Revert "camerad: remove AR0231 (#36070)"

This reverts commit 1d8dc8a6

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

@@ -174,24 +174,6 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
-      - name: Restore workflows from source
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-
-          # Ensure we are on the target branch
-          git checkout $TARGET_BRANCH
-
-          echo "Restoring .github/workflows from $SOURCE_BRANCH"
-          git checkout origin/$SOURCE_BRANCH -- .github/workflows
-
-          if ! git diff --cached --quiet; then
-            echo "Workflows differ. Committing restoration."
-            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
-          else
-            echo "Workflows match $SOURCE_BRANCH."
-          fi
-
       - uses: actions/create-github-app-token@v2
         id: ci-token
         with:

.github/workflows/tests.yaml

@@ -107,8 +107,8 @@ jobs:
 
   build_mac:
     name: build macOS
+    if: false # tmp disable due to brew install not working
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:

README.md

@@ -11,10 +11,66 @@ Join the official sunnypilot community forum to stay up to date with all the lat
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
+
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
+  4. Complete the rest of the installation following the onscreen instructions.
+
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
+
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+
+> [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
+
+> [!NOTE]
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
+
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

common/params_keys.h

@@ -95,6 +95,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
@@ -145,7 +146,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
     {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
     {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
-    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
     {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
@@ -155,7 +155,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
     {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -215,19 +214,16 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnypilot model params
-    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3/3X or a car.
 
 ## Pull Requests
 

docs/how-to/connect-to-comma.md

@@ -1,11 +1,11 @@
-# connect to a comma 3X
+# connect to a comma 3/3X
 
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma 3/3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 

docs/how-to/replay-a-drive.md

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma 3/3X*
 
 1. Connect your PC to a jungle.
 2.

docs/how-to/turn-the-speed-blue.md

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

mkdocs.yml

@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:

selfdrive/monitoring/helpers.py

@@ -449,7 +449,7 @@ class DriverMonitoring:
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
+      enabled = sm['selfdriveState'].enabled
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed

selfdrive/monitoring/test_monitoring.py

@@ -1,7 +1,6 @@
 import numpy as np
-import pytest
 
-from cereal import log, car
+from cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 from openpilot.system.hardware import HARDWARE
@@ -205,66 +204,3 @@ class TestMonitoring:
     assert EventName.driverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
-
-@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
-  (False, False, False), # Both Disabled
-  (True, False, True),   # OP Enabled, Lat Inactive
-  (False, True, True),   # OP Disabled, Lat Active (e.g. MADS)
-  (True, True, True)     # Both Active
-])
-def test_enabled_states(enabled_state, lat_active_state, expected):
-  """
-  Test DriverMonitoring.run_step with all 4 combinations of:
-  - selfdriveState.enabled (True/False)
-  - carControl.latActive (True/False)
-  """
-  cs = car.CarState.new_message()
-  cs.vEgo = 30.0
-  cs.gearShifter = car.CarState.GearShifter.drive
-  cs.standstill = False
-  cs.steeringPressed = False
-  cs.gasPressed = False
-
-  ss = log.SelfdriveState.new_message()
-  ss.enabled = enabled_state
-
-  cc = car.CarControl.new_message()
-  cc.latActive = lat_active_state
-
-  mv2 = log.ModelDataV2.new_message()
-  mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
-
-  lc = log.LiveCalibrationData.new_message()
-  lc.rpyCalib = [0.0, 0.0, 0.0]
-
-  ds = make_msg(False)
-
-  sm = {
-      'carState': cs,
-      'selfdriveState': ss,
-      'carControl': cc,
-      'modelV2': mv2,
-      'liveCalibration': lc,
-      'driverStateV2': ds
-  }
-
-  driver_monitoring = DriverMonitoring()
-
-  # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
-  captured_args = []
-  original_update_events = driver_monitoring._update_events
-
-  def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-      captured_args.append(op_engaged)
-      return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
-
-  driver_monitoring._update_events = spy_update_events
-
-  driver_monitoring.run_step(sm, demo=False)
-
-  # Assertion
-  assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
-  actual_enabled = captured_args[0]
-
-  assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
-

selfdrive/pandad/pandad.py

@@ -99,6 +99,11 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 60.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:

selfdrive/pandad/tests/test_pandad.py

@@ -21,6 +21,8 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -92,12 +94,14 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
 
-  def test_old_spi_protocol(self):
-    # flash firmware with old SPI protocol
-    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
-    self._run_test(45)
+  def test_protocol_version_check(self):
+    if not self.spi:
+      pytest.skip("SPI test")
+    # flash old fw
+    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
+    self._flash_bootstub_and_test(fn, expect_mismatch=True)
 
   def test_release_to_devel_bootstub(self):
     self._flash_bootstub(None)

selfdrive/pandad/tests/test_pandad_spi.py

@@ -6,6 +6,7 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:

selfdrive/selfdrived/alerts_offroad.json

@@ -29,6 +29,10 @@
     "text": "Failed to register with comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
   "Offroad_CarUnrecognized": {
     "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0

selfdrive/selfdrived/selfdrived.py

@@ -21,6 +21,7 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware import HARDWARE
 
@@ -143,7 +144,14 @@ class SelfdriveD(CruiseHelper):
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    self.ignored_processes = {'mapd', }
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
+      self.ignored_processes = {'loggerd', }
+
+    self.ignored_processes.update({'mapd'})
 
     # Determine startup event
     is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote

selfdrive/ui/layouts/onboarding.py

@@ -11,9 +11,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.version import terms_version, training_version, terms_version_sp
-
-from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkOnboarding
+from openpilot.system.version import terms_version, training_version
 
