress_value = f"{self.progress_value}%"
+    text_height = measure_text_cached(gui_app.font(FontWeight.ROMAN), progress_value, 128).y
+    progress_rect = rl.Rectangle(self._rect.x + 6, self._rect.y + self._rect.height - text_height + 18,
+                                 self._rect.width - 12, text_height)
+    gui_label(progress_rect, progress_value, 128, font_weight=FontWeight.ROMAN,
+              color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.35)))
+
+  def _update_state(self):
+    self._wifi_manager.process_callbacks()
+
+  def _render(self, rect: rl.Rectangle):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen(rect)
+    elif self.current_screen == Screen.WIFI:
+      self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set())
+      self._network_setup_page.render(rect)
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen(rect)
+    elif self.current_screen == Screen.FAILED:
+      self._update_failed_page.render(rect)
+
+  def close(self):
+    self._network_monitor.stop()
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for should_render in gui_app.render():
+      if should_render:
+        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    updater.close()
+  except Exception as e:
+    print(f"Updater error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

system/ui/reset.py

@@ -1,135 +1,14 @@
 #!/usr/bin/env python3
-import os
-import sys
-import threading
-import time
-from enum import IntEnum
-
-import pyray as rl
-
-from openpilot.system.hardware import PC
-from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_label, gui_text_box
-
-USERDATA = "/dev/disk/by-partlabel/userdata"
-TIMEOUT = 3*60
-
-
-class ResetMode(IntEnum):
-  USER_RESET = 0  # user initiated a factory reset from openpilot
-  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
-  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
-
-
-class ResetState(IntEnum):
-  NONE = 0
-  CONFIRM = 1
-  RESETTING = 2
-  FAILED = 3
-
-
-class Reset(Widget):
-  def __init__(self, mode):
-    super().__init__()
-    self._mode = mode
-    self._previous_reset_state = None
-    self._reset_state = ResetState.NONE
-    self._cancel_button = Button("Cancel", self._cancel_callback)
-    self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
-    self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
-    self._render_status = True
-
-  def _cancel_callback(self):
-    self._render_status = False
-
-  def _do_erase(self):
-    if PC:
-      return
-
-    # Removing data and formatting
-    rm = os.system("sudo rm -rf /data/*")
-    os.system(f"sudo umount {USERDATA}")
-    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
-
-    if rm == 0 or fmt == 0:
-      os.system("sudo reboot")
-    else:
-      self._reset_state = ResetState.FAILED
-
-  def start_reset(self):
-    self._reset_state = ResetState.RESETTING
-    threading.Timer(0.1, self._do_erase).start()
-
-  def _update_state(self):
-    if self._reset_state != self._previous_reset_state:
-      self._previous_reset_state = self._reset_state
-      self._timeout_st = time.monotonic()
-    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
-      exit(0)
-
-  def _render(self, rect: rl.Rectangle):
-    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100 * FONT_SCALE)
-    gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
-
-    text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100 * FONT_SCALE)
-    gui_text_box(text_rect, self._get_body_text(), 90)
-
-    button_height = 160
-    button_spacing = 50
-    button_top = rect.y + rect.height - button_height
-    button_width = (rect.width - button_spacing) / 2.0
-
-    if self._reset_state != ResetState.RESETTING:
-      if self._mode == ResetMode.RECOVER:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
-      elif self._mode == ResetMode.USER_RESET:
-        self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
-
-      if self._reset_state != ResetState.FAILED:
-        self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height))
-      else:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))
-
-    return self._render_status
-
-  def _confirm(self):
-    if self._reset_state == ResetState.CONFIRM:
-      self.start_reset()
-    else:
-      self._reset_state = ResetState.CONFIRM
-
-  def _get_body_text(self):
-    if self._reset_state == ResetState.CONFIRM:
-      return "Are you sure you want to reset your device?"
-    if self._reset_state == ResetState.RESETTING:
-      return "Resetting device...\nThis may take up to a minute."
-    if self._reset_state == ResetState.FAILED:
-      return "Reset failed. Reboot to try again."
-    if self._mode == ResetMode.RECOVER:
-      return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."
-    return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_reset as tici_reset
+import openpilot.system.ui.mici_reset as mici_reset
 
 
 def main():
-  mode = ResetMode.USER_RESET
-  if len(sys.argv) > 1:
-    if sys.argv[1] == '--recover':
-      mode = ResetMode.RECOVER
-    elif sys.argv[1] == "--format":
-      mode = ResetMode.FORMAT
-
-  gui_app.init_window("System Reset", 20)
-  reset = Reset(mode)
-
-  if mode == ResetMode.FORMAT:
-    reset.start_reset()
-
-  for should_render in gui_app.render():
-    if should_render:
-      if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)):
-        break
+  if gui_app.big_ui():
+    tici_reset.main()
+  else:
+    mici_reset.main()
 
 
 if __name__ == "__main__":

system/ui/setup.py

@@ -1,450 +1,14 @@
 #!/usr/bin/env python3
-import os
-import re
-import threading
-import time
-import urllib.request
-import urllib.error
-from urllib.parse import urlparse
-from enum import IntEnum
-import shutil
-
-import pyray as rl
-
-from cereal import log
-from openpilot.common.utils import run_cmd
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
-from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import Label
-from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager
-
-NetworkType = log.DeviceState.NetworkType
-
-MARGIN = 50
-TITLE_FONT_SIZE = 90
-TITLE_FONT_WEIGHT = FontWeight.MEDIUM
-NEXT_BUTTON_WIDTH = 310
-BODY_FONT_SIZE = 80
-BUTTON_HEIGHT = 160
-BUTTON_SPACING = 50
-
-OPENPILOT_URL = "https://openpilot.comma.ai"
-USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
-
-CONTINUE_PATH = "/data/continue.sh"
-TMP_CONTINUE_PATH = "/data/continue.sh.new"
-INSTALL_PATH = "/data/openpilot"
-VALID_CACHE_PATH = "/data/.openpilot_cache"
-INSTALLER_SOURCE_PATH = "/usr/comma/installer"
-INSTALLER_DESTINATION_PATH = "/tmp/installer"
-INSTALLER_URL_PATH = "/tmp/installer_url"
-
-CONTINUE = """#!/usr/bin/env bash
-
-cd /data/openpilot
-exec ./launch_openpilot.sh
-"""
-
-
-class SetupState(IntEnum):
-  LOW_VOLTAGE = 0
-  GETTING_STARTED = 1
-  NETWORK_SETUP = 2
-  SOFTWARE_SELECTION = 3
-  CUSTOM_SOFTWARE = 4
-  DOWNLOADING = 5
-  DOWNLOAD_FAILED = 6
-  CUSTOM_SOFTWARE_WARNING = 7
-
-
-class Setup(Widget):
-  def __init__(self):
-    super().__init__()
-    self.state = SetupState.GETTING_STARTED
-    self.network_check_thread = None
-    self.network_connected = threading.Event()
-    self.wifi_connected = threading.Event()
-    self.stop_network_check_thread = threading.Event()
-    self.failed_url = ""
-    self.failed_reason = ""
-    self.download_url = ""
-    self.download_progress = 0
-    self.download_thread = None
-    self.wifi_ui = WifiManagerUI(WifiManager())
-    self.keyboard = Keyboard()
-    self.selected_radio = None
-    self.warning = gui_app.texture("icons/warning.png", 150, 150)
-    self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
-
-    self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-                                          text_color=rl.Color(255, 89, 79, 255), text_padding=20)
-    self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE,
-                                         text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-    self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
-    self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
-
-    self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
-    self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-    self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.",
-                                             BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-
-    self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
-    self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
-    self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback,
-                                                      button_style=ButtonStyle.PRIMARY)
-    self._software_selection_continue_button.set_enabled(False)
-    self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
-    self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-                                                 text_padding=20)
-
-    self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
-    self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
-    self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-    self._download_failed_url_label = Label("", 52, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-    self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-
-    self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
-    self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
-                                                 button_style=ButtonStyle.PRIMARY)
-    self._network_setup_continue_button.set_enabled(False)
-    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
-
-    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
-                                                           button_style=ButtonStyle.PRIMARY)
-    self._custom_software_warning_continue_button.set_enabled(False)
-    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
-    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-                                                      text_color=rl.Color(255, 89, 79, 255),
-                                                      text_padding=60)
-    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
-                                                     + "⚠️ It has not been tested by comma.\n\n"
-                                                     + "⚠️ It may not comply with relevant safety standards.\n\n"
-                                                     + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
-                                                     + "If you'd like to proceed, use https://flash.comma.ai "
-                                                     + "to restore your device to a factory state later.",
-                                                     68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=60)
-    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
-
-    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM, text_padding=20)
-
-    try:
-      with open("/sys/class/hwmon/hwmon1/in1_input") as f:
-        voltage = float(f.read().strip()) / 1000.0
-        if voltage < 7:
-          self.state = SetupState.LOW_VOLTAGE
-    except (FileNotFoundError, ValueError):
-      self.state = SetupState.LOW_VOLTAGE
-
-  def _render(self, rect: rl.Rectangle):
-    if self.state == SetupState.LOW_VOLTAGE:
-      self.render_low_voltage(rect)
-    elif self.state == SetupState.GETTING_STARTED:
-      self.render_getting_started(rect)
-    elif self.state == SetupState.NETWORK_SETUP:
-      self.render_network_setup(rect)
-    elif self.state == SetupState.SOFTWARE_SELECTION:
-      self.render_software_selection(rect)
-    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
-      self.render_custom_software_warning(rect)
-    elif self.state == SetupState.CUSTOM_SOFTWARE:
-      self.render_custom_software()
-    elif self.state == SetupState.DOWNLOADING:
-      self.render_downloading(rect)
-    elif self.state == SetupState.DOWNLOAD_FAILED:
-      self.render_download_failed(rect)
-
-  def _low_voltage_continue_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
-
-  def _custom_software_warning_back_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
-
-  def _custom_software_warning_continue_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
-
-  def _getting_started_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
-
-  def _software_selection_back_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
-
-  def _software_selection_continue_button_callback(self):
-    if self._software_selection_openpilot_button.selected:
-      self.use_openpilot()
-    else:
-      self.state = SetupState.CUSTOM_SOFTWARE_WARNING
-
-  def _download_failed_startover_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
-
-  def _network_setup_back_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
-
-  def _network_setup_continue_button_callback(self):
-    self.stop_network_check_thread.set()
-    if self._software_selection_openpilot_button.selected:
-      self.download(OPENPILOT_URL)
-    else:
-      self.state = SetupState.CUSTOM_SOFTWARE
-
-  def render_low_voltage(self, rect: rl.Rectangle):
-    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
-
-    self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
-    self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
-
-    button_width = (rect.width - MARGIN * 3) / 2
-    button_y = rect.height - MARGIN - BUTTON_HEIGHT
-    self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
-    self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
-
-  def render_getting_started(self, rect: rl.Rectangle):
-    self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
-    self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE * FONT_SCALE, rect.width - 500,
-                                                         BODY_FONT_SIZE * FONT_SCALE * 3))
-
-    btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)
-    self._getting_started_button.render(btn_rect)
-    triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
-    rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)
-
-  def check_network_connectivity(self):
-    while not self.stop_network_check_thread.is_set():
-      if self.state == SetupState.NETWORK_SETUP:
-        try:
-          urllib.request.urlopen(OPENPILOT_URL, timeout=2)
-          self.network_connected.set()
-          if HARDWARE.get_network_type() == NetworkType.wifi:
-            self.wifi_connected.set()
-          else:
-            self.wifi_connected.clear()
-        except Exception:
-          self.network_connected.clear()
-      time.sleep(1)
-
-  def start_network_check(self):
-    if self.network_check_thread is None or not self.network_check_thread.is_alive():
-      self.network_check_thread = threading.Thread(target=self.check_network_connectivity, daemon=True)
-      self.network_check_thread.start()
-
-  def close(self):
-    if self.network_check_thread is not None:
-      self.stop_network_check_thread.set()
-      self.network_check_thread.join()
-
-  def render_network_setup(self, rect: rl.Rectangle):
-    self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
-
-    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN + 25, rect.width - MARGIN * 2,
-                             rect.height - TITLE_FONT_SIZE * FONT_SCALE - 25 - BUTTON_HEIGHT - MARGIN * 3)
-    rl.draw_rectangle_rounded(wifi_rect, 0.05, 10, rl.Color(51, 51, 51, 255))
-    wifi_content_rect = rl.Rectangle(wifi_rect.x + MARGIN, wifi_rect.y, wifi_rect.width - MARGIN * 2, wifi_rect.height)
-    self.wifi_ui.render(wifi_content_rect)
-
-    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
-    button_y = rect.height - BUTTON_HEIGHT - MARGIN
-
-    self._network_setup_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
-
-    # Check network connectivity status
-    continue_enabled = self.network_connected.is_set()
-    self._network_setup_continue_button.set_enabled(continue_enabled)
-    continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
-    self._network_setup_continue_button.set_text(continue_text)
-    self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
-
-  def render_software_selection(self, rect: rl.Rectangle):
-    self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
-
-    radio_height = 230
-    radio_spacing = 30
-
-    self._software_selection_continue_button.set_enabled(False)
-
-    openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
-    self._software_selection_openpilot_button.render(openpilot_rect)
-
-    if self._software_selection_openpilot_button.selected:
-      self._software_selection_continue_button.set_enabled(True)
-      self._software_selection_custom_software_button.selected = False
-
-    custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2,
-                               radio_height)
-    self._software_selection_custom_software_button.render(custom_rect)
-
-    if self._software_selection_custom_software_button.selected:
-      self._software_selection_continue_button.set_enabled(True)
-      self._software_selection_openpilot_button.selected = False
-
-    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
-    button_y = rect.height - BUTTON_HEIGHT - MARGIN
-
-    self._software_selection_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
-    self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
-
-  def render_downloading(self, rect: rl.Rectangle):
-    self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE * FONT_SCALE / 2, rect.width,
-                                                     TITLE_FONT_SIZE * FONT_SCALE))
-
-  def render_download_failed(self, rect: rl.Rectangle):
-    self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE * FONT_SCALE))
-    self._download_failed_url_label.set_text(self.failed_url)
-    self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE * FONT_SCALE + 67, rect.width - 117 - 100, 64))
-
-    self._download_failed_body_label.set_text(self.failed_reason)
-    self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height))
-
-    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
-    button_y = rect.height - BUTTON_HEIGHT - MARGIN
-    self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
-    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
-
-  def render_custom_software_warning(self, rect: rl.Rectangle):
-    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
-    offset = self._custom_software_warning_body_scroll_panel.update(rect, warn_rect)
-
-    button_width = (rect.width - MARGIN * 3) / 2
-    button_y = rect.height - MARGIN - BUTTON_HEIGHT
-
-    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE * FONT_SCALE))
-    y_offset = rect.y + offset
-    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
-    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200, rect.width - 50, BODY_FONT_SIZE * FONT_SCALE * 3))
-    rl.end_scissor_mode()
-
-    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
-    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
-    if offset < (rect.height - warn_rect.height):
-      self._custom_software_warning_continue_button.set_enabled(True)
-      self._custom_software_warning_continue_button.set_text("Continue")
-
-  def render_custom_software(self):
-    def handle_keyboard_result(result):
-      # Enter pressed
-      if result == 1:
-        url = self.keyboard.text
-        self.keyboard.clear()
-        if url:
-          self.download(url)
-
-      # Cancel pressed
-      elif result == 0:
-        self.state = SetupState.SOFTWARE_SELECTION
-
-    self.keyboard.reset(min_text_size=1)
-    self.keyboard.set_title("Enter URL", "for Custom Software")
-    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
-
-  def use_openpilot(self):
-    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
-      os.remove(VALID_CACHE_PATH)
-      with open(TMP_CONTINUE_PATH, "w") as f:
-        f.write(CONTINUE)
-      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
-      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
-      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
-
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
-    else:
-      self.state = SetupState.NETWORK_SETUP
-      self.stop_network_check_thread.clear()
-      self.start_network_check()
-
-  def download(self, url: str):
-    # autocomplete incomplete URLs
-    if re.match("^([^/.]+)/([^/]+)$", url):
-      url = f"https://installer.comma.ai/{url}"
-
-    parsed = urlparse(url, scheme='https')
-    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
-
-    self.state = SetupState.DOWNLOADING
-
-    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
-    self.download_thread.start()
-
-  def _download_thread(self):
-    try:
-      import tempfile
-
-      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
-
-      headers = {"User-Agent": USER_AGENT,
-                 "X-openpilot-serial": HARDWARE.get_serial(),
-                 "X-openpilot-device-type": HARDWARE.get_device_type()}
-      req = urllib.request.Request(self.download_url, headers=headers)
-
-      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
-        total_size = int(response.headers.get('content-length', 0))
-        downloaded = 0
-        block_size = 8192
-
-        while True:
-          buffer = response.read(block_size)
-          if not buffer:
-            break
-
-          downloaded += len(buffer)
-          f.write(buffer)
-
-          if total_size:
-            self.download_progress = int(downloaded * 100 / total_size)
-
-      is_elf = False
-      with open(tmpfile, 'rb') as f:
-        header = f.read(4)
-        is_elf = header == b'\x7fELF'
-
-      if not is_elf:
-        self.download_failed(self.download_url, "No custom software found at this URL.")
-        return
-
-      # AGNOS might try to execute the installer before this process exits.
-      # Therefore, important to close the fd before renaming the installer.
-      os.close(fd)
-      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
-
-      with open(INSTALLER_URL_PATH, "w") as f:
-        f.write(self.download_url)
-
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
-
-    except urllib.error.HTTPError as e:
-      if e.code == 409:
-        error_msg = e.read().decode("utf-8")
-        self.download_failed(self.download_url, error_msg)
-    except Exception:
-      error_msg = "Ensure the entered URL is valid, and the device's internet connection is good."
-      self.download_failed(self.download_url, error_msg)
-
-  def download_failed(self, url: str, reason: str):
-    self.failed_url = url
-    self.failed_reason = reason
-    self.state = SetupState.DOWNLOAD_FAILED
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_setup as tici_setup
+import openpilot.system.ui.mici_setup as mici_setup
 
