distless

sunnylink-hide-steering-arc-mici

openpilot/cereal/custom.capnp

@@ -389,44 +389,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
-  smartCruiseControl @5 :SmartCruiseControl;
-  speedLimit @6 :SpeedLimit;
-  laneChange @7 :LaneChange;
-  driverMonitoring @8 :DriverMonitoring;
-  leadFollowing @9 :Bool;
-
-  struct SmartCruiseControl {
-    visionState @0 :LongitudinalPlanSP.SmartCruiseControl.VisionState;
-    mapState @1 :LongitudinalPlanSP.SmartCruiseControl.MapState;
-  }
-
-  struct SpeedLimit {
-    assistState @0 :LongitudinalPlanSP.SpeedLimit.AssistState;
-    speedLimitFinalLast @1 :Float32;
-  }
-
-  struct DriverMonitoring {
-    alertLevel @0 :UInt8;
-    visionPolicy @1 :Bool;
-  }
-
-  struct LaneChange {
-    state @0 :State;
-    direction @1 :Direction;
-
-    enum State {
-      off @0;
-      preLaneChange @1;
-      laneChangeStarting @2;
-      laneChangeFinishing @3;
-    }
-
-    enum Direction {
-      none @0;
-      left @1;
-      right @2;
-    }
-  }
 
   struct Param {
     key @0 :Text;

openpilot/common/params_keys.h

@@ -199,6 +199,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TripSummary", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params

openpilot/selfdrive/car/helpers.py

@@ -63,9 +63,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
     **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
   )
-  struct_dataclass.smartCruiseControl = structs.CarControlSP.SmartCruiseControl(**struct_dict.get('smartCruiseControl', {}))
-  struct_dataclass.speedLimit = structs.CarControlSP.SpeedLimit(**struct_dict.get('speedLimit', {}))
-  struct_dataclass.laneChange = structs.CarControlSP.LaneChange(**struct_dict.get('laneChange', {}))
-  struct_dataclass.driverMonitoring = structs.CarControlSP.DriverMonitoring(**struct_dict.get('driverMonitoring', {}))
 
   return struct_dataclass

openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -57,14 +57,6 @@ COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
 MIN_X_LEAD_FACTOR = 0.5
 
-# aggressive follows close to stock Hyundai SCC closest setting: 2.4 m stopped (stock 2.4), 16.3 m @ 31 mph (stock 14.8), 22 m @ 40 (20.2), 27.5 m @ 48 (25.2)
-# the MPC settles ~0.8 m short of its target at standstill, so a 3.2 m target stops at ~2.4 m
-# the short stop gap fades out by 10 m/s and moving gaps are ~0.1 s over stock: exact stock gaps crash in sim when the lead brakes 2 m/s^2 to a stop
-AGGRESSIVE_STOP_DISTANCE_BP = [0., 3., 10.]
-AGGRESSIVE_STOP_DISTANCE_V = [3.2, 3.2, STOP_DISTANCE]
-AGGRESSIVE_T_FOLLOW_BP = [0., 10., 14., 16., 18., 20., 21.3, 30.]
-AGGRESSIVE_T_FOLLOW_V = [0.74, 0.74, 0.74, 0.81, 0.90, 0.945, 1.0, 1.1]
-
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
     return 1.0
@@ -317,11 +309,6 @@ class LongitudinalMpc:
 
   def update(self, radarstate, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
-    stop_distance_offset = 0.
-    if personality == log.LongitudinalPersonality.aggressive:
-      t_follow = float(np.interp(self.x0[1], AGGRESSIVE_T_FOLLOW_BP, AGGRESSIVE_T_FOLLOW_V))
-      # STOP_DISTANCE is compiled into the solver, so move the lead forward instead
-      stop_distance_offset = STOP_DISTANCE - float(np.interp(self.x0[1], AGGRESSIVE_STOP_DISTANCE_BP, AGGRESSIVE_STOP_DISTANCE_V))
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
@@ -329,8 +316,8 @@ class LongitudinalMpc:
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.
-    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) + stop_distance_offset
-    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) + stop_distance_offset
+    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle])
     self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -2,7 +2,6 @@
 import numpy as np
 
 import openpilot.cereal.messaging as messaging
-from openpilot.cereal import log
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -21,7 +20,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import Lon
 J_CRUISE_VALS = [1.6, 1.2, 0.8, 0.6]
 J_CRUISE_BP = [0., 10.0, 25., 40.]
 A_CRUISE_MIN = -0.5
-AGGRESSIVE_LEAD_ONLY_DIST = 40.  # m
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
 