 DEBUG = False
 
@@ -35,7 +33,6 @@ class OnboardingState(IntEnum):
   TERMS = 0
   ONBOARDING = 1
   DECLINE = 2
-  SUNNYLINK_CONSENT = 3
 
 
 class TrainingGuide(Widget):
@@ -113,14 +110,14 @@ class TermsPage(Widget):
     self._on_decline = on_decline
 
     self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
+    self._desc = Label(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
     self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
 
   def _render(self, _):
-    welcome_x = self._rect.x + 95
+    welcome_x = self._rect.x + 165
     welcome_y = self._rect.y + 165
     welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
     self._title.render(welcome_rect)
@@ -146,7 +143,7 @@ class TermsPage(Widget):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
+    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
     self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
@@ -183,21 +180,9 @@ class OnboardingWindow(Widget):
     self._training_guide: TrainingGuide | None = None
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
-    # sunnylink consent pages
-    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
-    self._sunnylink = SunnylinkOnboarding()
-    if not self._accepted_terms:
-      self._state = OnboardingState.TERMS
-    elif not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self._state = OnboardingState.ONBOARDING
-
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._sunnylink.completed and self._training_done
+    return self._accepted_terms and self._training_done
 
   def _on_terms_declined(self):
     self._state = OnboardingState.DECLINE
@@ -207,12 +192,8 @@ class OnboardingWindow(Widget):
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
-    if not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
+    self._state = OnboardingState.ONBOARDING
+    if self._training_done:
       gui_app.set_modal_overlay(None)
 
   def _on_completed_training(self):
@@ -225,18 +206,8 @@ class OnboardingWindow(Widget):
 
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
-    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
-      self._sunnylink.render(self._rect)
-      if self._sunnylink.completed:
-        if not self._training_done:
-          self._state = OnboardingState.ONBOARDING
-        else:
-          gui_app.set_modal_overlay(None)
-    elif self._state == OnboardingState.ONBOARDING:
-      if not self._training_done:
-        self._training_guide.render(self._rect)
-      else:
-        gui_app.set_modal_overlay(None)
+    if self._state == OnboardingState.ONBOARDING:
+      self._training_guide.render(self._rect)
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1

selfdrive/ui/layouts/sidebar.py

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

selfdrive/ui/mici/layouts/home.py

@@ -109,7 +109,7 @@ class MiciHomeLayout(Widget):
     self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
     self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
 
-    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
+    self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)

selfdrive/ui/mici/layouts/main.py

@@ -11,9 +11,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-
 
 ONROAD_DELAY = 2.5  # seconds
 

selfdrive/ui/mici/layouts/onboarding.py

@@ -17,16 +17,13 @@ from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.version import terms_version, training_version, terms_version_sp
-
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding
+from openpilot.system.version import terms_version, training_version
 
 
 class OnboardingState(IntEnum):
   TERMS = 0
   ONBOARDING = 1
   DECLINE = 2
-  SUNNYLINK_CONSENT = 3
 
 
 class DriverCameraSetupDialog(DriverCameraDialog):
@@ -415,10 +412,10 @@ class TermsPage(SetupTermsPage):
     super().__init__(on_accept, on_decline, "decline")
 
     info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms of service", info_txt)
+    self._title_header = TermsHeader("terms & conditions", info_txt)
 
-    self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " +
-                                     "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36,
+    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
+                                     "Read the latest terms at https://comma.ai/terms before continuing.", 36,
                                      FontWeight.ROMAN)
 
   @property
@@ -452,18 +449,6 @@ class OnboardingWindow(Widget):
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
-    # sunnylink consent pages
-    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
-    self._sunnylink = SunnylinkOnboarding()
-    if not self._accepted_terms:
-      self._state = OnboardingState.TERMS
-    elif not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self._state = OnboardingState.ONBOARDING
-
   def show_event(self):
     super().show_event()
     device.set_override_interactive_timeout(300)
@@ -474,7 +459,7 @@ class OnboardingWindow(Widget):
 
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._sunnylink.completed and self._training_done
+    return self._accepted_terms and self._training_done
 
   def _on_terms_declined(self):
     self._state = OnboardingState.DECLINE
@@ -488,13 +473,7 @@ class OnboardingWindow(Widget):
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
-    if not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self.close()
+    self._state = OnboardingState.ONBOARDING
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
@@ -503,18 +482,8 @@ class OnboardingWindow(Widget):
   def _render(self, _):
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
-    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
-      self._sunnylink.render(self._rect)
-      if self._sunnylink.completed:
-        if not self._training_done:
-          self._state = OnboardingState.ONBOARDING
-        else:
-          self.close()
     elif self._state == OnboardingState.ONBOARDING:
-      if not self._training_done:
-        self._training_guide.render(self._rect)
-      else:
-        self.close()
+      self._training_guide.render(self._rect)
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1

selfdrive/ui/mici/onroad/confidence_ball.py

@@ -6,8 +6,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.filter_simple import FirstOrderFilter
 
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP
-
 
 def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                          top: rl.Color, bottom: rl.Color) -> None:
@@ -23,10 +21,9 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                20, rl.BLACK)
 
 
-class ConfidenceBall(Widget, ConfidenceBallSP):
+class ConfidenceBall(Widget):
   def __init__(self, demo: bool = False):
-    Widget.__init__(self)
-    ConfidenceBallSP.__init__(self)
+    super().__init__()
     self._demo = demo
     self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
 
@@ -40,8 +37,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
     # animate status dot in from bottom
     if ui_state.status == UIStatus.DISENGAGED:
       self._confidence_filter.update(-0.5)
-    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
-      self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1]))
     else:
       self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) *
                                                         (1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1])))
@@ -70,9 +65,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
         top_dot_color = rl.Color(255, 0, 21, 255)
         bottom_dot_color = rl.Color(255, 0, 89, 255)
 
-    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
-      top_dot_color = bottom_dot_color = self.get_lat_long_dot_color()
-
     elif ui_state.status == UIStatus.OVERRIDE:
       top_dot_color = rl.Color(255, 255, 255, 255)
       bottom_dot_color = rl.Color(82, 82, 82, 255)

selfdrive/ui/mici/onroad/model_renderer.py

@@ -12,8 +12,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP
-
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -34,7 +32,6 @@ LANE_LINE_COLORS = {
   UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
   UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
   UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
-  **LANE_LINE_COLORS_SP,
 }
 
 
@@ -80,9 +77,6 @@ class ModelRenderer(Widget):
     self._transform_dirty = True
     self._clip_region = None
 
-    self._counter = -1
-    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
-
     self._exp_gradient = Gradient(
       start=(0.0, 1.0),  # Bottom of path
       end=(0.0, 0.0),  # Top of path
@@ -102,10 +96,6 @@ class ModelRenderer(Widget):
   def _render(self, rect: rl.Rectangle):
     sm = ui_state.sm
 