 
 def main():
-  try:
-    gui_app.init_window("Setup", 20)
-    setup = Setup()
-    for should_render in gui_app.render():
-      if should_render:
-        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    setup.close()
-  except Exception as e:
-    print(f"Setup error: {e}")
-  finally:
-    gui_app.close()
+  if gui_app.big_ui():
+    tici_setup.main()
+  else:
+    mici_setup.main()
 
 
 if __name__ == "__main__":

system/ui/spinner.py

@@ -8,14 +8,21 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.text import wrap_text
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
-
 # Constants
-PROGRESS_BAR_WIDTH = 1000
-PROGRESS_BAR_HEIGHT = 20
+if gui_app.big_ui():
+  PROGRESS_BAR_WIDTH = 1000
+  PROGRESS_BAR_HEIGHT = 20
+  TEXTURE_SIZE = 360
+  WRAPPED_SPACING = 50
+  CENTERED_SPACING = 150
+else:
+  PROGRESS_BAR_WIDTH = 268
+  PROGRESS_BAR_HEIGHT = 10
+  TEXTURE_SIZE = 140
+  WRAPPED_SPACING = 10
+  CENTERED_SPACING = 20
 DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN_H = 100
-TEXTURE_SIZE = 360
 FONT_SIZE = 96
 LINE_HEIGHT = 104
 DARKGRAY = (55, 55, 55, 255)
@@ -28,7 +35,7 @@ def clamp(value, min_value, max_value):
 class Spinner(Widget):
   def __init__(self):
     super().__init__()
-    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app.texture("../../sunnypilot/selfdrive/assets/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
@@ -45,12 +52,12 @@ class Spinner(Widget):
   def _render(self, rect: rl.Rectangle):
     if self._wrapped_lines:
       # Calculate total height required for spinner and text
-      spacing = 50
+      spacing = WRAPPED_SPACING
       total_height = TEXTURE_SIZE + spacing + len(self._wrapped_lines) * LINE_HEIGHT
       center_y = (rect.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
     else:
       # Center spinner vertically
-      spacing = 150
+      spacing = CENTERED_SPACING
       center_y = rect.height / 2.0
     y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
 

system/ui/sunnypilot/lib/application.py

@@ -1,24 +1,15 @@
-from openpilot.system.ui.lib.application import GuiApplication
-from importlib.resources import as_file, files
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
+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 os
+
+SUNNYPILOT_UI = os.getenv("SUNNYPILOT_UI", "1") == "1"
 
 
-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:
-      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
-      texture_obj = self._load_texture_from_image(image_obj)
-    self._textures[cache_key] = texture_obj
-    return texture_obj
-
-
-gui_app_sp = GuiApplicationSP(2160, 1080)
+class GuiApplicationExt:
+  @staticmethod
+  def sunnypilot_ui() -> bool:
+    return SUNNYPILOT_UI

system/ui/sunnypilot/lib/styles.py

@@ -1,6 +1,14 @@
-import pyray as rl
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 from dataclasses import dataclass
 
+import pyray as rl
+
+
 @dataclass
 class Base:
   # Widget/Control Base Dimensions
@@ -11,20 +19,21 @@ class Base:
   ITEM_DESC_V_OFFSET = 150
 
   # Toggle Control
-  TOGGLE_HEIGHT = 100
+  TOGGLE_HEIGHT = 120
   TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
   TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
 
+
 @dataclass
-class SP_Default(Base):
+class DefaultStyleSP(Base):
   # Base Colors
-  BASE_BG_COLOR = rl.Color(57, 57, 57, 255) # Grey
-  ON_BG_COLOR = rl.Color(28, 101, 186, 255) # Blue
-  OFF_BG_COLOR = BASE_BG_COLOR
-  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255) # Dark Blue
+  BASE_BG_COLOR = rl.Color(57, 57, 57, 255)  # Grey
+  ON_BG_COLOR = rl.Color(28, 101, 186, 255)  # Blue
+  OFF_BG_COLOR = rl.Color(70, 70, 70, 255)  # Lighter Grey
+  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255)  # Dark Blue
   OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
-  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255) # Dull Blue
-  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
+  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255)  # Dull Blue
+  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255)  # Grey
   ITEM_TEXT_COLOR = rl.WHITE
   ITEM_DISABLED_TEXT_COLOR = rl.Color(88, 88, 88, 255)
   ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
@@ -35,6 +44,7 @@ class SP_Default(Base):
   TOGGLE_KNOB_COLOR = rl.WHITE
   TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
   TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
-  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey
+  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255)  # Lighter Grey
 
-style = SP_Default
+
+style = DefaultStyleSP

system/ui/sunnypilot/widgets/list_view.py

@@ -1,6 +1,12 @@
-import pyray as rl
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 from collections.abc import Callable
+
+import pyray as rl
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction
@@ -13,12 +19,16 @@ class ToggleActionSP(ToggleAction):
     ToggleAction.__init__(self, initial_state, width, enabled, callback)
     self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
 
+
 class ListItemSP(ListItem):
   def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
                description_visible: bool = False, callback: Callable | None = None,
                action_item: ItemAction | None = None):
     ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
 
+  def show_description(self, show: bool):
+    self._set_description_visible(show)
+
   def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
     if not self.action_item:
       return rl.Rectangle(0, 0, 0, 0)
@@ -48,7 +58,7 @@ class ListItemSP(ListItem):
         style.TOGGLE_WIDTH,
         style.TOGGLE_HEIGHT
       )
-      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING
+      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
 
       # Draw title
       if self.title:
@@ -89,7 +99,8 @@ class ListItemSP(ListItem):
       )
       self._html_renderer.render(description_rect)
 
+
 def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
-                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItem:
+                   callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
   action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
   return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)

system/ui/sunnypilot/widgets/toggle.py

@@ -1,5 +1,12 @@
-import pyray as rl
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 from collections.abc import Callable
+
+import pyray as rl
 from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import MousePos
 from openpilot.system.ui.widgets.toggle import Toggle
@@ -7,23 +14,24 @@ from openpilot.system.ui.sunnypilot.lib.styles import style
 
 KNOB_PADDING = 5
 KNOB_RADIUS = style.TOGGLE_BG_HEIGHT / 2 - KNOB_PADDING
-SYMBOL_SIZE = KNOB_RADIUS / 2
+
 
 class ToggleSP(Toggle):
   def __init__(self, initial_state=False, callback: Callable[[bool], None] | None = None, param: str | None = None):
     self.param_key = param
     self.params = Params()
     if self.param_key:
-        initial_state = self.params.get_bool(self.param_key)
+      initial_state = self.params.get_bool(self.param_key)
     Toggle.__init__(self, initial_state, callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
-      super()._handle_mouse_release(mouse_pos)
-      if self._enabled and self.param_key:
-        self.params.put_bool(self.param_key, self._state)
+    super()._handle_mouse_release(mouse_pos)
+    if self._enabled and self.param_key:
+      self.params.put_bool(self.param_key, self._state)
 
   def _render(self, rect: rl.Rectangle):
     self.update()
+    self._rect.y -= style.ITEM_PADDING / 2
     if self._enabled:
       bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
       knob_color = style.TOGGLE_KNOB_COLOR
@@ -34,16 +42,6 @@ class ToggleSP(Toggle):
     # Draw background
     bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
 
-    # Draw outline first
-    outline_color = style.TOGGLE_ON_COLOR
-    if not self._enabled:
-        # Use a more subtle color for disabled state
-        outline_color = rl.Color(outline_color.r // 2, outline_color.g // 2, outline_color.b // 2, 255)
-
-    # Draw outline by drawing a slightly larger rounded rectangle behind the background
-    outline_rect = rl.Rectangle(bg_rect.x - 2, bg_rect.y - 2, bg_rect.width + 4, bg_rect.height + 4)
-    rl.draw_rectangle_rounded(outline_rect, 1.0, 10, outline_color)
-
     # Draw actual background
     rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
 
@@ -56,41 +54,3 @@ class ToggleSP(Toggle):
     knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
 
     rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
-
-    if self._state and (self._enabled or self._progress > 0.5):
-        # Draw checkmark when toggle is ON
-        start_x = knob_x - SYMBOL_SIZE * 0.8
-        start_y = knob_y
-        mid_x = knob_x - SYMBOL_SIZE * 0.1
-        mid_y = knob_y + SYMBOL_SIZE * 0.6
-        end_x = knob_x + SYMBOL_SIZE * 0.8
-        end_y = knob_y - SYMBOL_SIZE * 0.5
-
-        rl.draw_line_ex(
-            rl.Vector2(int(start_x), int(start_y)),
-            rl.Vector2(int(mid_x), int(mid_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(mid_x), int(mid_y)),
-            rl.Vector2(int(end_x), int(end_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-    else:
-        # Draw X when toggle is OFF
-        x_offset = SYMBOL_SIZE * 0.65
-
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x - x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x + x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x + x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x - x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )

system/ui/text.py

@@ -3,17 +3,24 @@ import re
 import sys
 import pyray as rl
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import BIG_UI, gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 
-MARGIN = 50
-SPACING = 40
-FONT_SIZE = 72
-LINE_HEIGHT = 80
-BUTTON_SIZE = rl.Vector2(310, 160)
+if BIG_UI:
+  MARGIN = 50
+  SPACING = 40
+  FONT_SIZE = 72
+  LINE_HEIGHT = 80
+  BUTTON_SIZE = rl.Vector2(310, 160)
+else:
+  MARGIN = 20
+  SPACING = 30
+  FONT_SIZE = 25
+  LINE_HEIGHT = 25
+  BUTTON_SIZE = rl.Vector2(150, 80)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
             The text is long enough to demonstrate scrolling and word wrapping.""" * 30
@@ -31,7 +38,7 @@ def wrap_text(text, font_size, max_width):
       continue
     indent = re.match(r"^\s*", paragraph).group()
     current_line = indent
-    words = re.split(r"(\s+)", paragraph[len(indent):])
+    words = re.split(r"(\s+|-)", paragraph[len(indent):])
     while len(words):
       word = words.pop(0)
       test_line = current_line + word + (words.pop(0) if words else "")
@@ -57,7 +64,7 @@ class TextWindow(Widget):
     self._scroll_panel._offset_filter_y.x = -max(self._content_rect.height - self._textarea_rect.height, 0)
 
     button_text = "Exit" if PC else "Reboot"
-    self._button = Button(button_text, click_callback=self._on_button_clicked, button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER)
+    self._button = Button(button_text, click_callback=self._on_button_clicked, button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER, font_size=FONT_SIZE)
 