@@ -116,10 +114,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
                   (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop),
                   (output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e)]
-    # aggressive: with a close radar lead, follow it like stock SCC instead of the model's larger stop gap
-    lead = sm['radarState'].leadOne
-    if sm['selfdriveState'].personality == log.LongitudinalPersonality.aggressive and lead.radar and lead.dRel < AGGRESSIVE_LEAD_ONLY_DIST:
-      candidates.pop()
 
     output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
     self.output_should_stop = any(should_stop for _, _, should_stop in candidates)

openpilot/selfdrive/controls/tests/test_following_distance.py

@@ -4,9 +4,7 @@ from openpilot.common.parameterized import parameterized_class
 
 from openpilot.cereal import log
 
-import numpy as np
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW, \
-  STOP_DISTANCE, AGGRESSIVE_STOP_DISTANCE_BP, AGGRESSIVE_STOP_DISTANCE_V, AGGRESSIVE_T_FOLLOW_BP, AGGRESSIVE_T_FOLLOW_V
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
@@ -40,12 +38,7 @@ class TestFollowingDistance(OpenpilotTestCase):
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, personality=self.personality)
-    if self.personality == log.LongitudinalPersonality.aggressive:
-      t_follow = float(np.interp(v_lead, AGGRESSIVE_T_FOLLOW_BP, AGGRESSIVE_T_FOLLOW_V))
-      stop_distance = float(np.interp(v_lead, AGGRESSIVE_STOP_DISTANCE_BP, AGGRESSIVE_STOP_DISTANCE_V))
-      correct_steady_state = desired_follow_distance(v_lead, v_lead, t_follow) - (STOP_DISTANCE - stop_distance)
-    else:
-      correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
+    correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
     self.assertAlmostEqual(simulation_steady_state, correct_steady_state,
                            delta=0.2 * correct_steady_state + abs_err_margin)

openpilot/selfdrive/ui/layouts/main.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.trip_summary import TripSummary
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -31,6 +32,7 @@ class MainLayout(Widget):
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
     self._prev_onroad = False
+    self._trip_summary = TripSummary()
 
     # Initialize layouts
     self._home_layout = HomeLayout()

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.sunnypilot.layouts.trip_summary import TripSummary
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
@@ -57,6 +58,7 @@ class MiciMainLayout(Scroller):
     self._setup_callbacks()
 
     gui_app.add_nav_stack_tick(self._handle_transitions)
+    self._trip_summary = TripSummary()
     gui_app.push_widget(self)
 
     # Start onboarding if terms or training not completed, make sure to push after self

openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py

@@ -72,6 +72,11 @@ class VisualsLayout(Widget):
            "It is the driver's responsibility to observe their environment and make decisions accordingly."),
         None,
       ),
+      "TripSummary": (
+        lambda: tr("Trip Summary"),
+        tr("Show a summary of distance and engagement when you shift into park after a drive."),
+        None,
+      ),
       "TrueVEgoUI": (
         lambda: tr("Speedometer: Always Display True Speed"),
         tr("For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."),