-    if self._counter % 180 == 0:  # This runs at 60fps, so we query every 3 seconds
-      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
-    self._counter += 1
-
     self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
     # Check if data is up-to-date
@@ -157,13 +147,13 @@ class ModelRenderer(Widget):
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
-    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
+    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
 
     for i, lane_line in enumerate(model.laneLines):
-      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
+      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
 
     for i, road_edge in enumerate(model.roadEdges):
-      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
+      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
 
     self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
@@ -181,7 +171,7 @@ class ModelRenderer(Widget):
 
         # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
+        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
         if point:
           self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
 

selfdrive/ui/mici/onroad/torque_bar.py

@@ -185,13 +185,13 @@ class TorqueBar(Widget):
 
     # animate alpha and angle span
     if not self._demo:
-      self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY))
+      self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
     else:
       self._torque_line_alpha_filter.update(1.0)
 
     torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
     torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
-    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
+    if ui_state.status != UIStatus.ENGAGED and not self._demo:
       torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
 
     # draw curved line polygon torque bar
@@ -234,7 +234,7 @@ class TorqueBar(Widget):
       max(0, abs(self._torque_filter.x) - 0.75) * 4,
     )
 
-    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
+    if ui_state.status != UIStatus.ENGAGED and not self._demo:
       start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
 
     gradient = Gradient(

selfdrive/ui/onroad/augmented_road_view.py

@@ -16,9 +16,6 @@ from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
-  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
-
-from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
 
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
@@ -30,7 +27,6 @@ BORDER_COLORS = {
   UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF),  # Blue for disengaged state
   UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF),  # Gray for override state
   UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF),  # Green for engaged state
-  **BORDER_COLORS_SP,
 }
 
 WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)

selfdrive/ui/onroad/model_renderer.py

@@ -11,8 +11,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
-
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -43,11 +41,9 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
+class ModelRenderer(Widget):
   def __init__(self):
-    Widget.__init__(self)
-    ChevronMetrics.__init__(self)
-    ModelRendererSP.__init__(self)
+    super().__init__()
     self._longitudinal_control = False
     self._experimental_mode = False
     self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
@@ -56,8 +52,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
     self._path_offset_z = HEIGHT_INIT[0]
-    self._counter = -1
-    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+
     # Initialize ModelPoints objects
     self._path = ModelPoints()
     self._lane_lines = [ModelPoints() for _ in range(4)]
@@ -104,10 +99,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     live_calib = sm['liveCalibration']
     self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
 
-    if self._counter % 60 == 0:
-      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
-    self._counter += 1
-
     if sm.updated['carParams']:
       self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
 
@@ -137,17 +128,16 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
-      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
-    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
+    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
 
     for i, lane_line in enumerate(model.laneLines):
-      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
+      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
 
     for i, road_edge in enumerate(model.roadEdges):
-      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
+      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
 
     self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
@@ -165,7 +155,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
 
         # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
+        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
         if point:
           self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
 
@@ -291,10 +281,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
-    if ui_state.rainbow_path:
-      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
-      return
-
     if self._experimental_mode:
       # Draw with acceleration coloring
       if len(self._exp_gradient.colors) > 1:

selfdrive/ui/soundd.py

@@ -27,7 +27,7 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
-if HARDWARE.get_device_type() == "tizi":
+if HARDWARE.get_device_type() in ("tizi", "tici"):
   VOLUME_BASE = 10
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -55,7 +55,7 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   **sound_list_sp,
 }
-if HARDWARE.get_device_type() == "tizi":
+if HARDWARE.get_device_type() in ("tizi", "tici"):
   sound_list.update({
     AudibleAlert.engage: ("engage_tizi.wav", 1, MAX_VOLUME),
     AudibleAlert.disengage: ("disengage_tizi.wav", 1, MAX_VOLUME),

selfdrive/ui/sunnypilot/layouts/onboarding.py

@@ -1,116 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import Label
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
-
-
-class SunnylinkConsentPage(Widget):
-  def __init__(self, done_callback=None):
-    super().__init__()
-    self._done_callback = done_callback
-    self._step = 0
-
-    self._title = Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-
-    self._content = [
-      {
-        "text": tr("sunnylink enables secured remote access to your comma device from anywhere, " +
-                   "including settings management, remote monitoring, real-time dashboard, etc."),
-        "primary_btn": tr("Enable"),
-        "secondary_btn": tr("Disable"),
-        "highlight_primary": True
-      },
-      {
-        "text": tr("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
-                   "If sunnylink is disabled, features such as settings management, remote monitoring, " +
-                   "real-time dashboards will be unavailable."),
-        "secondary_btn": tr("Back"),
-        "danger_btn": tr("Disable"),
-        "highlight_primary": True
-      }
-    ]
-
-    self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable"))
-    self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary"))
-    self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable"))
-
-  def _handle_choice(self, choice):
-    if choice == "enable":
-      ui_state.params.put_bool("SunnylinkEnabled", True)
-      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-      if self._done_callback:
-        self._done_callback()
-    elif choice == "secondary":
-      if self._step == 0:
-        self._step = 1
-      elif self._step == 1:
-        self._step = 0
-    elif choice == "disable":
-      ui_state.params.put_bool("SunnylinkEnabled", False)
-      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
-      if self._done_callback:
-        self._done_callback()
-
-  def _render(self, _):
-    step_data = self._content[self._step]
-
-    welcome_x = self._rect.x + 95
-    welcome_y = self._rect.y + 165
-    welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
-    self._title.render(welcome_rect)
-
-    desc_x = welcome_x
-    desc_y = welcome_y + 120
-    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
-
-    desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    desc_label.render(desc_rect)
-
-    btn_y = self._rect.y + self._rect.height - 160 - 45
-
-    if "danger_btn" in step_data:
-      btn_width = (self._rect.width - 45 * 3) / 2
-
-      self._secondary_btn.set_text(step_data["secondary_btn"])
-      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
-
-      self._danger_btn.set_text(step_data["danger_btn"])
-      self._danger_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
-
-    else:
-      btn_width = (self._rect.width - 45 * 3) / 2
-
-      self._secondary_btn.set_text(step_data["secondary_btn"])
-      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
-
-      self._primary_btn.set_text(step_data["primary_btn"])
-      self._primary_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
-
-    return -1
-
-
-class SunnylinkOnboarding:
-  def __init__(self):
-    self.consent_page = SunnylinkConsentPage(done_callback=self._on_done)
-    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
-
-  @property
-  def completed(self) -> bool:
-    return self.consent_done
-
-  def _on_done(self):
-    self.consent_done = True
-
-  def render(self, rect):
-    if not self.consent_done:
-      self.consent_page.render(rect)