   @staticmethod
   def _on_button_clicked():

system/ui/tici_reset.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+import os
+import sys
+import threading
+import time
+from enum import IntEnum
+
+import pyray as rl
+
+from openpilot.system.hardware import PC
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+
+USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60
+
+
+class ResetMode(IntEnum):
+  USER_RESET = 0  # user initiated a factory reset from openpilot
+  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
+  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
+
+
+class ResetState(IntEnum):
+  NONE = 0
+  CONFIRM = 1
+  RESETTING = 2
+  FAILED = 3
+
+
+class Reset(Widget):
+  def __init__(self, mode):
+    super().__init__()
+    self._mode = mode
+    self._previous_reset_state = None
+    self._reset_state = ResetState.NONE
+    self._cancel_button = Button("Cancel", self._cancel_callback)
+    self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
+    self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
+    self._render_status = True
+
+  def _cancel_callback(self):
+    self._render_status = False
+
+  def _do_erase(self):
+    if PC:
+      return
+
+    # Removing data and formatting
+    rm = os.system("sudo rm -rf /data/*")
+    os.system(f"sudo umount {USERDATA}")
+    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+
+    if rm == 0 or fmt == 0:
+      os.system("sudo reboot")
+    else:
+      self._reset_state = ResetState.FAILED
+
+  def start_reset(self):
+    self._reset_state = ResetState.RESETTING
+    threading.Timer(0.1, self._do_erase).start()
+
+  def _update_state(self):
+    if self._reset_state != self._previous_reset_state:
+      self._previous_reset_state = self._reset_state
+      self._timeout_st = time.monotonic()
+    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
+  def _render(self, rect: rl.Rectangle):
+    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100 * FONT_SCALE)
+    gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
+
+    text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100 * FONT_SCALE)
+    gui_text_box(text_rect, self._get_body_text(), 90)
+
+    button_height = 160
+    button_spacing = 50
+    button_top = rect.y + rect.height - button_height
+    button_width = (rect.width - button_spacing) / 2.0
+
+    if self._reset_state != ResetState.RESETTING:
+      if self._mode == ResetMode.RECOVER:
+        self._reboot_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
+      elif self._mode == ResetMode.USER_RESET:
+        self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
+
+      if self._reset_state != ResetState.FAILED:
+        self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height))
+      else:
+        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))
+
+    return self._render_status
+
+  def _confirm(self):
+    if self._reset_state == ResetState.CONFIRM:
+      self.start_reset()
+    else:
+      self._reset_state = ResetState.CONFIRM
+
+  def _get_body_text(self):
+    if self._reset_state == ResetState.CONFIRM:
+      return "Are you sure you want to reset your device?"
+    if self._reset_state == ResetState.RESETTING:
+      return "Resetting device...\nThis may take up to a minute."
+    if self._reset_state == ResetState.FAILED:
+      return "Reset failed. Reboot to try again."
+    if self._mode == ResetMode.RECOVER:
+      return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."
+    return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."
+
+
+def main():
+  mode = ResetMode.USER_RESET
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '--recover':
+      mode = ResetMode.RECOVER
+    elif sys.argv[1] == "--format":
+      mode = ResetMode.FORMAT
+
+  gui_app.init_window("System Reset", 20)
+  reset = Reset(mode)
+
+  if mode == ResetMode.FORMAT:
+    reset.start_reset()
+
+  for should_render in gui_app.render():
+    if should_render:
+      if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)):
+        break
+
+
+if __name__ == "__main__":
+  main()

system/ui/tici_setup.py

@@ -0,0 +1,451 @@
+#!/usr/bin/env python3
+import os
+import re
+import threading
+import time
+import urllib.request
+import urllib.error
+from urllib.parse import urlparse
+from enum import IntEnum
+import shutil
+
+import pyray as rl
+
+from cereal import log
+from openpilot.common.utils import run_cmd
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.label import Label
+from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager
+
+NetworkType = log.DeviceState.NetworkType
+
+MARGIN = 50
+TITLE_FONT_SIZE = 90
+TITLE_FONT_WEIGHT = FontWeight.MEDIUM
+NEXT_BUTTON_WIDTH = 310
+BODY_FONT_SIZE = 80
+BUTTON_HEIGHT = 160
+BUTTON_SPACING = 50
+
+OPENPILOT_URL = "https://openpilot.comma.ai"
+USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
+
+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""
+
+
+class SetupState(IntEnum):
+  LOW_VOLTAGE = 0
+  GETTING_STARTED = 1
+  NETWORK_SETUP = 2
+  SOFTWARE_SELECTION = 3
+  CUSTOM_SOFTWARE = 4
+  DOWNLOADING = 5
+  DOWNLOAD_FAILED = 6
+  CUSTOM_SOFTWARE_WARNING = 7
+
+
+class Setup(Widget):
+  def __init__(self):
+    super().__init__()
+    self.state = SetupState.GETTING_STARTED
+    self.network_check_thread = None
+    self.network_connected = threading.Event()
+    self.wifi_connected = threading.Event()
+    self.stop_network_check_thread = threading.Event()
+    self.failed_url = ""
+    self.failed_reason = ""
+    self.download_url = ""
+    self.download_progress = 0
+    self.download_thread = None
+    self.wifi_ui = WifiManagerUI(WifiManager())
+    self.keyboard = Keyboard()
+    self.selected_radio = None
+    self.warning = gui_app.texture("icons/warning.png", 150, 150)
+    self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
+
+    self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                          text_color=rl.Color(255, 89, 79, 255), text_padding=20)
+    self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE,
+                                         text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
+    self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
+
+    self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
+    self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.",
+                                             BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
+    self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
+    self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
+    self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback,
+                                                      button_style=ButtonStyle.PRIMARY)
+    self._software_selection_continue_button.set_enabled(False)
+    self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
+    self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                                 text_padding=20)
+
+    self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
+    self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
+    self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_url_label = Label("", 52, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
+    self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
+    self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
+                                                 button_style=ButtonStyle.PRIMARY)
+    self._network_setup_continue_button.set_enabled(False)
+    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
+    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
+                                                           button_style=ButtonStyle.PRIMARY)
+    self._custom_software_warning_continue_button.set_enabled(False)
+    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
+    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                                      text_color=rl.Color(255, 89, 79, 255),
+                                                      text_padding=60)
+    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
+                                                     + "⚠️ It has not been tested by comma.\n\n"
+                                                     + "⚠️ It may not comply with relevant safety standards.\n\n"
+                                                     + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
+                                                     + "If you'd like to proceed, use https://flash.comma.ai "
+                                                     + "to restore your device to a factory state later.",
+                                                     68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=60)
+    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
+
+    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM, text_padding=20)
+
+    try:
+      with open("/sys/class/hwmon/hwmon1/in1_input") as f:
+        voltage = float(f.read().strip()) / 1000.0
+        if voltage < 7:
+          self.state = SetupState.LOW_VOLTAGE
+    except (FileNotFoundError, ValueError):
+      self.state = SetupState.LOW_VOLTAGE
+
+  def _render(self, rect: rl.Rectangle):
+    if self.state == SetupState.LOW_VOLTAGE:
+      self.render_low_voltage(rect)
+    elif self.state == SetupState.GETTING_STARTED:
+      self.render_getting_started(rect)
+    elif self.state == SetupState.NETWORK_SETUP:
+      self.render_network_setup(rect)
+    elif self.state == SetupState.SOFTWARE_SELECTION:
+      self.render_software_selection(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
+      self.render_custom_software_warning(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE:
+      self.render_custom_software()
+    elif self.state == SetupState.DOWNLOADING:
+      self.render_downloading(rect)
+    elif self.state == SetupState.DOWNLOAD_FAILED:
+      self.render_download_failed(rect)
+
+  def _low_voltage_continue_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _custom_software_warning_back_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _custom_software_warning_continue_button_callback(self):
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()
+
+  def _getting_started_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _software_selection_back_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _software_selection_continue_button_callback(self):
+    if self._software_selection_openpilot_button.selected:
+      self.use_openpilot()
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE_WARNING
+
+  def _download_failed_startover_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _network_setup_back_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _network_setup_continue_button_callback(self):
+    self.stop_network_check_thread.set()
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE
+
+  def render_low_voltage(self, rect: rl.Rectangle):
+    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
+
+    self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
+    self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
+
+    button_width = (rect.width - MARGIN * 3) / 2
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+    self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_getting_started(self, rect: rl.Rectangle):
+    self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
+    self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE * FONT_SCALE, rect.width - 500,
+                                                         BODY_FONT_SIZE * FONT_SCALE * 3))
+
+    btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)
+    self._getting_started_button.render(btn_rect)
+    triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
+    rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)
+
+  def check_network_connectivity(self):
+    while not self.stop_network_check_thread.is_set():
+      if self.state == SetupState.NETWORK_SETUP:
+        try:
+          urllib.request.urlopen(OPENPILOT_URL, timeout=2)
+          self.network_connected.set()
+          if HARDWARE.get_network_type() == NetworkType.wifi:
+            self.wifi_connected.set()
+          else:
+            self.wifi_connected.clear()
+        except Exception:
+          self.network_connected.clear()
+      time.sleep(1)
+
+  def start_network_check(self):
+    if self.network_check_thread is None or not self.network_check_thread.is_alive():
+      self.network_check_thread = threading.Thread(target=self.check_network_connectivity, daemon=True)
+      self.network_check_thread.start()
+
+  def close(self):
+    if self.network_check_thread is not None:
+      self.stop_network_check_thread.set()
+      self.network_check_thread.join()
+
+  def render_network_setup(self, rect: rl.Rectangle):
+    self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
+
+    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN + 25, rect.width - MARGIN * 2,
+                             rect.height - TITLE_FONT_SIZE * FONT_SCALE - 25 - BUTTON_HEIGHT - MARGIN * 3)
+    rl.draw_rectangle_rounded(wifi_rect, 0.05, 10, rl.Color(51, 51, 51, 255))
+    wifi_content_rect = rl.Rectangle(wifi_rect.x + MARGIN, wifi_rect.y, wifi_rect.width - MARGIN * 2, wifi_rect.height)
+    self.wifi_ui.render(wifi_content_rect)
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    self._network_setup_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+
+    # Check network connectivity status
+    continue_enabled = self.network_connected.is_set()
+    self._network_setup_continue_button.set_enabled(continue_enabled)
+    continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
+    self._network_setup_continue_button.set_text(continue_text)
+    self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_software_selection(self, rect: rl.Rectangle):
+    self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
+
+    radio_height = 230
+    radio_spacing = 30
+
+    self._software_selection_continue_button.set_enabled(False)
+
+    openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
+    self._software_selection_openpilot_button.render(openpilot_rect)
+
+    if self._software_selection_openpilot_button.selected:
+      self._software_selection_continue_button.set_enabled(True)
+      self._software_selection_custom_software_button.selected = False
+
+    custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2,
+                               radio_height)
+    self._software_selection_custom_software_button.render(custom_rect)
+
+    if self._software_selection_custom_software_button.selected:
+      self._software_selection_continue_button.set_enabled(True)
+      self._software_selection_openpilot_button.selected = False
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    self._software_selection_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_downloading(self, rect: rl.Rectangle):
+    self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE * FONT_SCALE / 2, rect.width,
+                                                     TITLE_FONT_SIZE * FONT_SCALE))
+
+  def render_download_failed(self, rect: rl.Rectangle):
+    self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE * FONT_SCALE))
+    self._download_failed_url_label.set_text(self.failed_url)
+    self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE * FONT_SCALE + 67, rect.width - 117 - 100, 64))
+
+    self._download_failed_body_label.set_text(self.failed_reason)
+    self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height))
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+    self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_custom_software_warning(self, rect: rl.Rectangle):
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    offset = self._custom_software_warning_body_scroll_panel.update(rect, warn_rect)
+
+    button_width = (rect.width - MARGIN * 3) / 2
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE * FONT_SCALE))
+    y_offset = rect.y + offset
+    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
+    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 400, rect.width - 50, BODY_FONT_SIZE * FONT_SCALE * 3))
+    rl.end_scissor_mode()
+
+    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+    if offset < (rect.height - warn_rect.height):
+      self._custom_software_warning_continue_button.set_enabled(True)
+      self._custom_software_warning_continue_button.set_text("Continue")
+
+  def render_custom_software(self):
+    def handle_keyboard_result(result):
+      # Enter pressed
+      if result == 1:
+        url = self.keyboard.text
+        self.keyboard.clear()
+        if url:
+          self.download(url)
+
+      # Cancel pressed
+      elif result == 0:
+        self.state = SetupState.SOFTWARE_SELECTION
+
+    self.keyboard.reset(min_text_size=1)
+    self.keyboard.set_title("Enter URL", "for Custom Software")
+    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
+
+  def use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+    else:
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
+
+  def download(self, url: str):
+    # autocomplete incomplete URLs
+    if re.match("^([^/.]+)/([^/]+)$", url):
+      url = f"https://installer.comma.ai/{url}"
+
+    parsed = urlparse(url, scheme='https')
+    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+
+    self.state = SetupState.DOWNLOADING
+
+    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+    self.download_thread.start()
+
+  def _download_thread(self):
+    try:
+      import tempfile
+
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
+
+      headers = {"User-Agent": USER_AGENT,
+                 "X-openpilot-serial": HARDWARE.get_serial(),
+                 "X-openpilot-device-type": HARDWARE.get_device_type()}
+      req = urllib.request.Request(self.download_url, headers=headers)
+
+      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
+        total_size = int(response.headers.get('content-length', 0))
+        downloaded = 0
+        block_size = 8192
+
+        while True:
+          buffer = response.read(block_size)
+          if not buffer:
+            break
+
+          downloaded += len(buffer)
+          f.write(buffer)
+
+          if total_size:
+            self.download_progress = int(downloaded * 100 / total_size)
+
+      is_elf = False
+      with open(tmpfile, 'rb') as f:
+        header = f.read(4)
+        is_elf = header == b'\x7fELF'
+
+      if not is_elf:
+        self.download_failed(self.download_url, "No custom software found at this URL.")
+        return
+
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
+
+      with open(INSTALLER_URL_PATH, "w") as f:
+        f.write(self.download_url)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+
+    except urllib.error.HTTPError as e:
+      if e.code == 409:
+        error_msg = e.read().decode("utf-8")
+        self.download_failed(self.download_url, error_msg)
+    except Exception:
+      error_msg = "Ensure the entered URL is valid, and the device's internet connection is good."
+      self.download_failed(self.download_url, error_msg)
+
+  def download_failed(self, url: str, reason: str):
+    self.failed_url = url
+    self.failed_reason = reason
+    self.state = SetupState.DOWNLOAD_FAILED
+
+
+def main():
+  try:
+    gui_app.init_window("Setup", 20)
+    setup = Setup()
+    for should_render in gui_app.render():
+      if should_render:
+        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    setup.close()
+  except Exception as e:
+    print(f"Setup error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

