mas

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -241,10 +241,3 @@ jobs:
           gh run watch "$RUN_ID"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

CHANGELOG.md

@@ -1,5 +1,104 @@
-sunnypilot Version 2025.003.000 (20xx-xx-xx)
+sunnypilot Version 2026.001.000 (2026-03-xx)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Complete rewrite of the user interface from Qt C++ to Raylib Python
+  * comma four support
+  * ui: sunnypilot toggle style by @nayan8teen
+  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
+  * ui: sunnypilot panels by @nayan8teen
+  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
+  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
+  * ui: Platform Selector by @Discountchubbs
+  * ui: vehicle brand settings by @Discountchubbs
+  * ui: sunnylink client-side implementation by @nayan8teen
+  * ui: `NetworkUISP` by @Discountchubbs
+  * ui: add sunnypilot font by @nayan8teen
+  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
+  * ui: sunnylink panel by @nayan8teen
+  * ui: Models panel by @Discountchubbs
+  * ui: software panel by @Discountchubbs
+  * modeld_v2: support planplus outputs by @Discountchubbs
+  * ui: OSM panel by @Discountchubbs
+  * ui: Developer panel extension by @Discountchubbs
+  * sunnylink: Vehicle Selector support by @sunnyhaibin
+  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
+  * [comma 4] ui: sunnylink panel by @nayan8teen
+  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
+  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
+  * sunnylink: block remote modification of SSH key parameters by @zikeji
+  * [TIZI/TICI] ui: rainbow path by @rav4kumar
+  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
+  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
+  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
+  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
+  * SL: Re enable and validate ingestion of swaglogs by @devtekve
+  * modeld_v2: planplus model tuning by @Discountchubbs
+  * ui: fix Always Offroad button visibility by @nayan8teen
+  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
+  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
+  * modeld: configurable camera offset by @Discountchubbs
+  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
+  * ui: Global Brightness Override by @nayan8teen
+  * ui: Customizable Interactive Timeout by @sunnyhaibin
+  * sunnylink: add units to param metadata by @nayan8teen
+  * ui: Customizable Onroad Brightness by @sunnyhaibin
+  * [TIZI/TICI] ui: Steering panel by @nayan8teen
+  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
+  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
+  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
+  * [MICI] ui: display blindspot indicators when available by @rav4kumar
+  * [TIZI/TICI] ui: Road Name by @rav4kumar
+  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
+  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
+  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
+  * [TIZI/TICI] ui: steering arc by @royjr
+  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
+  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
+  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
+  * [MICI] ui: driving models selector by @Discountchubbs
+  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
+  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
+  * Device: Retain QuickBoot state after op switch by @nayan8teen
+  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
+  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
+  * ui: better wake mode support by @nayan8teen
+  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
+  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
+  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+* What's Changed (sunnypilot/opendbc)
+  * Honda: DBC for Accord 9th Generation by @mvl-boston
+  * FCA: update tire stiffness values for `RAM_HD` by @dparring
+  * Honda: Nidec hybrid baseline brake support by @mvl-boston
+  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
+  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
+  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
+  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
+  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
+  * Nissan: Parse cruise control buttons by @downquark7
+  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
+  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
+  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
+  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
+  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
+  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
+  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
+  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
+* New Contributors (sunnypilot/sunnypilot)
+  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
+  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
+  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
+  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
+  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+* New Contributors (sunnypilot/opendbc)
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
+  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
+  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
+  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -99,7 +99,7 @@ class ModelsLayout(Widget):
               "Keeping this on provides the stock openpilot experience.")
     if lagd_toggle:
       desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
       cp = ui_state.CP.steerActuatorDelay
       desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"

selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py

@@ -75,7 +75,7 @@ class LaneChangeSettingsLayout(Widget):
     self._scroller.show_event()
 
   def _update_toggles(self):
-    enable_bsm = ui_state.CP and ui_state.CP.enableBsm
+    enable_bsm = ui_state.CP is not None and ui_state.CP.enableBsm
     if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
       ui_state.params.remove("AutoLaneChangeBsmDelay")
     self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)

selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py

@@ -91,12 +91,12 @@ class MadsSettingsLayout(Widget):
       if bundle:
         brand = bundle.get("brand", "")
     if not brand:
-      brand = ui_state.CP.brand if ui_state.CP else ""
+      brand = ui_state.CP.brand if ui_state.CP is not None else ""
 
     if brand == "rivian":
       return True
     elif brand == "tesla":
-      return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
     return False
 
   def _update_steering_mode_description(self, button_index: int):

selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py

@@ -35,7 +35,7 @@ class VehicleLayout(Widget):
   def get_brand():
     if bundle := ui_state.params.get("CarPlatformBundle"):
       return bundle.get("brand", "")
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
       return ui_state.CP.brand
     return ""
 

selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py

@@ -32,7 +32,7 @@ class HyundaiSettings(BrandSettings):
     if bundle:
       platform = bundle.get("platform")
       self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
 
     tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0")

selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py

@@ -39,7 +39,7 @@ class SubaruSettings(BrandSettings):
       platform = bundle.get("platform")
       config = CAR[platform].config
       self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
 
     disabled_msg = self.stop_and_go_disabled_msg()

selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py

@@ -131,7 +131,7 @@ class PlatformSelector(Button):
       self._platform = bundle.get("name", "")
       self.set_text(self._platform)
       self.color = style.BLUE
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
       self._platform = ui_state.CP.carFingerprint
       self.set_text(self._platform)
       self.color = style.GREEN

selfdrive/ui/sunnypilot/onroad/speed_limit.py

@@ -22,6 +22,8 @@ from openpilot.system.ui.widgets import Widget
 METER_TO_FOOT = 3.28084
 METER_TO_MILE = 0.000621371
 AHEAD_THRESHOLD = 5
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
 
 AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
 SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
@@ -58,8 +60,11 @@ class SpeedLimitRenderer(Widget):
     self.speed_limit_ahead_frame = 0
 
     self.assist_frame = 0
-    self.speed = 0.0
-    self.set_speed = 0.0
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = True
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
 
     self.font_bold = gui_app.font(FontWeight.BOLD)
     self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
@@ -77,6 +82,8 @@ class SpeedLimitRenderer(Widget):
   def update(self):
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
       return
 
     if sm.updated["longitudinalPlanSP"]:
@@ -106,9 +113,21 @@ class SpeedLimitRenderer(Widget):
 
       self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
 
-    cs = sm["carState"]
-    self.set_speed = cs.cruiseState.speed * self.speed_conv
-    v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo
+    controls_state = sm['controlsState']
+    car_state = sm["carState"]
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not ui_state.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or car_state.vEgoCluster != 0.0
+    v_ego = car_state.vEgoCluster if self.v_ego_cluster_seen else car_state.vEgo
     self.speed = max(0.0, v_ego * self.speed_conv)
 
   @staticmethod

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.003.000"
+#define SUNNYPILOT_VERSION "2026.001.000"

system/ui/sunnypilot/widgets/option_control.py

@@ -44,7 +44,8 @@ class OptionControlSP(ItemAction):
           self.current_value = int(key)
           break
     else:
-      self.current_value = int(self.params.get(self.param_key, return_default=True))
+      value = self.params.get(self.param_key, return_default=True)
+      self.current_value = int(float(value) * 100.0) if self.use_float_scaling else int(value)
 
