reboot

openpilot/common/params_keys.h

@@ -139,7 +139,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"AuxPowerSave", {PERSISTENT | BACKUP, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //

openpilot/selfdrive/ui/mici/layouts/settings/device.py

@@ -62,7 +62,25 @@ class MiciFccModal(NavRawScrollPanel):
     rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
 
 
-def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
+class DisengageDialog(BigDialog):
+  def __init__(self, title: str, description: str, disengaged_callback: Callable[[], None]):
+    super().__init__(title, description)
+    self._disengaged_callback = disengaged_callback
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.engaged and not self.is_dismissing:
+      self.dismiss(self._disengaged_callback)
+
+
+class EngagedConfirmationDialog(BigConfirmationDialog):
+  def _update_state(self):
+    super()._update_state()
+    if ui_state.engaged and not self.is_dismissing:
+      self.dismiss()
+
+
+def engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
   if not ui_state.engaged:
     def confirm_callback():
       # Check engaged again in case it changed while the dialog was open
@@ -70,23 +88,26 @@ def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.T
       if not ui_state.engaged:
         callback()
 
-    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
+    gui_app.push_widget(EngagedConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback,
+                                                  exit_on_confirm=exit_on_confirm, red=red))
   else:
-    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+    gui_app.push_widget(DisengageDialog("", f"Disengage to {action_text}",
+                                           lambda: engaged_confirmation_click(callback, action_text, icon,
+                                                                               exit_on_confirm=exit_on_confirm, red=red)))
 
 
 class EngagedConfirmationCircleButton(BigCircleButton):
   def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
                red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
     super().__init__(icon, red, icon_offset)
-    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+    self.set_click_callback(lambda: engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class EngagedConfirmationButton(BigButton):
   def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
                exit_on_confirm: bool = True, red: bool = False):
     super().__init__(text, "", icon)
-    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
+    self.set_click_callback(lambda: engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class DeviceInfoLayoutMici(Widget):

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

@@ -6,9 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
-from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, engaged_confirmation_click
 from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -93,10 +93,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
       dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
                                   confirm_callback=lambda: _set_offroad_status(False))
     else:
-      if ui_state.engaged:
-        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
-        return
-
-      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
-                                  confirm_callback=lambda: _set_offroad_status(True))
+      engaged_confirmation_click(lambda: _set_offroad_status(True), "force offroad", self.icon_offroad_slider, red=True)
+      return
     gui_app.push_widget(dlg)

openpilot/selfdrive/ui/ui_state.py

@@ -225,7 +225,6 @@ class UIState(UIStateSP):
                              ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
       return
 
-    self.chestnut_present = self.chestnut_present or detected
     model_seen = self.sm.recv_frame["modelV2"] > self.started_frame
     if not self.chestnut_present:
       self.chestnut_state = ChestnutState.DISCONNECTED

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -1675,12 +1675,6 @@
               "widget": "toggle",
               "title": "Onroad Uploads"
             },
-            {
-              "key": "AuxPowerSave",
-              "widget": "toggle",
-              "title": "Disable Aux Port When Offroad",
-              "description": "Power off the aux USB-C port while offroad to save power. It powers back on automatically when you go onroad."
-            },
             {
               "key": "MaxTimeOffroad",
               "widget": "option",

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

@@ -30,10 +30,6 @@ sections:
   - key: OnroadUploads
     widget: toggle
     title: Onroad Uploads
-  - key: AuxPowerSave
-    widget: toggle
-    title: Disable Aux Port When Offroad
-    description: Power off the aux USB-C port while offroad to save power. It powers back on automatically when you go onroad.
   - key: MaxTimeOffroad
     widget: option
     title: Max Time Offroad

openpilot/system/hardware/hardwared.py

@@ -21,7 +21,6 @@ from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.git import get_short_branch
 from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_PRODUCT, get_usb_state, get_usb_topology, is_chestnut_usb_id, set_usb_state
-from openpilot.system.hardware.chestnut.flash import VBUS_PATH
 from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
@@ -51,10 +50,6 @@ class Chestnut:
     self.last_attempt = 0.
     self.flashed = False
     self.mismatch = False
-    self.vbus_on = None
-    self.params = Params()
-    self.powersave = False
-    self.last_offroad = None
 
   @property
   def failed(self) -> bool:
@@ -66,19 +61,9 @@ class Chestnut:
     cloudlog.event("chestnut flash done", returncode=ret.returncode, output=ret.stdout[-1000:], error=ret.returncode != 0)
     self.flashed = ret.returncode == 0
 
-  def set_vbus(self, on: bool) -> None:
-    if on == self.vbus_on:
-      return
-    subprocess.run(["sudo", "tee", VBUS_PATH], input=b"1" if on else b"0", stdout=subprocess.DEVNULL, check=False)
-    self.vbus_on = on
-
   def update(self, offroad: bool, usb_state: list[dict]) -> None:
     self.mismatch = any(is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True) and
                         d["product"] != CHESTNUT_USB_PRODUCT for d in usb_state)
-    if offroad != self.last_offroad:
-      self.powersave = self.params.get_bool("AuxPowerSave")
-      self.last_offroad = offroad
-    self.set_vbus((not offroad or self.mismatch) or not self.powersave)
     if not self.mismatch:
       self.flashed = False
       return