system/ui/tici_updater.py

@@ -0,0 +1,173 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_text_box, gui_label
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+# Constants
+MARGIN = 50
+BUTTON_HEIGHT = 160
+BUTTON_WIDTH = 400
+PROGRESS_BAR_HEIGHT = 72
+TITLE_FONT_SIZE = 80
+BODY_FONT_SIZE = 65
+BACKGROUND_COLOR = rl.BLACK
+PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
+PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+
+
+class Updater(Widget):
+  def __init__(self, updater_path, manifest_path):
+    super().__init__()
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "Loading..."
+    self.show_reboot_button = False
+    self.process = None
+    self.update_thread = None
+    self.wifi_manager_ui = WifiManagerUI(WifiManager())
+
+    # Buttons
+    self._wifi_button = Button("Connect to Wi-Fi", click_callback=lambda: self.set_current_screen(Screen.WIFI))
+    self._install_button = Button("Install", click_callback=self.install_update, button_style=ButtonStyle.PRIMARY)
+    self._back_button = Button("Back", click_callback=lambda: self.set_current_screen(Screen.PROMPT))
+    self._reboot_button = Button("Reboot", click_callback=lambda: HARDWARE.reboot())
+
+  def set_current_screen(self, screen: Screen):
+    self.current_screen = screen
+
+  def install_update(self):
+    self.set_current_screen(Screen.PROGRESS)
+    self.progress_value = 0
+    self.progress_text = "Downloading..."
+    self.show_reboot_button = False
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                    text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0]
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+
+  def render_prompt_screen(self, rect: rl.Rectangle):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, rect.width - MARGIN * 2 - 100, TITLE_FONT_SIZE * FONT_SCALE)
+    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
+
+    # Description
+    desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " +
+                 "The download size is approximately 1GB.")
+
+    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE * FONT_SCALE + 75, rect.width - MARGIN * 2 - 100, BODY_FONT_SIZE * FONT_SCALE * 4)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+    button_width = (rect.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    self._wifi_button.render(wifi_button_rect)
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    self._install_button.render(install_button_rect)
+
+  def render_wifi_screen(self, rect: rl.Rectangle):
+    # Draw the Wi-Fi manager UI
+    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2,
+                             rect.height - BUTTON_HEIGHT - MARGIN * 3)
+    rl.draw_rectangle_rounded(wifi_rect, 0.035, 10, rl.Color(51, 51, 51, 255))
+    wifi_content_rect = rl.Rectangle(wifi_rect.x + 50, wifi_rect.y, wifi_rect.width - 100, wifi_rect.height)
+    self.wifi_manager_ui.render(wifi_content_rect)
+
+    back_button_rect = rl.Rectangle(MARGIN, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._back_button.render(back_button_rect)
+
+  def render_progress_screen(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, rect.width - MARGIN * 2 - 200, 100)
+    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
+
+    # Progress bar
+    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, rect.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
+    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
+
+    # Calculate the width of the progress chunk
+    progress_width = (bar_rect.width * self.progress_value) / 100
+    if progress_width > 0:
+      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
+      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
+
+    # Show reboot button if needed
+    if self.show_reboot_button:
+      reboot_rect = rl.Rectangle(MARGIN + 100, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      self._reboot_button.render(reboot_rect)
+
+  def _render(self, rect: rl.Rectangle):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen(rect)
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen(rect)
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen(rect)
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for should_render in gui_app.render():
+      if should_render:
+        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

system/ui/updater.py

@@ -1,172 +1,14 @@
 #!/usr/bin/env python3
-import sys
-import subprocess
-import threading
-import pyray as rl
-from enum import IntEnum
-
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_text_box, gui_label
-from openpilot.system.ui.widgets.network import WifiManagerUI
-
-# Constants
-MARGIN = 50
-BUTTON_HEIGHT = 160
-BUTTON_WIDTH = 400
-PROGRESS_BAR_HEIGHT = 72
-TITLE_FONT_SIZE = 80
-BODY_FONT_SIZE = 65
-BACKGROUND_COLOR = rl.BLACK
-PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
-PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
-
-
-class Screen(IntEnum):
-  PROMPT = 0
-  WIFI = 1
-  PROGRESS = 2
-
-
-class Updater(Widget):
-  def __init__(self, updater_path, manifest_path):
-    super().__init__()
-    self.updater = updater_path
-    self.manifest = manifest_path
-    self.current_screen = Screen.PROMPT
-
-    self.progress_value = 0
-    self.progress_text = "Loading..."
-    self.show_reboot_button = False
-    self.process = None
-    self.update_thread = None
-    self.wifi_manager_ui = WifiManagerUI(WifiManager())
-
-    # Buttons
-    self._wifi_button = Button("Connect to Wi-Fi", click_callback=lambda: self.set_current_screen(Screen.WIFI))
-    self._install_button = Button("Install", click_callback=self.install_update, button_style=ButtonStyle.PRIMARY)
-    self._back_button = Button("Back", click_callback=lambda: self.set_current_screen(Screen.PROMPT))
-    self._reboot_button = Button("Reboot", click_callback=lambda: HARDWARE.reboot())
-
-  def set_current_screen(self, screen: Screen):
-    self.current_screen = screen
-
-  def install_update(self):
-    self.set_current_screen(Screen.PROGRESS)
-    self.progress_value = 0
-    self.progress_text = "Downloading..."
-    self.show_reboot_button = False
-
-    # Start the update process in a separate thread
-    self.update_thread = threading.Thread(target=self._run_update_process)
-    self.update_thread.daemon = True
-    self.update_thread.start()
-
-  def _run_update_process(self):
-    # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
-
-    for line in self.process.stdout:
-      parts = line.strip().split(":")
-      if len(parts) == 2:
-        self.progress_text = parts[0]
-        try:
-          self.progress_value = int(float(parts[1]))
-        except ValueError:
-          pass
-
-    exit_code = self.process.wait()
-    if exit_code == 0:
-      HARDWARE.reboot()
-    else:
-      self.progress_text = "Update failed"
-      self.show_reboot_button = True
-
-  def render_prompt_screen(self, rect: rl.Rectangle):
-    # Title
-    title_rect = rl.Rectangle(MARGIN + 50, 250, rect.width - MARGIN * 2 - 100, TITLE_FONT_SIZE * FONT_SCALE)
-    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
-
-    # Description
-    desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " +
-                 "The download size is approximately 1GB.")
-
-    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE * FONT_SCALE + 75, rect.width - MARGIN * 2 - 100, BODY_FONT_SIZE * FONT_SCALE * 4)
-    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
-
-    # Buttons at the bottom
-    button_y = rect.height - MARGIN - BUTTON_HEIGHT
-    button_width = (rect.width - MARGIN * 3) // 2
-
-    # WiFi button
-    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
-    self._wifi_button.render(wifi_button_rect)
-
-    # Install button
-    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
-    self._install_button.render(install_button_rect)
-
-  def render_wifi_screen(self, rect: rl.Rectangle):
-    # Draw the Wi-Fi manager UI
-    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2,
-                             rect.height - BUTTON_HEIGHT - MARGIN * 3)
-    rl.draw_rectangle_rounded(wifi_rect, 0.035, 10, rl.Color(51, 51, 51, 255))
-    wifi_content_rect = rl.Rectangle(wifi_rect.x + 50, wifi_rect.y, wifi_rect.width - 100, wifi_rect.height)
-    self.wifi_manager_ui.render(wifi_content_rect)
-
-    back_button_rect = rl.Rectangle(MARGIN, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
-    self._back_button.render(back_button_rect)
-
-  def render_progress_screen(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(MARGIN + 100, 330, rect.width - MARGIN * 2 - 200, 100)
-    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
-
-    # Progress bar
-    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, rect.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
-    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
-
-    # Calculate the width of the progress chunk
-    progress_width = (bar_rect.width * self.progress_value) / 100
-    if progress_width > 0:
-      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
-      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
-
-    # Show reboot button if needed
-    if self.show_reboot_button:
-      reboot_rect = rl.Rectangle(MARGIN + 100, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
-      self._reboot_button.render(reboot_rect)
-
-  def _render(self, rect: rl.Rectangle):
-    if self.current_screen == Screen.PROMPT:
-      self.render_prompt_screen(rect)
-    elif self.current_screen == Screen.WIFI:
-      self.render_wifi_screen(rect)
-    elif self.current_screen == Screen.PROGRESS:
-      self.render_progress_screen(rect)
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_updater as tici_updater
+import openpilot.system.ui.mici_updater as mici_updater
 
 
 def main():
-  if len(sys.argv) < 3:
-    print("Usage: updater.py <updater_path> <manifest_path>")
-    sys.exit(1)
-
-  updater_path = sys.argv[1]
-  manifest_path = sys.argv[2]
-
-  try:
-    gui_app.init_window("System Update")
-    updater = Updater(updater_path, manifest_path)
-    for should_render in gui_app.render():
-      if should_render:
-        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-  finally:
-    # Make sure we clean up even if there's an error
-    gui_app.close()
+  if gui_app.big_ui():
+    tici_updater.main()
+  else:
+    mici_updater.main()
 
 
 if __name__ == "__main__":

system/ui/widgets/__init__.py

@@ -2,7 +2,15 @@ import abc
 import pyray as rl
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
+
+try:
+  from openpilot.selfdrive.ui.ui_state import device
+except ImportError:
+  class Device:
+    awake = True
+  device = Device()  # type: ignore
 
 
 class DialogResult(IntEnum):
@@ -23,6 +31,7 @@ class Widget(abc.ABC):
     self._touch_valid_callback: Callable[[], bool] | None = None
     self._click_callback: Callable[[], None] | None = None
     self._multi_touch = False
+    self.__was_awake = True
 
   @property
   def rect(self) -> rl.Rectangle:
@@ -71,7 +80,7 @@ class Widget(abc.ABC):
 
   def set_position(self, x: float, y: float) -> None:
     changed = (self._rect.x != x or self._rect.y != y)
-    self._rect.x, self._rect.y = x, y
+    self._rect = rl.Rectangle(x, y, self._rect.width, self._rect.height)
     if changed:
       self._update_layout_rects()
 
@@ -94,7 +103,7 @@ class Widget(abc.ABC):
     ret = self._render(self._rect)
 
     # Keep track of whether mouse down started within the widget's rectangle
-    if self.enabled:
+    if self.enabled and self.__was_awake:
       for mouse_event in gui_app.mouse_events:
         if not self._multi_touch and mouse_event.slot != 0:
           continue
@@ -106,6 +115,7 @@ class Widget(abc.ABC):
             self._handle_mouse_press(mouse_event.pos)
             self.__is_pressed[mouse_event.slot] = True
             self.__tracking_is_pressed[mouse_event.slot] = True
+            self._handle_mouse_event(mouse_event)
 
         # Callback such as scroll panel signifies user is scrolling
         elif not self._touch_valid():
@@ -113,6 +123,7 @@ class Widget(abc.ABC):
           self.__tracking_is_pressed[mouse_event.slot] = False
 
         elif mouse_event.left_released:
+          self._handle_mouse_event(mouse_event)
           if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
             self._handle_mouse_release(mouse_event.pos)
           self.__is_pressed[mouse_event.slot] = False
@@ -122,10 +133,14 @@ class Widget(abc.ABC):
         elif rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
           if self.__tracking_is_pressed[mouse_event.slot]:
             self.__is_pressed[mouse_event.slot] = True
+            self._handle_mouse_event(mouse_event)
 
         # Mouse/touch left our rect but may come back into focus later
         elif not rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
           self.__is_pressed[mouse_event.slot] = False
+          self._handle_mouse_event(mouse_event)
+
+    self.__was_awake = device.awake
 
     return ret
 
@@ -149,9 +164,206 @@ class Widget(abc.ABC):
       self._click_callback()
     return False
 
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    """Optionally handle mouse events. This is called before rendering."""
+    # Default implementation does nothing, can be overridden by subclasses
+
   def show_event(self):
     """Optionally handle show event. Parent must manually call this"""
 
   def hide_event(self):
     """Optionally handle hide event. Parent must manually call this"""
 
+
+SWIPE_AWAY_THRESHOLD = 80  # px to dismiss after releasing
+START_DISMISSING_THRESHOLD = 40  # px to start dismissing while dragging
+BLOCK_SWIPE_AWAY_THRESHOLD = 60  # px horizontal movement to block swipe away
+
+NAV_BAR_MARGIN = 6
+NAV_BAR_WIDTH = 205
+NAV_BAR_HEIGHT = 8
+
+DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT  # px extra to push down when dismissing
+DISMISS_TIME_SECONDS = 1.5
+
+
+class NavBar(Widget):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT))
+    self._alpha = 1.0
+    self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._fade_time = 0.0
+
+  def set_alpha(self, alpha: float) -> None:
+    self._alpha = alpha
+    self._fade_time = rl.get_time()
+
+  def show_event(self):
+    super().show_event()
+    self._alpha = 1.0
+    self._alpha_filter.x = 1.0
+    self._fade_time = rl.get_time()
+
+  def _render(self, _):
+    if rl.get_time() - self._fade_time > DISMISS_TIME_SECONDS:
+      self._alpha = 0.0
+    alpha = self._alpha_filter.update(self._alpha)
+
+    # white bar with black border
+    rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha)))
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha)))
+
+
+class NavWidget(Widget, abc.ABC):
+  """
+  A full screen widget that supports back navigation by swiping down from the top.
+  """
+  BACK_TOUCH_AREA_PERCENTAGE = 0.65
+
+  def __init__(self):
+    super().__init__()
+    self._back_callback: Callable[[], None] | None = None
+    self._back_button_start_pos: MousePos | None = None
+    self._swiping_away = False  # currently swiping away
+    self._can_swipe_away = True  # swipe away is blocked after certain horizontal movement
+
+    self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
+    self._playing_dismiss_animation = False
+    self._trigger_animate_in = False
+    self._back_enabled: bool | Callable[[], bool] = True
+    self._nav_bar = NavBar()
+
+    self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+    self._set_up = False
+
+  @property
+  def back_enabled(self) -> bool:
+    return self._back_enabled() if callable(self._back_enabled) else self._back_enabled
+
+  def set_back_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    self._back_enabled = enabled
+
+  def set_back_callback(self, callback: Callable[[], None]) -> None:
+    self._back_callback = callback
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    if not self.back_enabled:
+      self._back_button_start_pos = None
+      self._swiping_away = False
+      self._can_swipe_away = True
+      return
+
+    if mouse_event.left_pressed:
+      # user is able to swipe away if starting near top of screen, or anywhere if scroller is at top
+      self._pos_filter.update_alpha(0.04)
+      in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
+
+      scroller_at_top = False
+      # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top
+      if hasattr(self, '_scroller'):
+        scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal
+      elif hasattr(self, '_scroll_panel'):
+        scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal
+
+      if in_dismiss_area or scroller_at_top:
+        self._can_swipe_away = True
+        self._back_button_start_pos = mouse_event.pos
+
+    elif mouse_event.left_down:
+      if self._back_button_start_pos is not None:
+        # block swiping away if too much horizontal or upward movement
+        horizontal_movement = abs(mouse_event.pos.x - self._back_button_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD
+        upward_movement = mouse_event.pos.y - self._back_button_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD
+        if not self._swiping_away and (horizontal_movement or upward_movement):
+          self._can_swipe_away = False
+          self._back_button_start_pos = None
+
+        # block horizontal swiping if now swiping away
+        if self._can_swipe_away:
+          if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD:  # type: ignore
+            self._swiping_away = True
+
+    elif mouse_event.left_released:
+      self._pos_filter.update_alpha(0.1)
+      # if far enough, trigger back navigation callback
+      if self._back_button_start_pos is not None:
+        if mouse_event.pos.y - self._back_button_start_pos.y > SWIPE_AWAY_THRESHOLD:
+          self._playing_dismiss_animation = True
+
+      self._back_button_start_pos = None
+      self._swiping_away = False
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Disable self's scroller while swiping away
+    if not self._set_up:
+      self._set_up = True
+      if hasattr(self, '_scroller'):
+        original_enabled = self._scroller._enabled
+        self._scroller.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else
+                                                                       original_enabled))
+      elif hasattr(self, '_scroll_panel'):
+        original_enabled = self._scroll_panel.enabled
+        self._scroll_panel.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else
+                                                                          original_enabled))
+
+    if self._trigger_animate_in:
+      self._pos_filter.x = self._rect.height
+      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+      self._trigger_animate_in = False
+
+    new_y = 0.0
+
+    if self._back_button_start_pos is not None:
+      last_mouse_event = gui_app.last_mouse_event
+      # push entire widget as user drags it away
+      new_y = max(last_mouse_event.pos.y - self._back_button_start_pos.y, 0)
+      if new_y < SWIPE_AWAY_THRESHOLD:
+        new_y /= 2  # resistance until mouse release would dismiss widget
+
+    if self._swiping_away:
+      self._nav_bar.set_alpha(1.0)
+
+    if self._playing_dismiss_animation:
+      new_y = self._rect.height + DISMISS_PUSH_OFFSET
+
+    new_y = round(self._pos_filter.update(new_y))
+    if abs(new_y) < 1 and self._pos_filter.velocity.x == 0.0:
+      new_y = self._pos_filter.x = 0.0
+
+    if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
+      if self._back_callback is not None:
+        self._back_callback()
+
+      self._playing_dismiss_animation = False
+      self._back_button_start_pos = None
+      self._swiping_away = False
+
+    self.set_position(self._rect.x, new_y)
+
+  def render(self, rect: rl.Rectangle = None) -> bool | int | None:
+    ret = super().render(rect)
+
+    if self.back_enabled:
+      bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
+      if self._back_button_start_pos is not None or self._playing_dismiss_animation:
+        self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x
+      else:
+        self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
+
+      self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
+      self._nav_bar.render()
+
+    return ret
+
+  def show_event(self):
+    super().show_event()
+    # FIXME: we don't know the height of the rect at first show_event since it's before the first render :(
+    #  so we need this hacky bool for now
+    self._trigger_animate_in = True
+    self._nav_bar.show_event()