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

@@ -5,216 +5,8 @@ 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 openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, multiple_button_item_sp, button_item_sp, \
-  dual_button_item_sp, Spacer
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.button import ButtonStyle
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.list_view import text_item
-from openpilot.system.ui.widgets.scroller_tici import LineSeparator
-
-offroad_time_options = {
-  0: 0,
-  1: 5,
-  2: 10,
-  3: 15,
-  4: 30,
-  5: 60,
-  6: 120,
-  7: 180,
-  8: 300,
-  9: 600,
-  10: 1440,
-  11: 1800,
-}
 
 
 class DeviceLayoutSP(DeviceLayout):
   def __init__(self):
     DeviceLayout.__init__(self)
-    self._scroller._line_separator = None
-
-  def _initialize_items(self):
-    DeviceLayout._initialize_items(self)
-
-    # Using dual button with no right button for better alignment
-    self._always_offroad_btn = dual_button_item_sp(
-      left_text=lambda: tr("Enable Always Offroad"),
-      left_callback=self._handle_always_offroad,
-      right_text="",
-      right_callback=None,
-    )
-    self._always_offroad_btn.action_item.right_button.set_visible(False)
-
-    self._max_time_offroad = option_item_sp(
-      title=lambda: tr("Max Time Offroad"),
-      description=lambda: tr("Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)"),
-      param="MaxTimeOffroad",
-      min_value=0,
-      max_value=11,
-      value_change_step=1,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=offroad_time_options,
-      label_width=360,
-      use_float_scaling=False,
-      inline=True,
-      label_callback=self._update_max_time_offroad_label
-    )
-
-    self._device_wake_mode = multiple_button_item_sp(
-      title=lambda: tr("Wake Up Behavior"),
-      description=self.wake_mode_description,
-      param="DeviceBootMode",
-      buttons=[lambda: tr("Default"), lambda: tr("Offroad")],
-      button_width=364,
-      callback=None,
-      inline=True,
-    )
-
-    self._quiet_mode_and_dcam = dual_button_item_sp(
-      left_text=lambda: tr("Quiet Mode"),
-      right_text=lambda: tr("Driver Camera Preview"),
-      left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")),
-      right_callback=self._show_driver_camera
-    )
-    self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
-
-    self._reg_and_training = dual_button_item_sp(
-      left_text=lambda: tr("Regulatory"),
-      left_callback=self._on_regulatory,
-      right_text=lambda: tr("Training Guide"),
-      right_callback=self._on_review_training_guide
-    )
-    self._reg_and_training.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
-
-    self._onroad_uploads_and_reset_settings = dual_button_item_sp(
-      left_text=lambda: tr("Onroad Uploads"),
-      left_callback=lambda: ui_state.params.put_bool("OnroadUploads", not ui_state.params.get_bool("OnroadUploads")),
-      right_text=lambda: tr("Reset Settings"),
-      right_callback=self._reset_settings
-    )
-
-    self._power_buttons = dual_button_item_sp(
-      left_text=lambda: tr("Reboot"),
-      right_text=lambda: tr("Power Off"),
-      left_callback=self._reboot_prompt,
-      right_callback=self._power_off_prompt
-    )
-
-    items = [
-      text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
-      LineSeparator(),
-      text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
-      LineSeparator(),
-      self._pair_device_btn,
-      LineSeparator(),
-      self._reset_calib_btn,
-      LineSeparator(),
-      button_item_sp(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
-      LineSeparator(),
-      self._device_wake_mode,
-      LineSeparator(),
-      self._max_time_offroad,
-      LineSeparator(height=10),
-      self._quiet_mode_and_dcam,
-      self._reg_and_training,
-      self._onroad_uploads_and_reset_settings,
-      Spacer(10),
-      LineSeparator(height=10),
-      self._power_buttons,
-    ]
-
-    return items
-
-  def _offroad_transition(self):
-    self._power_buttons.action_item.right_button.set_visible(ui_state.is_offroad())
-
-  @staticmethod
-  def wake_mode_description() -> str:
-    def_str = tr("Default: Device will boot/wake-up normally & will be ready to engage.")
-    offrd_str = tr("Offroad: Device will be in Always Offroad mode after boot/wake-up.")
-    header = tr("Controls state of the device after boot/sleep.")
-
-    return f"{header}\n\n{def_str}\n{offrd_str}"
-
-  @staticmethod
-  def _reset_settings():
-    def _do_reset(result: int):
-      if result == DialogResult.CONFIRM:
-        for _key in ui_state.params.all_keys():
-          ui_state.params.remove(_key)
-        HARDWARE.reboot()
-
-    def _second_confirm(result: int):
-      if result == DialogResult.CONFIRM:
-        gui_app.set_modal_overlay(ConfirmDialog(
-          text=tr("The reset cannot be undone. You have been warned."),
-          confirm_text=tr("Confirm")
-        ), callback=_do_reset)
-
-    gui_app.set_modal_overlay(ConfirmDialog(
-      text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."),
-      confirm_text=tr("Reset")
-    ), callback=_second_confirm)
-
-  @staticmethod
-  def _handle_always_offroad():
-    if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
-      return
-
-    _offroad_mode_state = ui_state.params.get_bool("OffroadMode")
-    _offroad_mode_str = tr("Are you sure you want to exit Always Offroad mode?") if _offroad_mode_state else \
-                        tr("Are you sure you want to enter Always Offroad mode?")
-
-    def _set_always_offroad(result: int):
-      if result == DialogResult.CONFIRM and not ui_state.engaged:
-        ui_state.params.put_bool("OffroadMode", not _offroad_mode_state)
-
-    gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result))
-
-  @staticmethod
-  def _update_max_time_offroad_label(value: int) -> str:
-    label = tr("Always On") if value == 0 else f"{value}" + tr("m") if value < 60 else f"{value // 60}" + tr("h")
-    label += tr(" (Default)") if value == 1800 else ""
-    return label
-
-  def _update_state(self):
-    super()._update_state()
-
-    # Handle Always Offroad button
-    always_offroad = ui_state.params.get_bool("OffroadMode")
-
-    # Text & Color
-    offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad")
-    offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER
-    self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text)
-    self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style)
-
-    # Position
-    if self._scroller._items.__contains__(self._always_offroad_btn):
-      self._scroller._items.remove(self._always_offroad_btn)
-    if ui_state.is_offroad() and not always_offroad:
-      self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn)
-    else:
-      self._scroller._items.insert(0, self._always_offroad_btn)
-
-    # Quiet Mode button
-    self._quiet_mode_and_dcam.action_item.left_button.set_button_style(ButtonStyle.PRIMARY if ui_state.params.get_bool("QuietMode") else ButtonStyle.NORMAL)
-
-    # Onroad Uploads
-    self._onroad_uploads_and_reset_settings.action_item.left_button.set_button_style(
-      ButtonStyle.PRIMARY if ui_state.params.get_bool("OnroadUploads") else ButtonStyle.NORMAL
-    )
-
-    # Offroad only buttons
-    self._quiet_mode_and_dcam.action_item.right_button.set_enabled(ui_state.is_offroad())
-    self._reg_and_training.action_item.left_button.set_enabled(ui_state.is_offroad())
-    self._reg_and_training.action_item.right_button.set_enabled(ui_state.is_offroad())
-    self._onroad_uploads_and_reset_settings.action_item.right_button.set_enabled(ui_state.is_offroad())