     # Initialize font and button styles
     self._font = gui_app.font(FontWeight.MEDIUM)

uv.lock

@@ -356,13 +356,12 @@ wheels = [
 
 [[package]]
 name = "dearpygui"
-version = "2.1.1"
+version = "2.2"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
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-    { url = "https://files.pythonhosted.org/packages/b0/c5/fcc37ef834fe225241aa4f18d77aaa2903134f283077978d65a901c624c6/dearpygui-2.1.1-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:c27ca6ecd4913555b717f3bb341c0b6a27d6c9fdc9932f0b3c31ae2ef893ae35", size = 1895555, upload-time = "2025-11-14T14:47:48.149Z" },
-    { url = "https://files.pythonhosted.org/packages/74/66/19f454ba02d5f03a847cc1dfee4a849cd2307d97add5ba26fecdca318adb/dearpygui-2.1.1-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:8c071e9c165d89217bdcdaf769c6069252fcaee50bf369489add524107932273", size = 2641509, upload-time = "2025-11-14T14:47:54.581Z" },
-    { url = "https://files.pythonhosted.org/packages/5e/58/d01538556103d544a5a5b4cbcb00646ff92d8a97f0a6283a56bede4307c8/dearpygui-2.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:9f2291313d2035f8a4108e13f60d8c1a0e7c19af7554a7739a3fd15b3d5af8f7", size = 1808971, upload-time = "2025-11-14T14:47:28.15Z" },
+    { url = "https://files.pythonhosted.org/packages/17/c8/b4afdac89c7bf458513366af3143f7383d7b09721637989c95788d93e24c/dearpygui-2.2-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:34ceae1ca1b65444e49012d6851312e44f08713da1b8cc0150cf41f1c207af9c", size = 1931443, upload-time = "2026-02-17T14:21:54.394Z" },
+    { url = "https://files.pythonhosted.org/packages/43/93/a2d083b2e0edb095be815662cc41e40cf9ea7b65d6323e47bb30df7eb284/dearpygui-2.2-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:e1fae9ae59fec0e41773df64c80311a6ba67696219dde5506a2a4c013e8bcdfa", size = 2592645, upload-time = "2026-02-17T14:22:02.869Z" },
+    { url = "https://files.pythonhosted.org/packages/80/ba/eae13acaad479f522db853e8b1ccd695a7bc8da2b9685c1d70a3b318df89/dearpygui-2.2-cp312-cp312-win_amd64.whl", hash = "sha256:7d399543b5a26ab6426ef3bbd776e55520b491b3e169647bde5e6b2de3701b35", size = 1830531, upload-time = "2026-02-17T14:21:43.386Z" },
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 [[package]]
@@ -415,11 +414,11 @@ wheels = [
 
 [[package]]
 name = "filelock"
-version = "3.24.2"
+version = "3.24.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/02/a8/dae62680be63cbb3ff87cfa2f51cf766269514ea5488479d42fec5aa6f3a/filelock-3.24.2.tar.gz", hash = "sha256:c22803117490f156e59fafce621f0550a7a853e2bbf4f87f112b11d469b6c81b", size = 37601, upload-time = "2026-02-16T02:50:45.614Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/73/92/a8e2479937ff39185d20dd6a851c1a63e55849e447a55e798cc2e1f49c65/filelock-3.24.3.tar.gz", hash = "sha256:011a5644dc937c22699943ebbfc46e969cdde3e171470a6e40b9533e5a72affa", size = 37935, upload-time = "2026-02-19T00:48:20.543Z" }
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+    { url = "https://files.pythonhosted.org/packages/9c/0f/5d0c71a1aefeb08efff26272149e07ab922b64f46c63363756224bd6872e/filelock-3.24.3-py3-none-any.whl", hash = "sha256:426e9a4660391f7f8a810d71b0555bce9008b0a1cc342ab1f6947d37639e002d", size = 24331, upload-time = "2026-02-19T00:48:18.465Z" },
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 [[package]]
@@ -4089,15 +4088,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.52.0"
+version = "2.53.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
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+sdist = { url = "https://files.pythonhosted.org/packages/d3/06/66c8b705179bc54087845f28fd1b72f83751b6e9a195628e2e9af9926505/sentry_sdk-2.53.0.tar.gz", hash = "sha256:6520ef2c4acd823f28efc55e43eb6ce2e6d9f954a95a3aa96b6fd14871e92b77", size = 412369, upload-time = "2026-02-16T11:11:14.743Z" }
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+    { url = "https://files.pythonhosted.org/packages/47/d4/2fdf854bc3b9c7f55219678f812600a20a138af2dd847d99004994eada8f/sentry_sdk-2.53.0-py2.py3-none-any.whl", hash = "sha256:46e1ed8d84355ae54406c924f6b290c3d61f4048625989a723fd622aab838899", size = 437908, upload-time = "2026-02-16T11:11:13.227Z" },
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 [[package]]