openpilot/selfdrive/ui/sunnypilot/layouts/trip_summary.py

@@ -0,0 +1,199 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+import pyray as rl
+
+from opendbc.car.structs import car
+
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+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.widgets import Widget
+
+AUTO_DISMISS = 20.
+FADE_IN, FADE_OUT = 0.35, 0.3
+LAT = (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
+LONG = (UIStatus.ENGAGED, UIStatus.LONG_ONLY)
+GEAR = car.CarState.GearShifter
+FORWARD = (GEAR.drive, GEAR.sport, GEAR.low, GEAR.brake, GEAR.eco, GEAR.manumatic)
+
+
+class TripTracker:
+  def __init__(self):
+    self.reset()
+
+  def reset(self):
+    self.segments: list[list] = []
+    self.seconds = 0.
+    self.takeovers = 0
+    self._t = None
+    self._status = None
+
+  def update(self, driving: bool):
+    now = time.monotonic()
+    if not driving:
+      self._t = None
+      self._status = None
+      return
+    dt = 0. if self._t is None else min(now - self._t, 0.5)
+    self._t = now
+    self.seconds += dt
+    if self._status not in (None, UIStatus.DISENGAGED) and ui_state.status == UIStatus.DISENGAGED:
+      self.takeovers += 1
+    self._status = ui_state.status
+    d = max(ui_state.sm["carState"].vEgo, 0.) * dt
+    if d <= 0.:
+      return
+    if self.segments and self.segments[-1][0] == ui_state.status:
+      self.segments[-1][1] += d
+    else:
+      self.segments.append([ui_state.status, d])
+
+  def total(self, statuses=None) -> float:
+    return sum(m for s, m in self.segments if statuses is None or s in statuses)
+
+
+class TripSummary:
+  def __init__(self):
+    self._trip = TripTracker()
+    self._dialog: TripSummaryDialog | None = None
+    self._gear = None
+    self._drove = False
+    gui_app.add_nav_stack_tick(self._tick)
+
+  def _tick(self):
+    gear = ui_state.sm["carState"].gearShifter if ui_state.started else None
+    self._trip.update(gear not in (None, GEAR.park))
+    self._drove |= gear in FORWARD
+    if gear == self._gear:
+      return
+    self._gear = gear
+
+    if gear not in (None, GEAR.park):
+      self._pop()
+    elif gear == GEAR.park and self._drove and ui_state.trip_summary and not ui_state.is_body and self._trip.total() > 0.:
+      self._dialog = TripSummaryDialog(self._trip, gui_app.get_active_widget(), self._pop)
+      gui_app.push_widget(self._dialog)
+    if gear is None:
+      self._trip.reset()
+    if gear in (None, GEAR.park):
+      self._drove = False
+
+  def _pop(self):
+    if self._dialog is not None and gui_app.get_active_widget() is self._dialog:
+      gui_app.pop_widget()
+    self._dialog = None
+
+
+def _ease(t: float) -> float:
+  t = min(max(t, 0.), 1.)
+  return 1 - (1 - t) ** 3
+
+
+def _fade(c, a: float) -> rl.Color:
+  r, g, b, al = c if isinstance(c, tuple) else (c.r, c.g, c.b, c.a)
+  return rl.Color(r, g, b, int(al * a))
+
+
+class TripSummaryDialog(Widget):
+  def __init__(self, trip: TripTracker, below: Widget | None, on_closed):
+    super().__init__()
+    self._below = below
+    self._on_closed = on_closed
+    self._segments = segments = trip.segments
+    total = sum(m for _, m in segments)
+
+    def pct(statuses):
+      return 100 * sum(m for s, m in segments if s in statuses) / total
+
+    dist = total * (CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH) / 3600
+    dist_fmt = "{:.1f}" if dist < 9.95 else "{:.0f}"
+    self._stats = [
+      (dist, dist_fmt, "km" if ui_state.is_metric else "mi", "driven"),