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

@@ -9,28 +9,28 @@ from enum import IntEnum
 
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.multilang import tr_noop
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
 
 # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
 

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

@@ -4,23 +4,23 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import pyray as rl
 from cereal import custom
-from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
-from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.list_view import dual_button_item
+from openpilot.system.ui.widgets.list_view import button_item, dual_button_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.version import sunnylink_consent_version
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+import pyray as rl
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
 
 
 class SunnylinkHeader(Widget):
@@ -160,14 +160,14 @@ class SunnylinkLayout(Widget):
     self._sunnylink_description = SunnylinkDescriptionItem()
     self._sunnylink_description.set_visible(False)
 
-    self._sponsor_btn = button_item_sp(
+    self._sponsor_btn = button_item(
       title=tr("Sponsor Status"),
       button_text=tr("SPONSOR"),
       description=tr(
         "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
       callback=lambda: self._handle_pair_btn(False)
     )
-    self._pair_btn = button_item_sp(
+    self._pair_btn = button_item(
       title=tr("Pair GitHub Account"),
       button_text=tr("Not Paired"),
       description=tr(
@@ -209,8 +209,8 @@ class SunnylinkLayout(Widget):
     return items
 
   @staticmethod
-  def _get_sunnylink_dongle_id() -> str:
-    return ui_state.params.get("SunnylinkDongleId") or tr("N/A")
+  def _get_sunnylink_dongle_id() -> str | None:
+    return str(ui_state.params.get("SunnylinkDongleId") or (lambda: tr("N/A")))
 
   def _handle_pair_btn(self, sponsor_pairing: bool = False):
     sunnylink_dongle_id = self._get_sunnylink_dongle_id()
@@ -302,22 +302,6 @@ class SunnylinkLayout(Widget):
       self._restore_btn.set_text(tr("Restore Settings"))
 
   def _sunnylink_toggle_callback(self, state: bool):
-    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
-    sl_enabled: bool = ui_state.params.get_bool("SunnylinkEnabled")
-
-    if state and not sl_consent and not sl_enabled:
-      def on_consent_done():
-        enabled = ui_state.params.get_bool("SunnylinkEnabled")
-        self._update_description(enabled)
-        gui_app.set_modal_overlay(None)
-
-      sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done)
-      gui_app.set_modal_overlay(sl_terms_dlg)
-    else:
-      ui_state.params.put_bool("SunnylinkEnabled", state)
-      self._update_description(state)
-
-  def _update_description(self, state: bool):
     if state:
       description = tr(
         "Welcome back!! We're excited to see you've enabled sunnylink again!")

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

@@ -23,7 +23,7 @@ class VehicleLayout(Widget):
     self._current_brand = None
     self._platform_selector = PlatformSelector(self._update_brand_settings)
 
-    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("SELECT")),
+    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("Select")),
                                     callback=self._platform_selector._on_clicked)
     self._vehicle_item.title_color = self._platform_selector.color
     self._legend_widget = LegendWidget(self._platform_selector)
@@ -42,7 +42,7 @@ class VehicleLayout(Widget):
   def _update_brand_settings(self):
     self._vehicle_item._title = self._platform_selector.text
     self._vehicle_item.title_color = self._platform_selector.color
-    vehicle_text = tr("REMOVE") if ui_state.params.get("CarPlatformBundle") else tr("SELECT")
+    vehicle_text = tr("Remove") if ui_state.params.get("CarPlatformBundle") else tr("Select")
     self._vehicle_item.action_item.set_text(vehicle_text)
 
     brand = self.get_brand()

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

@@ -5,55 +5,11 @@ 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 openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-
-
-DESCRIPTIONS = {
-  'enforce_stock_longitudinal': tr_noop(
-    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
-  ),
-}
 
 
 class ToyotaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
-    self.enforce_stock_longitudinal = toggle_item_sp(
-      lambda: tr("Enforce Factory Longitudinal Control"),
-      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
-      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
-      callback=self._on_enable_enforce_stock_longitudinal,
-      enabled=lambda: not ui_state.engaged,
-    )
-
-    self.items = [self.enforce_stock_longitudinal, ]
-
-  def _on_enable_enforce_stock_longitudinal(self, state: bool):
-    if state:
-      def confirm_callback(result: int):
-        if result == DialogResult.CONFIRM:
-          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
-          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
-            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
-          ui_state.params.put_bool("OnroadCycleRequested", True)
-        else:
-          self.enforce_stock_longitudinal.action_item.set_state(False)
-
-      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
-                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
-
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
-
-    else:
-      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
-      ui_state.params.put_bool("OnroadCycleRequested", True)
-
   def update_settings(self):
     pass