system/ui/widgets/button.py

@@ -3,9 +3,10 @@ from enum import IntEnum
 
 import pyray as rl
 
-from openpilot.system.ui.lib.application import FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import Label
+from openpilot.system.ui.widgets.label import Label, UnifiedLabel
+from openpilot.common.filter_simple import FirstOrderFilter
 
 
 class ButtonStyle(IntEnum):
@@ -175,9 +176,121 @@ class IconButton(Widget):
   def __init__(self, texture: rl.Texture):
     super().__init__()
     self._texture = texture
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self.set_rect(rl.Rectangle(0, 0, self._texture.width, self._texture.height))
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
 
   def _render(self, rect: rl.Rectangle):
-    color = rl.Color(180, 180, 180, 150) if self.is_pressed else rl.WHITE
+    color = rl.Color(180, 180, 180, int(150 * self._opacity_filter.x)) if self.is_pressed else rl.WHITE
+    if not self.enabled:
+      color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.35 * self._opacity_filter.x))
     draw_x = rect.x + (rect.width - self._texture.width) / 2
     draw_y = rect.y + (rect.height - self._texture.height) / 2
     rl.draw_texture(self._texture, int(draw_x), int(draw_y), color)
+
+
+class SmallCircleIconButton(Widget):
+  def __init__(self, icon_txt: rl.Texture):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 100, 100))
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._icon_bg_txt = gui_app.texture("icons_mici/setup/small_button.png", 100, 100)
+    self._icon_bg_pressed_txt = gui_app.texture("icons_mici/setup/small_button_pressed.png", 100, 100)
+    self._icon_txt = icon_txt
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
+
+  def _render(self, _):
+    bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
+    white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
+    rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white)
+    icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2
+    icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2
+    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), white)
+
+
+class SmallButton(Widget):
+  def __init__(self, text: str):
+    super().__init__()
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+
+    self._load_assets()
+
+    self._label = UnifiedLabel(text, 36, font_weight=FontWeight.MEDIUM,
+                               text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    self._bg_disabled_txt = None
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 194, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/reset/small_button.png", 194, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/small_button_pressed.png", 194, 100)
+
+  def set_text(self, text: str):
+    self._label.set_text(text)
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
+
+  def _render(self, _):
+    if not self.enabled and self._bg_disabled_txt is not None:
+      rl.draw_texture(self._bg_disabled_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
+    elif self.is_pressed:
+      rl.draw_texture(self._bg_pressed_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
+    else:
+      rl.draw_texture(self._bg_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
+
+    opacity = 0.9 if self.enabled else 0.35
+    self._label.set_color(rl.Color(255, 255, 255, int(255 * opacity * self._opacity_filter.x)))
+    self._label.render(self._rect)
+
+
+class SmallRedPillButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 194, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/small_red_pill.png", 194, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/small_red_pill_pressed.png", 194, 100)
+
+
+class SmallerRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 150, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/smaller_button.png", 150, 100)
+    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/smaller_button_disabled.png", 150, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/smaller_button_pressed.png", 150, 100)
+
+
+class WideRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 316, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/medium_button_bg.png", 316, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/medium_button_pressed_bg.png", 316, 100)
+
+
+class WidishRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 250, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/widish_button.png", 250, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/widish_button_pressed.png", 250, 100)
+    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/widish_button_disabled.png", 250, 100)
+
+
+class FullRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/reset/wide_button.png", 520, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/wide_button_pressed.png", 520, 100)

system/ui/widgets/confirm_dialog.py

@@ -6,7 +6,7 @@ from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.label import Label
 from openpilot.system.ui.widgets.html_render import HtmlRenderer, ElementType
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 
 OUTER_MARGIN = 200
 RICH_OUTER_MARGIN = 100

system/ui/widgets/label.py

@@ -1,14 +1,15 @@
+from enum import IntEnum
 from collections.abc import Callable
 from itertools import zip_longest
 from typing import Union
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR, FONT_SCALE
+from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
 from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.widgets import Widget
 
 ICON_PADDING = 15
 
@@ -20,6 +21,171 @@ def _resolve_value(value, default=""):
   return value if value is not None else default
 
 
+class ScrollState(IntEnum):
+  STARTING = 0
+  SCROLLING = 1
+
+
+# TODO: merge anything new here to master
+class MiciLabel(Widget):
+  def __init__(self,
+               text: str,
+               font_size: int = DEFAULT_TEXT_SIZE,
+               width: int = None,
+               color: rl.Color = DEFAULT_TEXT_COLOR,
+               font_weight: FontWeight = FontWeight.NORMAL,
+               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+               spacing: int = 0,
+               line_height: int = None,
+               elide_right: bool = True,
+               wrap_text: bool = False,
+               scroll: bool = False):
+    super().__init__()
+    self.text = text
+    self.wrapped_text: list[str] = []
+    self.font_size = font_size
+    self.width = width
+    self.color = color
+    self.font_weight = font_weight
+    self.alignment = alignment
+    self.alignment_vertical = alignment_vertical
+    self.spacing = spacing
+    self.line_height = line_height if line_height is not None else font_size
+    self.elide_right = elide_right
+    self.wrap_text = wrap_text
+    self._height = 0
+
+    # Scroll state
+    self.scroll = scroll
+    self._needs_scroll = False
+    self._scroll_offset = 0
+    self._scroll_pause_t: float | None = None
+    self._scroll_state: ScrollState = ScrollState.STARTING
+
+    assert not (self.scroll and self.wrap_text), "Cannot enable both scroll and wrap_text"
+    assert not (self.scroll and self.elide_right), "Cannot enable both scroll and elide_right"
+
+    self.set_text(text)
+
+  @property
+  def text_height(self):
+    return self._height
+
+  def set_font_size(self, font_size: int):
+    self.font_size = font_size
+    self.set_text(self.text)
+
+  def set_width(self, width: int):
+    self.width = width
+    self._rect.width = width
+    self.set_text(self.text)
+
+  def set_text(self, txt: str):
+    self.text = txt
+    text_size = measure_text_cached(gui_app.font(self.font_weight), self.text, self.font_size, self.spacing)
+    if self.width is not None:
+      self._rect.width = self.width
+    else:
+      self._rect.width = text_size.x
+
+    if self.wrap_text:
+      self.wrapped_text = wrap_text(gui_app.font(self.font_weight), self.text, self.font_size, int(self._rect.width))
+      self._height = len(self.wrapped_text) * self.line_height
+    elif self.scroll:
+      self._needs_scroll = self.scroll and text_size.x > self._rect.width
+      self._rect.height = text_size.y
+
+  def set_color(self, color: rl.Color):
+    self.color = color
+
+  def set_font_weight(self, font_weight: FontWeight):
+    self.font_weight = font_weight
+    self.set_text(self.text)
+
+  def _render(self, rect: rl.Rectangle):
+    # Only scissor when we know there is a single scrolling line
+    if self._needs_scroll:
+      rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+
+    font = gui_app.font(self.font_weight)
+
+    text_y_offset = 0
+    # Draw the text in the specified rectangle
+    lines = self.wrapped_text or [self.text]
+    if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+      lines = lines[::-1]
+
+    for display_text in lines:
+      text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
+
+      # Elide text to fit within the rectangle
+      if self.elide_right and text_size.x > rect.width:
+        ellipsis = "..."
+        left, right = 0, len(display_text)
+        while left < right:
+          mid = (left + right) // 2
+          candidate = display_text[:mid] + ellipsis
+          candidate_size = measure_text_cached(font, candidate, self.font_size, self.spacing)
+          if candidate_size.x <= rect.width:
+            left = mid + 1
+          else:
+            right = mid
+        display_text = display_text[: left - 1] + ellipsis if left > 0 else ellipsis
+        text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
+
+      # Handle scroll state
+      elif self.scroll and self._needs_scroll:
+        if self._scroll_state == ScrollState.STARTING:
+          if self._scroll_pause_t is None:
+            self._scroll_pause_t = rl.get_time() + 2.0
+          if rl.get_time() >= self._scroll_pause_t:
+            self._scroll_state = ScrollState.SCROLLING
+            self._scroll_pause_t = None
+
+        elif self._scroll_state == ScrollState.SCROLLING:
+          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
+          # don't fully hide
+          if self._scroll_offset <= -text_size.x - self._rect.width / 3:
+            self._scroll_offset = 0
+            self._scroll_state = ScrollState.STARTING
+            self._scroll_pause_t = None
+
+      # Calculate horizontal position based on alignment
+      text_x = rect.x + {
+        rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
+        rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
+        rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
+      }.get(self.alignment, 0) + self._scroll_offset
+
+      # Calculate vertical position based on alignment
+      text_y = rect.y + {
+        rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
+        rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
+        rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
+      }.get(self.alignment_vertical, 0)
+      text_y += text_y_offset
+
+      rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x), text_y), self.font_size, self.spacing, self.color)
+      # Draw 2nd instance for scrolling
+      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
+        text2_scroll_offset = text_size.x + self._rect.width / 3
+        rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x + text2_scroll_offset), text_y), self.font_size, self.spacing, self.color)
+      if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+        text_y_offset -= self.line_height
+      else:
+        text_y_offset += self.line_height
+
+    if self._needs_scroll:
+      # draw black fade on left and right
+      fade_width = 20
+      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.Color(0, 0, 0, 0), rl.BLACK)
+      if self._scroll_state != ScrollState.STARTING:
+        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.Color(0, 0, 0, 0))
+
+    rl.end_scissor_mode()
+
+
 # TODO: This should be a Widget class
 def gui_label(
   rect: rl.Rectangle,
@@ -65,6 +231,7 @@ def gui_label(
   }.get(alignment_vertical, 0)
 
   # Draw the text in the specified rectangle
+  # TODO: add wrapping and proper centering for multiline text
   rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color)
 
 
@@ -76,11 +243,12 @@ def gui_text_box(
   alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
   alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
   font_weight: FontWeight = FontWeight.NORMAL,
+  line_scale: float = 1.0,
 ):
   styles = [
     (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)),
     (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, round(font_size * FONT_SCALE)),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, round(font_size * FONT_SCALE)),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, round(font_size * FONT_SCALE * line_scale)),
     (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_ALIGNMENT, alignment),
     (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical),
     (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD)
@@ -105,8 +273,9 @@ class Label(Widget):
                text_alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
                text_padding: int = 0,
                text_color: rl.Color = DEFAULT_TEXT_COLOR,
-               icon: Union[rl.Texture, None] = None,  # noqa: UP007
+               icon: Union[rl.Texture, None] = None,
                elide_right: bool = False,
+               line_scale=1.0,
                ):
 
     super().__init__()
@@ -119,6 +288,7 @@ class Label(Widget):
     self._text_color = text_color
     self._icon = icon
     self._elide_right = elide_right
+    self._line_scale = line_scale
 