+      (pct(LAT + LONG), "{:.0f}", "%", "engaged"),
+      (pct(LAT), "{:.0f}", "%", "lateral"),
+      (pct(LONG), "{:.0f}", "%", "longitudinal"),
+    ]
+    mins = round(trip.seconds / 60)
+    self._details = [
+      (f"{mins // 60}h {mins % 60}" if mins >= 60 else f"{mins}", "min"),
+      (f"{trip.takeovers}", "takeover" if trip.takeovers == 1 else "takeovers"),
+    ]
+    self._bold = gui_app.font(FontWeight.BOLD)
+    self._semi = gui_app.font(FontWeight.SEMI_BOLD)
+    self._normal = gui_app.font(FontWeight.NORMAL)
+    self._big = gui_app.big_ui()
+    self._shown_t = rl.get_time()
+    self._closing_t: float | None = None
+    self.set_click_callback(self.close)
+
+  def close(self):
+    if self._closing_t is None:
+      self._closing_t = rl.get_time()
+
+  def _render(self, rect: rl.Rectangle):
+    t = rl.get_time() - self._shown_t
+    if self._closing_t is None and t > AUTO_DISMISS:
+      self.close()
+    out = 0. if self._closing_t is None else (rl.get_time() - self._closing_t) / FADE_OUT
+    if out >= 1.:
+      self._on_closed()
+      return
+    bg = 1 - _ease(out)
+    a = _ease(t / FADE_IN) * bg
+
+    if self._big and self._below is not None and bg < 1.:
+      self._below.render(rect)
+    rl.draw_rectangle_rec(rect, _fade(rl.BLACK, bg))
+
+    k = rect.height / 1080 * (1.0 if self._big else 1.22)
+    pad = 120 * k
+    x, w = rect.x + pad, rect.width - 2 * pad
+    y = rect.y + (rect.height - 850 * k) / 2
+
+    rl.draw_text_ex(self._bold, "trip summary", rl.Vector2(x, y), int(150 * k), 0, _fade(rl.WHITE, a))
+    y += 260 * k
+
+    col_w = w / len(self._stats)
+    for i, (target, fmt, unit, label) in enumerate(self._stats):
+      cx = x + col_w * (i + 0.5)
+      v = measure_text_cached(self._bold, fmt.format(target), int(170 * k))
+      u = measure_text_cached(self._semi, unit, int(80 * k))
+      vx = cx - (v.x + 10 * k + u.x) / 2
+      rl.draw_text_ex(self._bold, fmt.format(target), rl.Vector2(vx, y), int(170 * k), 0, _fade(rl.WHITE, a))
+      rl.draw_text_ex(self._semi, unit, rl.Vector2(vx + v.x + 10 * k, y + 75 * k), int(80 * k), 0, _fade(rl.WHITE, a))
+      lb = measure_text_cached(self._normal, label, int(70 * k))
+      rl.draw_text_ex(self._normal, label, rl.Vector2(cx - lb.x / 2, y + 180 * k), int(70 * k), 0, _fade(rl.Color(200, 200, 200, 255), a))
+    y += 330 * k
+
+    bar = rl.Rectangle(x, y, w, 90 * k)
+    total = sum(m for _, m in self._segments)
+    sx = bar.x
+    for status, m in self._segments:
+      sw = bar.width * m / total
+      rl.draw_rectangle_rec(rl.Rectangle(sx, bar.y, min(sw + 1, bar.x + bar.width - sx), bar.height), _fade(BORDER_COLORS[status], a))
+      sx += sw
+    rl.draw_rectangle_rounded_lines_ex(bar, 1.0, 20, 30 * k, _fade(rl.BLACK, a))
+
+    y += (90 + 70) * k
+
+    size = int(90 * k)
+    parts = []
+    for i, (value, unit) in enumerate(self._details):
+      if i:
+        parts.append(("     ", self._normal, None))
+      parts += [(value, self._bold, rl.WHITE), (" " + unit, self._normal, rl.Color(170, 170, 170, 255))]
+    widths = [measure_text_cached(f, t, size).x for t, f, _ in parts]
+    lx = x + (w - sum(widths)) / 2
+    for (text, font, color), tw in zip(parts, widths, strict=True):
+      if color is None:
+        rl.draw_circle(int(lx + tw / 2), int(y + size * 0.6), 12 * k, _fade(rl.Color(110, 110, 110, 255), a))
+      else:
+        rl.draw_text_ex(font, text, rl.Vector2(lx, y), size, 0, _fade(color, a))
+      lx += tw