selfdrive/ui/sunnypilot/layouts/sidebar.py

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

selfdrive/ui/sunnypilot/mici/layouts/onboarding.py

@@ -1,97 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
-from openpilot.selfdrive.ui.ui_state import ui_state
-
-
-class SunnylinkConsentPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None, left_text: str = "disable", right_text: str = "enable"):
-    super().__init__(on_accept, on_decline, left_text, continue_text=right_text)
-
-    self._title_header = TermsHeader("sunnylink",
-                                     gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 66, 60))
-
-    self._terms_label = UnifiedLabel("sunnylink enables secured remote access to your comma device from anywhere, " +
-                                     "including settings management, remote monitoring, real-time dashboard, etc.",
-                                     36, FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render(self, _):
-    super()._render(_)
-    return -1
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
-
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
-
-
-class SunnylinkConsentDisableConfirmPage(SunnylinkConsentPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept=on_decline, on_decline=on_accept, left_text="enable", right_text="disable")
-
-    # we flip the continue & disable buttons to use slider for disable
-    self._continue_slider = True
-    self._continue_button = SmallSlider("disable", confirm_callback=on_decline)
-    self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
-
-    self._title_header = TermsHeader("disable sunnylink?",
-                                     gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
-
-    self._terms_label = UnifiedLabel("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
-                                     "If sunnylink is disabled, features such as settings management, " +
-                                     "remote monitoring, real-time dashboards will be unavailable.",
-                                     36, FontWeight.ROMAN)
-
-
-class SunnylinkOnboarding:
-  def __init__(self):
-    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
-    self.disable_confirm = False
-
-    self.consent_page = SunnylinkConsentPage(on_decline=self._on_decline, on_accept=self._on_accept)
-    self.confirm_page = SunnylinkConsentDisableConfirmPage(on_decline=self._on_confirm_decline, on_accept=self._on_accept)
-
-  @property
-  def completed(self) -> bool:
-    return self.consent_done
-
-  def _on_accept(self):
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-    ui_state.params.put_bool("SunnylinkEnabled", True)
-    self.consent_done = True
-
-  def _on_decline(self):
-    self.disable_confirm = True
-
-  def _on_confirm_decline(self):
-    ui_state.params.put_bool("SunnylinkEnabled", False)
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
-    self.consent_done = True
-
-  def render(self, rect):
-    if self.consent_done:
-      return
-
-    if self.disable_confirm:
-      self.confirm_page.render(rect)
-    else:
-      self.consent_page.render(rect)

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

@@ -1,39 +0,0 @@
-"""
-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 enum import IntEnum
-
-from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
-
-ICON_SIZE = 70
-
-OP.PanelType = IntEnum(  # type: ignore
-  "PanelType",
-  [es.name for es in OP.PanelType] + [
-    "SUNNYLINK",
-  ],
-  start=0,
-)
-
-
-class SettingsLayoutSP(OP.SettingsLayout):
-  def __init__(self):
-    OP.SettingsLayout.__init__(self)
-
-    sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
-    sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK))
-    self._panels.update({
-      OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-    })
-
-    items = self._scroller._items.copy()
-
-    items.insert(1, sunnylink_btn)
-    self._scroller._items.clear()
-    for item in items:
-      self._scroller.add_widget(item)

selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py

@@ -1,211 +0,0 @@
-"""
-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 cereal import custom
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
-from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.application import gui_app, MousePos
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
-
-
-class SunnylinkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-    self.set_back_callback(back_callback)
-    self._restore_in_progress = False
-    self._backup_in_progress = False
-    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
-
-    self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"),
-                                       initial_state=self._sunnylink_enabled,
-                                       toggle_callback=self._sunnylink_toggle_callback)
-    self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
-    self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
-    self._backup_btn = BigButton(tr("backup settings"), "", "")
-    self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False))
-    self._restore_btn = BigButton(tr("restore settings"), "", "")
-    self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
-    self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
-                                                toggle_callback=self._sunnylink_uploader_callback)
-
-    self._scroller = Scroller([
-      self._sunnylink_toggle,
-      self._sunnylink_sponsor_button,
-      self._sunnylink_pair_button,
-      self._backup_btn,
-      self._restore_btn,
-      self._sunnylink_uploader_toggle
-    ], snap_items=False)
-
-  def _update_state(self):
-    super()._update_state()
-    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
-    self._sunnylink_toggle.set_checked(self._sunnylink_enabled)
-    self._sunnylink_pair_button.set_visible(self._sunnylink_enabled)
-    self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled)
-    self._backup_btn.set_visible(self._sunnylink_enabled)
-    self._restore_btn.set_visible(self._sunnylink_enabled)
-    self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
-    self.handle_backup_restore_progress()
-
-    if ui_state.sunnylink_state.is_sponsor():
-      self._sunnylink_sponsor_button.set_text(tr("thanks"))
-      self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
-      self._sunnylink_sponsor_button.set_enabled(False)
-    else:
-      self._sunnylink_sponsor_button.set_text(tr("sponsor"))
-      self._sunnylink_sponsor_button.set_value("")
-
-    if ui_state.sunnylink_state.is_paired():
-      self._sunnylink_pair_button.set_text(tr("paired"))
-    else:
-      self._sunnylink_pair_button.set_text(tr("pair"))
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-    ui_state.update_params()
-
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
-
-  @staticmethod
-  def _sunnylink_toggle_callback(state: bool):
-    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
-    sl_enabled: bool = ui_state.params.get("SunnylinkEnabled")
-
-    def sl_terms_accepted():
-      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-      ui_state.params.put_bool("SunnylinkEnabled", True)
-      gui_app.set_modal_overlay(None)
-
-    def sl_terms_declined():
-      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
-      ui_state.params.put_bool("SunnylinkEnabled", False)
-      gui_app.set_modal_overlay(None)
-
-    if state and not sl_consent and not sl_enabled:
-      sl_terms_dlg = SunnylinkConsentPage(on_accept=sl_terms_accepted, on_decline=sl_terms_declined)
-      gui_app.set_modal_overlay(sl_terms_dlg)
-    else:
-      ui_state.params.put_bool("SunnylinkEnabled", state)
-
-    ui_state.update_params()
-
-  @staticmethod
-  def _sunnylink_uploader_callback(state: bool):
-    ui_state.params.put_bool("EnableSunnylinkUploader", state)
-
-  def _handle_backup_restore_btn(self, restore: bool = False):
-    lbl = tr("slide to restore") if restore else tr("slide to backup")
-    icon = "icons_mici/settings/device/update.png"
-    dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
-    gui_app.set_modal_overlay(dlg)
-
-  def _backup_handler(self):
-    self._backup_in_progress = True
-    self._backup_btn.set_enabled(False)
-    ui_state.params.put_bool("BackupManager_CreateBackup", True)
-
-  def _restore_handler(self):
-    self._restore_in_progress = True
-    self._restore_btn.set_enabled(False)
-    ui_state.params.put("BackupManager_RestoreVersion", "latest")
-
-  def handle_backup_restore_progress(self):
-    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
-
-    backup_status = sunnylink_backup_manager.backupStatus
-    restore_status = sunnylink_backup_manager.restoreStatus
-    backup_progress = sunnylink_backup_manager.backupProgress
-    restore_progress = sunnylink_backup_manager.restoreProgress
-
-    if self._backup_in_progress:
-      self._restore_btn.set_enabled(False)
-      self._backup_btn.set_enabled(False)
-
-      if backup_status == custom.BackupManagerSP.Status.inProgress:
-        self._backup_in_progress = True
-        self._backup_btn.set_text(tr("backing up"))
-        text = tr(f"{backup_progress}%")
-        self._backup_btn.set_value(text)
-
-      elif backup_status == custom.BackupManagerSP.Status.failed:
-        self._backup_in_progress = False
-        self._backup_btn.set_enabled(not ui_state.is_onroad())
-        self._backup_btn.set_text(tr("backup"))
-        self._backup_btn.set_value(tr("failed"))
-
-      elif (backup_status == custom.BackupManagerSP.Status.completed or
-            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
-        self._backup_in_progress = False
-        gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description=""))
-        self._backup_btn.set_enabled(not ui_state.is_onroad())
-
-    elif self._restore_in_progress:
-      self._restore_btn.set_enabled(False)
-      self._backup_btn.set_enabled(False)
-
-      if restore_status == custom.BackupManagerSP.Status.inProgress:
-        self._restore_in_progress = True
-        self._restore_btn.set_text(tr("restoring"))
-        text = tr(f"{restore_progress}%")
-        self._restore_btn.set_value(text)
-
-      elif restore_status == custom.BackupManagerSP.Status.failed:
-        self._restore_in_progress = False
-        self._restore_btn.set_enabled(not ui_state.is_onroad())
-        self._restore_btn.set_text(tr("restore"))
-        self._restore_btn.set_value(tr("failed"))
-        gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later."))
-
-      elif (restore_status == custom.BackupManagerSP.Status.completed or
-            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
-        self._restore_in_progress = False
-        gui_app.set_modal_overlay(BigConfirmationDialogV2(
-          title="slide to restart", icon="icons_mici/settings/device/reboot.png",
-          confirm_callback=lambda: gui_app.request_close()))
-
-    else:
-      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
-      self._backup_btn.set_enabled(can_enable)
-      self._backup_btn.set_text(tr("backup settings"))
-      self._backup_btn.set_value("")
-      self._restore_btn.set_enabled(can_enable)
-      self._restore_btn.set_text(tr("restore settings"))
-      self._restore_btn.set_value("")
-
-
-class SunnylinkPairBigButton(BigButton):
-  def __init__(self, sponsor_pairing: bool = False):
-    self.sponsor_pairing = sponsor_pairing
-    super().__init__("", "", "")
-
-  def _update_state(self):
-    super()._update_state()
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    dlg: BigDialog | SunnylinkPairingDialog | None = None
-    if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
-      dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
-    elif self.sponsor_pairing:
-      dlg = SunnylinkPairingDialog(sponsor_pairing=True)
-    elif not self.sponsor_pairing:
-      dlg = SunnylinkPairingDialog(sponsor_pairing=False)
-    if dlg:
-      gui_app.set_modal_overlay(dlg)

selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py

@@ -1,26 +0,0 @@
-"""
-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 openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
-from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
-
-
-class ConfidenceBallSP:
-  @staticmethod
-  def get_animate_status_probs():
-    if ui_state.status == UIStatus.LAT_ONLY:
-      return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs
-
-    # UIStatus.LONG_ONLY
-    return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs
-
-  @staticmethod
-  def get_lat_long_dot_color():
-    if ui_state.status == UIStatus.LAT_ONLY:
-      return BORDER_COLORS[UIStatus.LAT_ONLY]
-
-    # UIStatus.LONG_ONLY
-    return BORDER_COLORS[UIStatus.LONG_ONLY]

selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py

@@ -1,13 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-from openpilot.selfdrive.ui.ui_state import UIStatus
-
-LANE_LINE_COLORS_SP = {
-  UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
-  UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255),
-}

selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py

@@ -1,57 +0,0 @@
-"""
-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 base64
-
-import pyray as rl
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
-from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.widgets.label import MiciLabel
-
-
-class SunnylinkPairingDialog(PairingDialog):
-  """Dialog for device pairing with QR code."""
-
-  def __init__(self, sponsor_pairing: bool = False):
-    PairingDialog.__init__(self)
-    self._sponsor_pairing = sponsor_pairing
-    label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
-    self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD,
-                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
-
-  def _get_pairing_url(self) -> str:
-    qr_string = "https://github.com/sponsors/sunnyhaibin"
-
-    if self._sponsor_pairing:
-      try:
-        sl_dongle_id = self._params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
-        token = SunnylinkApi(sl_dongle_id).get_token()
-        inner_string = f"1|{sl_dongle_id}|{token}"
-        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
-        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
-      except Exception:
-        cloudlog.exception("Failed to get pairing token")
-
-    return qr_string
-
-  def _update_state(self):
-    NavWidget._update_state(self)
-
-
-if __name__ == "__main__":
-  gui_app.init_window("pairing device")
-  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
-  try:
-    for _ in gui_app.render():
-      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-      if result != -1:
-        break
-  finally:
-    del pairing