     self._text = text
     self.set_text(text)
@@ -217,4 +387,339 @@ class Label(Widget):
         line_pos.x += self._font_size * FONT_SCALE
         prev_index = end
       rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color)
-      text_pos.y += text_size.y or self._font_size * FONT_SCALE
+      text_pos.y += (text_size.y or self._font_size * FONT_SCALE) * self._line_scale
+
+
+class UnifiedLabel(Widget):
+  """
+  Unified label widget that combines functionality from gui_label, gui_text_box, Label, and MiciLabel.
+
+  Supports:
+  - Emoji rendering
+  - Text wrapping
+  - Automatic eliding (single-line or multiline)
+  - Proper multiline vertical alignment
+  - Height calculation for layout purposes
+  """
+  def __init__(self,
+               text: str | Callable[[], str],
+               font_size: int = DEFAULT_TEXT_SIZE,
+               font_weight: FontWeight = FontWeight.NORMAL,
+               text_color: rl.Color = DEFAULT_TEXT_COLOR,
+               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+               text_padding: int = 0,
+               max_width: int | None = None,
+               elide: bool = True,
+               wrap_text: bool = True,
+               line_height: float = 1.0,
+               letter_spacing: float = 0.0):
+    super().__init__()
+    self._text = text
+    self._font_size = font_size
+    self._font_weight = font_weight
+    self._font = gui_app.font(self._font_weight)
+    self._text_color = text_color
+    self._alignment = alignment
+    self._alignment_vertical = alignment_vertical
+    self._text_padding = text_padding
+    self._max_width = max_width
+    self._elide = elide
+    self._wrap_text = wrap_text
+    self._line_height = line_height * 0.9
+    self._letter_spacing = letter_spacing  # 0.1 = 10%
+    self._spacing_pixels = font_size * letter_spacing
+
+    # Cached data
+    self._cached_text: str | None = None
+    self._cached_wrapped_lines: list[str] = []
+    self._cached_line_sizes: list[rl.Vector2] = []
+    self._cached_line_emojis: list[list[tuple[int, int, str]]] = []
+    self._cached_total_height: float | None = None
+    self._cached_width: int = -1
+
+    # If max_width is set, initialize rect size for Scroller support
+    if max_width is not None:
+      self._rect.width = max_width
+      self._rect.height = self.get_content_height(max_width)
+
+  def set_text(self, text: str | Callable[[], str]):
+    """Update the text content."""
+    self._text = text
+    self._cached_text = None  # Invalidate cache
+
+  @property
+  def text(self) -> str:
+    """Get the current text content."""
+    return str(_resolve_value(self._text))
+
+  def set_text_color(self, color: rl.Color):
+    """Update the text color."""
+    self._text_color = color
+
+  def set_color(self, color: rl.Color):
+    """Update the text color (alias for set_text_color)."""
+    self.set_text_color(color)
+
+  def set_font_size(self, size: int):
+    """Update the font size."""
+    self._font_size = size
+    self._spacing_pixels = size * self._letter_spacing  # Recalculate spacing
+    self._cached_text = None  # Invalidate cache
+
+  def set_letter_spacing(self, letter_spacing: float):
+    """Update letter spacing (as percentage, e.g., 0.1 = 10%)."""
+    self._letter_spacing = letter_spacing
+    self._spacing_pixels = self._font_size * letter_spacing
+    self._cached_text = None  # Invalidate cache
+
+  def set_font_weight(self, font_weight: FontWeight):
+    """Update the font weight."""
+    if self._font_weight != font_weight:
+      self._font_weight = font_weight
+      self._font = gui_app.font(self._font_weight)
+      self._cached_text = None  # Invalidate cache
+
+  def set_alignment(self, alignment: int):
+    """Update the horizontal text alignment."""
+    self._alignment = alignment
+
+  def set_alignment_vertical(self, alignment_vertical: int):
+    """Update the vertical text alignment."""
+    self._alignment_vertical = alignment_vertical
+
+  def set_max_width(self, max_width: int | None):
+    """Set the maximum width constraint for wrapping/eliding."""
+    if self._max_width != max_width:
+      self._max_width = max_width
+      self._cached_text = None  # Invalidate cache
+      # Update rect size for Scroller support
+      if max_width is not None:
+        self._rect.width = max_width
+        self._rect.height = self.get_content_height(max_width)
+
+  def _update_text_cache(self, available_width: int):
+    """Update cached text processing data."""
+    text = self.text
+
+    # Check if cache is still valid
+    if (self._cached_text == text and
+        self._cached_width == available_width and
+        self._cached_wrapped_lines):
+      return
+
+    self._cached_text = text
+    self._cached_width = available_width
+
+    # Determine wrapping width
+    content_width = available_width - (self._text_padding * 2)
+    if content_width <= 0:
+      content_width = 1
+
+    # Wrap text if enabled
+    if self._wrap_text:
+      self._cached_wrapped_lines = wrap_text(self._font, text, self._font_size, content_width, self._spacing_pixels)
+    else:
+      # Split by newlines but don't wrap
+      self._cached_wrapped_lines = text.split('\n') if text else [""]
+
+    # Elide lines if needed (for width constraint)
+    self._cached_wrapped_lines = [self._elide_line(line, content_width) for line in self._cached_wrapped_lines]
+
+    # Process each line: measure and find emojis
+    self._cached_line_sizes = []
+    self._cached_line_emojis = []
+
+    for line in self._cached_wrapped_lines:
+      emojis = find_emoji(line)
+      self._cached_line_emojis.append(emojis)
+      # Empty lines should still have height (use font size as line height)
+      if not line:
+        size = rl.Vector2(0, self._font_size * FONT_SCALE)
+      else:
+        size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
+      self._cached_line_sizes.append(size)
+
+    # Calculate total height
+    # Each line contributes its measured height * line_height (matching Label's behavior)
+    # This includes spacing to the next line
+    if self._cached_line_sizes:
+      # Match the rendering logic: first line doesn't get line_height scaling
+      total_height = 0.0
+      for idx, size in enumerate(self._cached_line_sizes):
+        if idx == 0:
+          total_height += size.y
+        else:
+          total_height += size.y * self._line_height
+      self._cached_total_height = total_height
+    else:
+      self._cached_total_height = 0.0
+
+  def _elide_line(self, line: str, max_width: int, force: bool = False) -> str:
+    """Elide a single line if it exceeds max_width. If force is True, always elide even if it fits."""
+    if not self._elide and not force:
+      return line
+
+    text_size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
+    if text_size.x <= max_width and not force:
+      return line
+
+    ellipsis = "..."
+    # If force=True and line fits, just append ellipsis without truncating
+    if force and text_size.x <= max_width:
+      ellipsis_size = measure_text_cached(self._font, ellipsis, self._font_size, self._spacing_pixels)
+      if text_size.x + ellipsis_size.x <= max_width:
+        return line + ellipsis
+      # If line + ellipsis doesn't fit, need to truncate
+      # Fall through to binary search below
+
+    left, right = 0, len(line)
+    while left < right:
+      mid = (left + right) // 2
+      candidate = line[:mid] + ellipsis
+      candidate_size = measure_text_cached(self._font, candidate, self._font_size, self._spacing_pixels)
+      if candidate_size.x <= max_width:
+        left = mid + 1
+      else:
+        right = mid
+    return line[:left - 1] + ellipsis if left > 0 else ellipsis
+
+  def get_content_height(self, max_width: int) -> float:
+    """
+    Returns the height needed for text at given max_width.
+    Similar to HtmlRenderer.get_total_height().
+    """
+    # Use max_width if provided, otherwise use self._max_width or a default
+    width = max_width if max_width > 0 else (self._max_width if self._max_width else 1000)
+    self._update_text_cache(width)
+
+    if self._cached_total_height is not None:
+      return self._cached_total_height
+    return 0.0
+
+  def _render(self, rect: rl.Rectangle):
+    """Render the label."""
+    if rect.width <= 0 or rect.height <= 0:
+      return
+
+    # Determine available width
+    available_width = rect.width
+    if self._max_width is not None:
+      available_width = min(available_width, self._max_width)
+
+    # Update text cache
+    self._update_text_cache(int(available_width))
+
+    if not self._cached_wrapped_lines:
+      return
+
+    # Calculate which lines fit in the available height
+    visible_lines: list[str] = []
+    visible_sizes: list[rl.Vector2] = []
+    visible_emojis: list[list[tuple[int, int, str]]] = []
+
+    current_height = 0.0
+    broke_early = False
+    for line, size, emojis in zip(
+      self._cached_wrapped_lines,
+      self._cached_line_sizes,
+      self._cached_line_emojis,
+      strict=True):
+
+      # Calculate height needed for this line
+      # Each line contributes its height * line_height (matching Label's behavior)
+      line_height_needed = size.y * self._line_height
+
+      # Check if this line fits
+      if current_height + line_height_needed > rect.height:
+        # This line doesn't fit
+        if len(visible_lines) == 0:
+          # First line doesn't fit by height - still show it (will be clipped by scissor if needed)
+          # Continue to add this line below
+          pass
+        else:
+          # We have visible lines and this one doesn't fit - mark that we broke early
+          broke_early = True
+          break
+
+      visible_lines.append(line)
+      visible_sizes.append(size)
+      visible_emojis.append(emojis)
+
+      current_height += line_height_needed
+
+    # If we broke early (there are more lines that don't fit) and elide is enabled, elide the last visible line
+    if broke_early and len(visible_lines) > 0 and self._elide:
+      content_width = int(available_width - (self._text_padding * 2))
+      if content_width <= 0:
+        content_width = 1
+
+      last_line_idx = len(visible_lines) - 1
+      last_line = visible_lines[last_line_idx]
+      # Force elide the last line to show "..." even if it fits in width (to indicate more content)
+      elided = self._elide_line(last_line, content_width, force=True)
+      visible_lines[last_line_idx] = elided
+      visible_sizes[last_line_idx] = measure_text_cached(self._font, elided, self._font_size, self._spacing_pixels)
+
+    if not visible_lines:
+      return
+
+    # Calculate total visible text block height
+    # First line is not changed by line_height scaling
+    total_visible_height = 0.0
+    for idx, size in enumerate(visible_sizes):
+      if idx == 0:
+        total_visible_height += size.y
+      else:
+        total_visible_height += size.y * self._line_height
+
+    # Calculate vertical alignment offset
+    if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP:
+      start_y = rect.y
+    elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+      start_y = rect.y + rect.height - total_visible_height
+    else:  # TEXT_ALIGN_MIDDLE
+      start_y = rect.y + (rect.height - total_visible_height) / 2
+
+    # Render each line
+    current_y = start_y
+    for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
+      # Calculate horizontal position
+      if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+        line_x = rect.x + self._text_padding
+      elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+        line_x = rect.x + (rect.width - size.x) / 2
+      elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+        line_x = rect.x + rect.width - size.x - self._text_padding
+      else:
+        line_x = rect.x + self._text_padding
+
+      # Render line with emojis
+      line_pos = rl.Vector2(line_x, current_y)
+      prev_index = 0
+
+      for start, end, emoji in emojis:
+        # Draw text before emoji
+        text_before = line[prev_index:start]
+        if text_before:
+          rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+          width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
+          line_pos.x += width_before.x
+
+        # Draw emoji
+        tex = emoji_tex(emoji)
+        emoji_scale = self._font_size / tex.height * FONT_SCALE
+        rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
+        # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
+        line_pos.x += self._font_size * FONT_SCALE
+        prev_index = end
+
+      # Draw remaining text after last emoji
+      text_after = line[prev_index:]
+      if text_after:
+        rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+
+      # Move to next line (if not last line)
+      if idx < len(visible_lines) - 1:
+        # Use current line's height * line_height for spacing to next line
+        current_y += size.y * self._line_height