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -48,6 +48,7 @@ class UIStateSP:
     self.model_runner_tinygrad: bool = False
     self.active_runner_tinygrad: bool = False
     self.blindspot: bool = False
+    self.trip_summary: bool = True
     self.chevron_metrics = None
     self.custom_interactive_timeout: int = 0
     self.developer_ui = None
@@ -185,6 +186,7 @@ class UIStateSP:
     self.standstill_timer = self.params.get_bool("StandstillTimer")
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.torque_bar = self.params.get_bool("TorqueBar")
+    self.trip_summary = self.params.get_bool("TripSummary")
     self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
     self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
     self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")

openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -31,7 +31,7 @@ class ControlsExt(ModelStateBase):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['radarState', 'selfdriveStateSP', 'longitudinalPlanSP']
+    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
   def initialize_lateral_control(self, lac, CI, dt):
@@ -104,31 +104,6 @@ class ControlsExt(ModelStateBase):
     CC_SP.intelligentCruiseButtonManagement.sendButton = icbm_src.sendButton
     CC_SP.intelligentCruiseButtonManagement.vTarget = icbm_src.vTarget
 
-    # Smart Cruise Control state
-    scc_src = sm['longitudinalPlanSP'].smartCruiseControl
-    CC_SP.smartCruiseControl.visionState = scc_src.vision.state
-    CC_SP.smartCruiseControl.mapState = scc_src.map.state
-
-    # Speed Limit Assist state
-    sl_src = sm['longitudinalPlanSP'].speedLimit
-    CC_SP.speedLimit.assistState = sl_src.assist.state
-    CC_SP.speedLimit.speedLimitFinalLast = sl_src.resolver.speedLimitFinalLast
-
-    # Lane change state
-    meta = sm['modelV2'].meta
-    CC_SP.laneChange.state = str(meta.laneChangeState)
-    CC_SP.laneChange.direction = str(meta.laneChangeDirection)
-
-    # Driver monitoring alert
-    dm = sm['driverMonitoringState']
-    CC_SP.driverMonitoring.alertLevel = dm.alertLevel.raw
-    CC_SP.driverMonitoring.visionPolicy = dm.activePolicy == 'vision'
-
-    # Planner following a lead, the model path (e2e) wins often while following so count it when there is a lead
-    long_plan = sm['longitudinalPlan']
-    CC_SP.leadFollowing = str(long_plan.longitudinalPlanSource) in ('lead0', 'lead1', 'lead2') or \
-                          (str(long_plan.longitudinalPlanSource) == 'e2e' and long_plan.hasLead)
-
     return CC_SP
 
   @staticmethod

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -1349,7 +1349,17 @@
               "key": "TorqueBar",
               "widget": "toggle",
               "title": "Steering Arc",
-              "description": "Display steering arc on the driving screen when lateral control is enabled."
+              "description": "Display steering arc on the driving screen when lateral control is enabled.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
             },
             {
               "key": "ShowTurnSignals",
@@ -1389,6 +1399,12 @@
                 }
               ]
             },
+            {
+              "key": "TripSummary",
+              "widget": "toggle",
+              "title": "Trip Summary",
+              "description": "Show a summary of distance and engagement when you shift into park after a drive."
+            },
             {
               "key": "RocketFuel",
               "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml

@@ -20,6 +20,8 @@ sections:
     widget: toggle
     title: Steering Arc
     description: Display steering arc on the driving screen when lateral control is enabled.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
   - key: ShowTurnSignals
     widget: toggle
     title: Display Turn Signals
@@ -37,6 +39,10 @@ sections:
     description: Show a timer on the HUD when the car is at a standstill.
     visibility:
     - $ref: '#/macros/hide_on_mici'
+  - key: TripSummary
+    widget: toggle
+    title: Trip Summary
+    description: Show a summary of distance and engagement when you shift into park after a drive.
   - key: RocketFuel
     widget: toggle
     title: Real-time Acceleration Bar