system/ui/widgets/mici_keyboard.py

@@ -0,0 +1,386 @@
+from enum import IntEnum
+import pyray as rl
+import numpy as np
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import BounceFilter
+
+CHAR_FONT_SIZE = 42
+CHAR_NEAR_FONT_SIZE = CHAR_FONT_SIZE * 2
+SELECTED_CHAR_FONT_SIZE = 128
+CHAR_CAPS_FONT_SIZE = 38  # TODO: implement this
+NUMBER_LAYER_SWITCH_FONT_SIZE = 24
+KEYBOARD_COLUMN_PADDING = 33
+KEYBOARD_ROW_PADDING = {0: 44, 1: 33, 2: 44}  # TODO: 2 should be 116 with extra control keys added in
+
+KEY_TOUCH_AREA_OFFSET = 10  # px
+KEY_DRAG_HYSTERESIS = 5  # px
+KEY_MIN_ANIMATION_TIME = 0.075  # s
+
+DEBUG = False
+ANIMATION_SCALE = 0.65
+
+
+def zip_repeat(a, b):
+  la, lb = len(a), len(b)
+  for i in range(max(la, lb)):
+    yield (a[i] if i < la else a[-1],
+           b[i] if i < lb else b[-1])
+
+
+def fast_euclidean_distance(dx, dy):
+  # https://en.wikibooks.org/wiki/Algorithms/Distance_approximations
+  max_d, min_d = abs(dx), abs(dy)
+  if max_d < min_d:
+    max_d, min_d = min_d, max_d
+  return 0.941246 * max_d + 0.41 * min_d
+
+
+class Key(Widget):
+  def __init__(self, char: str):
+    super().__init__()
+    self.char = char
+    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._x_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._y_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._size_filter = BounceFilter(CHAR_FONT_SIZE, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._alpha_filter = BounceFilter(1.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+
+    self._color = rl.Color(255, 255, 255, 255)
+
+    self._position_initialized = False
+    self.original_position = rl.Vector2(0, 0)
+
+  def set_position(self, x: float, y: float, smooth: bool = True):
+    # TODO: swipe up from NavWidget has the keys lag behind other elements a bit
+    if not self._position_initialized:
+      self._x_filter.x = x
+      self._y_filter.x = y
+      # keep track of original position so dragging around feels consistent. also move touch area down a bit
+      self.original_position = rl.Vector2(x, y + KEY_TOUCH_AREA_OFFSET)
+      self._position_initialized = True
+
+    if not smooth:
+      self._x_filter.x = x
+      self._y_filter.x = y
+
+    self._rect.x = self._x_filter.update(x)
+    self._rect.y = self._y_filter.update(y)
+
+  def set_alpha(self, alpha: float):
+    self._alpha_filter.update(alpha)
+
+  def get_position(self) -> tuple[float, float]:
+    return self._rect.x, self._rect.y
+
+  def _update_state(self):
+    self._color.a = min(int(255 * self._alpha_filter.x), 255)
+
+  def _render(self, _):
+    # center char at rect position
+    text_size = measure_text_cached(self._font, self.char, self._get_font_size())
+    x = self._rect.x + self._rect.width / 2 - text_size.x / 2
+    y = self._rect.y + self._rect.height / 2 - text_size.y / 2
+    rl.draw_text_ex(self._font, self.char, (x, y), self._get_font_size(), 0, self._color)
+
+    if DEBUG:
+      rl.draw_circle(int(self._rect.x), int(self._rect.y), 5, rl.RED)  # Debug: draw circle around key
+      rl.draw_rectangle_lines_ex(self._rect, 2, rl.RED)
+
+  def set_font_size(self, size: float):
+    self._size_filter.update(size)
+
+  def _get_font_size(self) -> int:
+    return int(round(self._size_filter.x))
+
+
+class SmallKey(Key):
+  def __init__(self, chars: str):
+    super().__init__(chars)
+    self._size_filter.x = NUMBER_LAYER_SWITCH_FONT_SIZE
+
+  def set_font_size(self, size: float):
+    self._size_filter.update(size * (NUMBER_LAYER_SWITCH_FONT_SIZE / CHAR_FONT_SIZE))
+
+
+class IconKey(Key):
+  def __init__(self, icon: str, vertical_align: str = "center", char: str = ""):
+    super().__init__(char)
+    self._icon = gui_app.texture(icon, 38, 38)
+    self._vertical_align = vertical_align
+
+  def set_icon(self, icon: str):
+    self._icon = gui_app.texture(icon, 38, 38)
+
+  def _render(self, _):
+    scale = np.interp(self._size_filter.x, [CHAR_FONT_SIZE, CHAR_NEAR_FONT_SIZE], [1, 1.5])
+
+    if self._vertical_align == "center":
+      dest_rec = rl.Rectangle(self._rect.x + (self._rect.width - self._icon.width * scale) / 2,
+                              self._rect.y + (self._rect.height - self._icon.height * scale) / 2,
+                              self._icon.width * scale, self._icon.height * scale)
+      src_rec = rl.Rectangle(0, 0, self._icon.width, self._icon.height)
+      rl.draw_texture_pro(self._icon, src_rec, dest_rec, rl.Vector2(0, 0), 0, self._color)
+
+    elif self._vertical_align == "bottom":
+      dest_rec = rl.Rectangle(self._rect.x + (self._rect.width - self._icon.width * scale) / 2, self._rect.y,
+                              self._icon.width * scale, self._icon.height * scale)
+      src_rec = rl.Rectangle(0, 0, self._icon.width, self._icon.height)
+      rl.draw_texture_pro(self._icon, src_rec, dest_rec, rl.Vector2(0, 0), 0, self._color)
+
+    if DEBUG:
+      rl.draw_circle(int(self._rect.x), int(self._rect.y), 5, rl.RED)  # Debug: draw circle around key
+      rl.draw_rectangle_lines_ex(self._rect, 2, rl.RED)
+
+
+class CapsState(IntEnum):
+  LOWER = 0
+  UPPER = 1
+  LOCK = 2
+
+
+class MiciKeyboard(Widget):
+  def __init__(self):
+    super().__init__()
+
+    lower_chars = [
+      "qwertyuiop",
+      "asdfghjkl",
+      "zxcvbnm",
+    ]
+    upper_chars = ["".join([char.upper() for char in row]) for row in lower_chars]
+    special_chars = [
+      "1234567890",
+      "-/:;()$&@\"",
+      "~.,?!'#%",
+    ]
+    super_special_chars = [
+      "1234567890",
+      "`[]{}^*+=_",
+      "\\|<>¥€£•",
+    ]
+
+    self._lower_keys = [[Key(char) for char in row] for row in lower_chars]
+    self._upper_keys = [[Key(char) for char in row] for row in upper_chars]
+    self._special_keys = [[Key(char) for char in row] for row in special_chars]
+    self._super_special_keys = [[Key(char) for char in row] for row in super_special_chars]
+
+    # control keys
+    self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom")
+    self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png")
+    # these two are in different places on some layouts
+    self._123_key, self._123_key2 = SmallKey("123"), SmallKey("123")
+    self._abc_key = SmallKey("abc")
+    self._super_special_key = SmallKey("#+=")
+
+    # insert control keys
+    for keys in (self._lower_keys, self._upper_keys):
+      keys[2].insert(0, self._caps_key)
+      keys[2].append(self._123_key)
+
+    for keys in (self._lower_keys, self._upper_keys, self._special_keys, self._super_special_keys):
+      keys[1].append(self._space_key)
+
+    for keys in (self._special_keys, self._super_special_keys):
+      keys[2].append(self._abc_key)
+
+    self._special_keys[2].insert(0, self._super_special_key)
+    self._super_special_keys[2].insert(0, self._123_key2)
+
+    # set initial keys
+    self._current_keys: list[list[Key]] = []
+    self._set_keys(self._lower_keys)
+    self._caps_state = CapsState.LOWER
+    self._initialized = False
+
+    self._load_images()
+
+    self._closest_key: tuple[Key | None, float] = None, float('inf')
+    self._selected_key_t: float | None = None  # time key was initially selected
+    self._unselect_key_t: float | None = None  # time to unselect key after release
+    self._dragging_on_keyboard = False
+
+    self._text: str = ""
+
+    self._bg_scale_filter = BounceFilter(1.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+
+  def get_candidate_character(self) -> str:
+    # return str of character about to be added to text
+    key = self._closest_key[0]
+    return key.char if key is not None and key.__class__ is Key and self._dragging_on_keyboard else ""
+
+  def get_keyboard_height(self) -> int:
+    return int(self._txt_bg.height)
+
+  def _load_images(self):
+    self._txt_bg = gui_app.texture("icons_mici/settings/keyboard/keyboard_background.png", 520, 170, keep_aspect_ratio=False)
+
+  def _set_keys(self, keys: list[list[Key]]):
+    # inherit previous keys' positions to fix switching animation
+    for current_row, row in zip(self._current_keys, keys, strict=False):
+      # not all layouts have the same number of keys
+      for current_key, key in zip_repeat(current_row, row):
+        current_pos = current_key.get_position()
+        key.set_position(current_pos[0], current_pos[1], smooth=False)
+
+    self._current_keys = keys
+
+  def set_text(self, text: str):
+    self._text = text
+
+  def text(self) -> str:
+    return self._text
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    keyboard_pos_y = self._rect.y + self._rect.height - self._txt_bg.height
+    if mouse_event.left_pressed:
+      if mouse_event.pos.y > keyboard_pos_y:
+        self._dragging_on_keyboard = True
+    elif mouse_event.left_released:
+      self._dragging_on_keyboard = False
+
+    if mouse_event.left_down and self._dragging_on_keyboard:
+      self._closest_key = self._get_closest_key()
+      if self._selected_key_t is None:
+        self._selected_key_t = rl.get_time()
+
+      # unselect key temporarily if mouse goes above keyboard
+      if mouse_event.pos.y <= keyboard_pos_y:
+        self._closest_key = (None, float('inf'))
+
+    if DEBUG:
+      print('HANDLE MOUSE EVENT', mouse_event, self._closest_key[0].char if self._closest_key[0] else 'None')
+
+  def _get_closest_key(self) -> tuple[Key | None, float]:
+    closest_key: tuple[Key | None, float] = (None, float('inf'))
+    for row in self._current_keys:
+      for key in row:
+        mouse_pos = gui_app.last_mouse_event.pos
+        # approximate distance for comparison is accurate enough
+        dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - mouse_pos.y)
+        if dist < closest_key[1]:
+          if self._closest_key[0] is None or key is self._closest_key[0] or dist < self._closest_key[1] - KEY_DRAG_HYSTERESIS:
+            closest_key = (key, dist)
+    return closest_key
+
+  def _set_uppercase(self, cycle: bool):
+    self._set_keys(self._upper_keys if cycle else self._lower_keys)
+    if not cycle:
+      self._caps_state = CapsState.LOWER
+      self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png")
+    else:
+      if self._caps_state == CapsState.LOWER:
+        self._caps_state = CapsState.UPPER
+        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png")
+      elif self._caps_state == CapsState.UPPER:
+        self._caps_state = CapsState.LOCK
+        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png")
+      else:
+        self._set_uppercase(False)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._closest_key[0] is not None:
+      if self._closest_key[0] == self._caps_key:
+        self._set_uppercase(True)
+      elif self._closest_key[0] in (self._123_key, self._123_key2):
+        self._set_keys(self._special_keys)
+      elif self._closest_key[0] == self._abc_key:
+        self._set_uppercase(False)
+      elif self._closest_key[0] == self._super_special_key:
+        self._set_keys(self._super_special_keys)
+      else:
+        self._text += self._closest_key[0].char
+
+        # Reset caps state
+        if self._caps_state == CapsState.UPPER:
+          self._set_uppercase(False)
+
+    # ensure minimum selected animation time
+    key_selected_dt = rl.get_time() - (self._selected_key_t or 0)
+    cur_t = rl.get_time()
+    self._unselect_key_t = cur_t + KEY_MIN_ANIMATION_TIME if (key_selected_dt < KEY_MIN_ANIMATION_TIME) else cur_t
+
+  def backspace(self):
+    if self._text:
+      self._text = self._text[:-1]
+
+  def space(self):
+    self._text += ' '
+
+  def _update_state(self):
+    # unselect key after animation plays
+    if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t:
+      self._closest_key = (None, float('inf'))
+      self._unselect_key_t = None
+      self._selected_key_t = None
+
+  def _lay_out_keys(self, bg_x, bg_y, keys: list[list[Key]]):
+    key_rect = rl.Rectangle(bg_x, bg_y, self._txt_bg.width, self._txt_bg.height)
+    for row_idx, row in enumerate(keys):
+      padding = KEYBOARD_ROW_PADDING[row_idx]
+      step_y = (key_rect.height - 2 * KEYBOARD_COLUMN_PADDING) / (len(keys) - 1)
+      for key_idx, key in enumerate(row):
+        key_x = key_rect.x + padding + key_idx * ((key_rect.width - 2 * padding) / (len(row) - 1))
+        key_y = key_rect.y + KEYBOARD_COLUMN_PADDING + row_idx * step_y
+
+        if self._closest_key[0] is None:
+          key.set_alpha(1.0)
+          key.set_font_size(CHAR_FONT_SIZE)
+        elif key == self._closest_key[0]:
+          # push key up with a max and inward so user can see key easier
+          key_y = max(key_y - 120, 40)
+          key_x += np.interp(key_x, [self._rect.x, self._rect.x + self._rect.width], [100, -100])
+          key.set_alpha(1.0)
+          key.set_font_size(SELECTED_CHAR_FONT_SIZE)
+
+          # draw black circle behind selected key
+          rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, 225), rl.BLANK)
+        else:
+          # move other keys away from selected key a bit
+          dx = key.original_position.x - self._closest_key[0].original_position.x
+          dy = key.original_position.y - self._closest_key[0].original_position.y
+          distance_from_selected_key = fast_euclidean_distance(dx, dy)
+
+          inv = 1 / (distance_from_selected_key or 1.0)
+          ux = dx * inv
+          uy = dy * inv
+
+          # NOTE: hardcode to 20 to get entire keyboard to move
+          push_pixels = np.interp(distance_from_selected_key, [0, 250], [20, 0])
+          key_x += ux * push_pixels
+          key_y += uy * push_pixels
+
+          # TODO: slow enough to use an approximation or nah? also caching might work
+          font_size = np.interp(distance_from_selected_key, [0, 150], [CHAR_NEAR_FONT_SIZE, CHAR_FONT_SIZE])
+
+          key_alpha = np.interp(distance_from_selected_key, [0, 100], [1.0, 0.35])
+          key.set_alpha(key_alpha)
+          key.set_font_size(font_size)
+
+        # TODO: I like the push amount, so we should clip the pos inside the keyboard rect
+        key.set_position(key_x, key_y)
+
+  def _render(self, _):
+    # draw bg
+    bg_x = self._rect.x + (self._rect.width - self._txt_bg.width) / 2
+    bg_y = self._rect.y + self._rect.height - self._txt_bg.height
+
+    scale = self._bg_scale_filter.update(1.0307692307692307 if self._closest_key[0] is not None else 1.0)
+    src_rec = rl.Rectangle(0, 0, self._txt_bg.width, self._txt_bg.height)
+    dest_rec = rl.Rectangle(self._rect.x + self._rect.width / 2 - self._txt_bg.width * scale / 2, bg_y,
+                            self._txt_bg.width * scale, self._txt_bg.height)
+
+    rl.draw_texture_pro(self._txt_bg, src_rec, dest_rec, rl.Vector2(0, 0), 0.0, rl.WHITE)
+
+    # draw keys
+    if not self._initialized:
+      for keys in (self._lower_keys, self._upper_keys, self._special_keys, self._super_special_keys):
+        self._lay_out_keys(bg_x, bg_y, keys)
+      self._initialized = True
+
+    self._lay_out_keys(bg_x, bg_y, self._current_keys)
+    for row in self._current_keys:
+      for key in row:
+        key.render()

system/ui/widgets/network.py

@@ -12,9 +12,12 @@ from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
 from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction
+
 # These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
 try:
   from openpilot.common.params import Params

system/ui/widgets/option_dialog.py

@@ -4,7 +4,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 
 # Constants
 MARGIN = 50

system/ui/widgets/scroller.py

@@ -1,10 +1,21 @@
 import pyray as rl
-from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+import numpy as np
+from collections.abc import Callable
+
+from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
 from openpilot.system.ui.widgets import Widget
 
-ITEM_SPACING = 40
+ITEM_SPACING = 20
 LINE_COLOR = rl.GRAY
 LINE_PADDING = 40
+ANIMATION_SCALE = 0.6
+
+MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
+DO_ZOOM = False
+DO_JELLO = False
+SCROLL_BAR = False
 
 
 class LineSeparator(Widget):
@@ -23,24 +34,133 @@ class LineSeparator(Widget):
 
 
 class Scroller(Widget):
-  def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
+  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING,
+               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING):
     super().__init__()
     self._items: list[Widget] = []
+    self._horizontal = horizontal
+    self._snap_items = snap_items
     self._spacing = spacing
     self._line_separator = LineSeparator() if line_separator else None
+    self._pad_start = pad_start
     self._pad_end = pad_end
 
-    self.scroll_panel = GuiScrollPanel()
+    self._reset_scroll_at_show = True
+
+    self._scrolling_to: float | None = None
+    self._scroll_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
+    self._zoom_out_t: float = 0.0
+
+    self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
+
+    # when not pressed, snap to closest item to be center
+    self._scroll_snap_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+
+    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
+    self._scroll_enabled: bool | Callable[[], bool] = True
+
+    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80)
 
     for item in items:
       self.add_widget(item)
 
+  def set_reset_scroll_at_show(self, scroll: bool):
+    self._reset_scroll_at_show = scroll
+
+  def scroll_to(self, pos: float, smooth: bool = False):
+    # already there
+    if abs(pos) < 1:
+      return
+
+    # FIXME: the padding correction doesn't seem correct
+    scroll_offset = self.scroll_panel.get_offset() - pos + self._pad_end
+    if smooth:
+      self._scrolling_to = scroll_offset
+    else:
+      self.scroll_panel.set_offset(scroll_offset)
+
+  @property
+  def is_auto_scrolling(self) -> bool:
+    return self._scrolling_to is not None
+
   def add_widget(self, item: Widget) -> None:
     self._items.append(item)
-    item.set_touch_valid_callback(self.scroll_panel.is_touch_valid)
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled)
+
+  def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    """Set whether scrolling is enabled (does not affect widget enabled state)."""
+    self._scroll_enabled = enabled
+
+  def _update_state(self):
+    if DO_ZOOM:
+      if self._scrolling_to is not None or self.scroll_panel.state != ScrollState.STEADY:
+        self._zoom_out_t = rl.get_time() + MIN_ZOOM_ANIMATION_TIME
+        self._zoom_filter.update(0.85)
+      else:
+        if self._zoom_out_t is not None:
+          if rl.get_time() > self._zoom_out_t:
+            self._zoom_filter.update(1.0)
+          else:
+            self._zoom_filter.update(0.85)
+
+    # Cancel auto-scroll if user starts manually scrolling
+    if self._scrolling_to is not None and (self.scroll_panel.state == ScrollState.PRESSED or self.scroll_panel.state == ScrollState.MANUAL_SCROLL):
+      self._scrolling_to = None
+
+    if self._scrolling_to is not None:
+      self._scroll_filter.update(self._scrolling_to)
+      self.scroll_panel.set_offset(self._scroll_filter.x)
+
+      if abs(self._scroll_filter.x - self._scrolling_to) < 1:
+        self.scroll_panel.set_offset(self._scrolling_to)
+        self._scrolling_to = None
+    else:
+      # keep current scroll position up to date
+      self._scroll_filter.x = self.scroll_panel.get_offset()
+
+  def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
+    scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
+    self.scroll_panel.set_enabled(scroll_enabled and self.enabled)
+    self.scroll_panel.update(self._rect, content_size)
+    if not self._snap_items:
+      return self.scroll_panel.get_offset()
+
+    # Snap closest item to center
+    center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
+    closest_delta_pos = float('inf')
+    scroll_snap_idx: int | None = None
+    for idx, item in enumerate(visible_items):
+      if self._horizontal:
+        delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
+      else:
+        delta_pos = (item.rect.y + item.rect.height / 2) - center_pos
+      if abs(delta_pos) < abs(closest_delta_pos):
+        closest_delta_pos = delta_pos
+        scroll_snap_idx = idx
+
+    if scroll_snap_idx is not None:
+      snap_item = visible_items[scroll_snap_idx]
+      if self.is_pressed:
+        # no snapping until released
+        self._scroll_snap_filter.x = 0
+      else:
+        # TODO: this doesn't handle two small buttons at the edges well
+        if self._horizontal:
+          snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
+          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
+          snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
+        else:
+          snap_delta_pos = (center_pos - (snap_item.rect.y + snap_item.rect.height / 2)) / 10
+          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
+          snap_delta_pos = max(snap_delta_pos, (self._rect.height - self.scroll_panel.get_offset() - content_size) / 10)
+        self._scroll_snap_filter.update(snap_delta_pos)
+
+      self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)
+
+    return self.scroll_panel.get_offset()
 
   def _render(self, _):
-    # TODO: don't draw items that are not in the viewport
     visible_items = [item for item in self._items if item.is_visible]
 
     # Add line separator between items
@@ -49,38 +169,82 @@ class Scroller(Widget):
       for i in range(1, len(visible_items)):
         visible_items.insert(l - i, self._line_separator)
 
-    content_height = sum(item.rect.height for item in visible_items) + self._spacing * (len(visible_items))
-    if not self._pad_end:
-      content_height -= self._spacing
-    scroll = self.scroll_panel.update(self._rect, rl.Rectangle(0, 0, self._rect.width, content_height))
+    content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in visible_items)
+    content_size += self._spacing * (len(visible_items) - 1)
+    content_size += self._pad_start + self._pad_end
+
+    scroll_offset = self._get_scroll(visible_items, content_size)
 
     rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
                           int(self._rect.width), int(self._rect.height))
 
-    cur_height = 0
-    for idx, item in enumerate(visible_items):
-      if not item.is_visible:
-        continue
+    self._item_pos_filter.update(scroll_offset)
 
-      # Nicely lay out items vertically
-      x = self._rect.x
-      y = self._rect.y + cur_height + self._spacing * (idx != 0)
-      cur_height += item.rect.height + self._spacing * (idx != 0)
+    cur_pos = 0
+    for idx, item in enumerate(visible_items):
+      spacing = self._spacing if (idx > 0) else self._pad_start
+      # Nicely lay out items horizontally/vertically
+      if self._horizontal:
+        x = self._rect.x + cur_pos + spacing
+        y = self._rect.y + (self._rect.height - item.rect.height) / 2
+        cur_pos += item.rect.width + spacing
+      else:
+        x = self._rect.x + (self._rect.width - item.rect.width) / 2
+        y = self._rect.y + cur_pos + spacing
+        cur_pos += item.rect.height + spacing
 
       # Consider scroll
-      y += scroll
+      if self._horizontal:
+        x += scroll_offset
+      else:
+        y += scroll_offset
+
+      # Add some jello effect when scrolling
+      if DO_JELLO:
+        if self._horizontal:
+          cx = self._rect.x + self._rect.width / 2
+          jello_offset = scroll_offset - np.interp(x + item.rect.width / 2,
+                                                   [self._rect.x, cx, self._rect.x + self._rect.width],
+                                                   [self._item_pos_filter.x, scroll_offset, self._item_pos_filter.x])
+          x -= np.clip(jello_offset, -20, 20)
+        else:
+          cy = self._rect.y + self._rect.height / 2
+          jello_offset = scroll_offset - np.interp(y + item.rect.height / 2,
+                                                   [self._rect.y, cy, self._rect.y + self._rect.height],
+                                                   [self._item_pos_filter.x, scroll_offset, self._item_pos_filter.x])
+          y -= np.clip(jello_offset, -20, 20)
 
       # Update item state
-      item.set_position(x, y)
+      item.set_position(round(x), round(y))  # round to prevent jumping when settling
       item.set_parent_rect(self._rect)
+
+      # Skip rendering if not in viewport
+      if not rl.check_collision_recs(item.rect, self._rect):
+        continue
+
+      # Scale each element around its own origin when scrolling
+      scale = self._zoom_filter.x
+      rl.rl_push_matrix()
+      rl.rl_scalef(scale, scale, 1.0)
+      rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
+                       (1 - scale) * (y + item.rect.height / 2) / scale, 0)
       item.render()
+      rl.rl_pop_matrix()
+
+    # Draw scroll indicator
+    if SCROLL_BAR and not self._horizontal and len(visible_items) > 0:
+      _real_content_size = content_size - self._rect.height + self._txt_scroll_indicator.height
+      scroll_bar_y = -scroll_offset / _real_content_size * self._rect.height
+      scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height)
+      rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE)
 
     rl.end_scissor_mode()
 
   def show_event(self):
     super().show_event()
-    # Reset to top
-    self.scroll_panel.set_offset(0)
+    if self._reset_scroll_at_show:
+      self.scroll_to(self.scroll_panel.get_offset())
+
     for item in self._items:
       item.show_event()
 

system/ui/widgets/scroller_tici.py

@@ -0,0 +1,90 @@
+import pyray as rl
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.widgets import Widget
+
+ITEM_SPACING = 40
+LINE_COLOR = rl.GRAY
+LINE_PADDING = 40
+
+
+class LineSeparator(Widget):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _render(self, _):
+    rl.draw_line(int(self._rect.x) + LINE_PADDING, int(self._rect.y),
+                 int(self._rect.x + self._rect.width) - LINE_PADDING, int(self._rect.y),
+                 LINE_COLOR)
+
+
+class Scroller(Widget):
+  def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
+    super().__init__()
+    self._items: list[Widget] = []
+    self._spacing = spacing
+    self._line_separator = LineSeparator() if line_separator else None
+    self._pad_end = pad_end
+
+    self.scroll_panel = GuiScrollPanel()
+
+    for item in items:
+      self.add_widget(item)
+
+  def add_widget(self, item: Widget) -> None:
+    self._items.append(item)
+    item.set_touch_valid_callback(self.scroll_panel.is_touch_valid)
+
+  def _render(self, _):
+    # TODO: don't draw items that are not in the viewport
+    visible_items = [item for item in self._items if item.is_visible]
+
+    # Add line separator between items
+    if self._line_separator is not None:
+      l = len(visible_items)
+      for i in range(1, len(visible_items)):
+        visible_items.insert(l - i, self._line_separator)
+
+    content_height = sum(item.rect.height for item in visible_items) + self._spacing * (len(visible_items))
+    if not self._pad_end:
+      content_height -= self._spacing
+    scroll = self.scroll_panel.update(self._rect, rl.Rectangle(0, 0, self._rect.width, content_height))
+
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
+                          int(self._rect.width), int(self._rect.height))
+
+    cur_height = 0
+    for idx, item in enumerate(visible_items):
+      if not item.is_visible:
+        continue
+
+      # Nicely lay out items vertically
+      x = self._rect.x
+      y = self._rect.y + cur_height + self._spacing * (idx != 0)
+      cur_height += item.rect.height + self._spacing * (idx != 0)
+
+      # Consider scroll
+      y += scroll
+
+      # Update item state
+      item.set_position(x, y)
+      item.set_parent_rect(self._rect)
+      item.render()
+
+    rl.end_scissor_mode()
+
+  def show_event(self):
+    super().show_event()
+    # Reset to top
+    self.scroll_panel.set_offset(0)
+    for item in self._items:
+      item.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    for item in self._items:
+      item.hide_event()

system/ui/widgets/slider.py

@@ -0,0 +1,183 @@
+from collections.abc import Callable
+
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class SmallSlider(Widget):
+  HORIZONTAL_PADDING = 8
+  CONFIRM_DELAY = 0.2
+
+  def __init__(self, title: str, confirm_callback: Callable | None = None):
+    # TODO: unify this with BigConfirmationDialogV2
+    super().__init__()
+    self._confirm_callback = confirm_callback
+
+    self._font = gui_app.font(FontWeight.DISPLAY)
+
+    self._load_assets()
+
+    self._drag_threshold = -self._rect.width // 2
+
+    # State
+    self._opacity = 1.0
+    self._confirmed_time = 0.0
+    self._confirm_callback_called = False  # we keep dialog open by default, only call once
+    self._start_x_circle = 0.0
+    self._scroll_x_circle = 0.0
+    self._scroll_x_circle_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._is_dragging_circle = False
+
+    self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.MEDIUM, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
+                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9)
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 316 + self.HORIZONTAL_PADDING * 2, 100))
+
+    self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg.png", 316, 100)
+    self._circle_bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle.png", 100, 100)
+    self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 37, 32)
+
+  @property
+  def confirmed(self) -> bool:
+    return self._confirmed_time > 0.0
+
+  def reset(self):
+    # reset all slider state
+    self._is_dragging_circle = False
+    self._confirmed_time = 0.0
+    self._confirm_callback_called = False
+
+  def set_opacity(self, opacity: float):
+    self._opacity = opacity
+
+  @property
+  def slider_percentage(self):
+    activated_pos = -self._bg_txt.width + self._circle_bg_txt.width
+    return min(max(-self._scroll_x_circle_filter.x / abs(activated_pos), 0.0), 1.0)
+
+  def _on_confirm(self):
+    if self._confirm_callback:
+      self._confirm_callback()
+
+  def _handle_mouse_event(self, mouse_event):
+    super()._handle_mouse_event(mouse_event)
+
+    if mouse_event.left_pressed:
+      # touch rect goes to the padding
+      circle_button_rect = rl.Rectangle(
+        self._rect.x + (self._rect.width - self._circle_bg_txt.width) + self._scroll_x_circle_filter.x - self.HORIZONTAL_PADDING * 2,
+        self._rect.y,
+        self._circle_bg_txt.width + self.HORIZONTAL_PADDING * 2,
+        self._rect.height,
+      )
+      if rl.check_collision_point_rec(mouse_event.pos, circle_button_rect):
+        self._start_x_circle = mouse_event.pos.x
+        self._is_dragging_circle = True
+
+    elif mouse_event.left_released:
+      # swiped to left
+      if self._scroll_x_circle_filter.x < self._drag_threshold:
+        self._confirmed_time = rl.get_time()
+
+      self._is_dragging_circle = False
+
+    if self._is_dragging_circle:
+      self._scroll_x_circle = mouse_event.pos.x - self._start_x_circle
+
+  def _update_state(self):
+    super()._update_state()
+    # TODO: this math can probably be cleaned up to remove duplicate stuff
+    activated_pos = int(-self._bg_txt.width + self._circle_bg_txt.width)
+    self._scroll_x_circle = max(min(self._scroll_x_circle, 0), activated_pos)
+
+    if self._confirmed_time > 0:
+      # swiped left to confirm
+      self._scroll_x_circle_filter.update(activated_pos)
+
+      # activate once animation completes, small threshold for small floats
+      if self._scroll_x_circle_filter.x < (activated_pos + 1):
+        if not self._confirm_callback_called and (rl.get_time() - self._confirmed_time) >= self.CONFIRM_DELAY:
+          self._on_confirm()
+          self._confirm_callback_called = True
+
+    elif not self._is_dragging_circle:
+      # reset back to right
+      self._scroll_x_circle_filter.update(0)
+    else:
+      # not activated yet, keep movement 1:1
+      self._scroll_x_circle_filter.x = self._scroll_x_circle
+
+  def _render(self, _):
+    # TODO: iOS text shimmering animation
+
+    white = rl.Color(255, 255, 255, int(255 * self._opacity))
+
+    bg_txt_x = self._rect.x + (self._rect.width - self._bg_txt.width) / 2
+    bg_txt_y = self._rect.y + (self._rect.height - self._bg_txt.height) / 2
+    rl.draw_texture_ex(self._bg_txt, rl.Vector2(bg_txt_x, bg_txt_y), 0.0, 1.0, white)
+
+    btn_x = bg_txt_x + self._bg_txt.width - self._circle_bg_txt.width + self._scroll_x_circle_filter.x
+    btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2
+
+    if self._confirmed_time == 0.0 or self._scroll_x_circle > 0:
+      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity)))
+      label_rect = rl.Rectangle(
+        self._rect.x + 20,
+        self._rect.y,
+        self._rect.width - self._circle_bg_txt.width - 20 * 3,
+        self._rect.height,
+      )
+      self._label.render(label_rect)
+
+    # circle and arrow
+    rl.draw_texture_ex(self._circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white)
+
+    arrow_x = btn_x + (self._circle_bg_txt.width - self._circle_arrow_txt.width) / 2
+    arrow_y = btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
+    rl.draw_texture_ex(self._circle_arrow_txt, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, white)
+
+
+class LargerSlider(SmallSlider):
+  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True):
+    self._green = green
+    super().__init__(title, confirm_callback=confirm_callback)
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 115))
+
+    self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg_larger.png", 520, 115)
+    circle_fn = "slider_green_rounded_rectangle" if self._green else "slider_black_rounded_rectangle"
+    self._circle_bg_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}.png", 180, 115)
+    self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 55)
+
+
+class BigSlider(SmallSlider):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable | None = None):
+    self._icon = icon
+    super().__init__(title, confirm_callback=confirm_callback)
+    self._label = UnifiedLabel(title, font_size=48, font_weight=FontWeight.DISPLAY, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
+                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                               line_height=0.875)
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
+
+    self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
+    self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
+    self._circle_arrow_txt = self._icon
+
+
+class RedBigSlider(BigSlider):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
+
+    self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
+    self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    self._circle_arrow_txt = self._icon

system/version.py

@@ -204,10 +204,4 @@ def get_build_metadata(path: str = BASEDIR) -> BuildMetadata:
 
 
 if __name__ == "__main__":
-  from openpilot.common.params import Params
-
-  params = Params()
-  params.put("TermsVersion", terms_version)
-  params.put("TrainingVersion", training_version)
-
   print(get_build_metadata())