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -1,13 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-from openpilot.selfdrive.ui.ui_state import UIStatus
-
-BORDER_COLORS_SP = {
-  UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
-  UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF),  # Purple for longitudinal-only state
-}

selfdrive/ui/sunnypilot/onroad/chevron_metrics.py

@@ -1,147 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import numpy as np
-
-import pyray as rl
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-
-
-class ChevronOptions:
-  OFF = 0
-  DISTANCE_ONLY = 1
-  SPEED_ONLY = 2
-  TTC_ONLY = 3
-  ALL = 4
-
-
-class ChevronMetrics:
-  def __init__(self):
-    self._lead_status_alpha: float = 0.0
-    self._font = gui_app.font(FontWeight.SEMI_BOLD)
-
-  def update_alpha(self, has_lead: bool):
-    """Update the alpha value for fade in/out animation"""
-    if not has_lead:
-      self._lead_status_alpha = max(0.0, self._lead_status_alpha - 0.05)
-    else:
-      self._lead_status_alpha = min(1.0, self._lead_status_alpha + 0.1)
-
-  def should_render(self) -> bool:
-    """Check if dev UI should be rendered"""
-    return ui_state.chevron_metrics != ChevronOptions.OFF and self._lead_status_alpha > 0.0
-
-  def _draw_lead(self, lead_data, lead_vehicle, v_ego: float, rect: rl.Rectangle):
-    """Draw lead vehicle status information (distance, speed, TTC)"""
-    if not self.should_render():
-      return
-
-    d_rel = lead_data.dRel
-    v_rel = lead_data.vRel
-
-    if not lead_vehicle.chevron or len(lead_vehicle.chevron) < 2:
-      return
-
-    chevron_x = lead_vehicle.chevron[1][0]
-    chevron_y = lead_vehicle.chevron[1][1]
-    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
-
-    text_lines = self._build_text_lines(d_rel, v_rel, v_ego)
-    if not text_lines:
-      return
-
-    self._render_text_lines(text_lines, chevron_x, chevron_y, sz, rect)
-
-  @staticmethod
-  def _build_text_lines(d_rel: float, v_rel: float, v_ego: float) -> list[str]:
-    """Build text lines based on chevron info setting"""
-    text_lines = []
-
-    # Distance
-    if ui_state.chevron_metrics == ChevronOptions.DISTANCE_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
-      val = max(0.0, d_rel)
-      unit = "m" if ui_state.is_metric else "ft"
-      if not ui_state.is_metric:
-        val *= 3.28084
-      text_lines.append(f"{val:.0f} {unit}")
-
-    # Speed
-    if ui_state.chevron_metrics == ChevronOptions.SPEED_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
-      multiplier = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
-      val = max(0.0, (v_rel + v_ego) * multiplier)
-      unit = "km/h" if ui_state.is_metric else "mph"
-      text_lines.append(f"{val:.0f} {unit}")
-
-    # Time to collision
-    if ui_state.chevron_metrics == ChevronOptions.TTC_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
-      val = (d_rel / v_ego) if (d_rel > 0 and v_ego > 0) else 0.0
-      ttc_text = f"{val:.1f} s" if (0 < val < 200) else "---"
-      text_lines.append(ttc_text)
-
-    return text_lines
-
-  def _render_text_lines(self, text_lines: list[str], chevron_x: float, chevron_y: float,
-                         sz: float, rect: rl.Rectangle):
-    """Render text lines with proper centering and positioning"""
-    font_size = 40
-    line_height = 50
-    margin = 20
-
-    text_y = chevron_y + sz + 15
-    total_height = len(text_lines) * line_height
-
-    # Adjust Y position if text would go off screen
-    if text_y + total_height > rect.height - margin:
-      y_max = min(chevron_y, rect.height - margin)
-      text_y = y_max - 15 - total_height
-      text_y = max(margin, text_y)
-
-    alpha = int(255 * self._lead_status_alpha)
-    text_color = rl.Color(255, 255, 255, alpha)
-    shadow_color = rl.Color(0, 0, 0, int(200 * self._lead_status_alpha))
-
-    for i, line in enumerate(text_lines):
-      y = int(text_y + (i * line_height))
-      if y + line_height > rect.height - margin:
-        break
-
-      # Measure actual text width for proper centering
-      text_size = measure_text_cached(self._font, line, font_size, 0)
-      text_width = text_size.x
-
-      # Center the text horizontally on the chevron
-      x = int(chevron_x - text_width / 2)
-      x = int(np.clip(x, margin, rect.width - text_width - margin))
-
-      # Draw shadow
-      rl.draw_text_ex(self._font, line, rl.Vector2(x + 2, y + 2), font_size, 0, shadow_color)
-      # Draw text
-      rl.draw_text_ex(self._font, line, rl.Vector2(x, y), font_size, 0, text_color)
-
-  def draw_lead_status(self, sm, radar_state, rect, lead_vehicles):
-    lead_one = radar_state.leadOne
-    lead_two = radar_state.leadTwo
-
-    has_lead_one = lead_one.status if lead_one else False
-    has_lead_two = lead_two.status if lead_two else False
-
-    self.update_alpha(has_lead_one or has_lead_two)
-
-    if not self.should_render():
-      return
-
-    v_ego = sm['carState'].vEgo
-
-    if has_lead_one and lead_vehicles[0].chevron:
-      self._draw_lead(lead_one, lead_vehicles[0], v_ego, rect)
-
-    if has_lead_two and lead_vehicles[1].chevron:
-      d_rel_diff = abs(lead_one.dRel - lead_two.dRel) if has_lead_one else float('inf')
-      if d_rel_diff > 3.0:
-        self._draw_lead(lead_two, lead_vehicles[1], v_ego, rect)

selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py

@@ -22,7 +22,6 @@ class DeveloperUiRenderer(Widget):
   DEV_UI_RIGHT = 1
   DEV_UI_BOTTOM = 2
   DEV_UI_BOTH = 3
-  BOTTOM_BAR_HEIGHT = 61
 
   def __init__(self):
     super().__init__()
@@ -44,12 +43,6 @@ class DeveloperUiRenderer(Widget):
     self.bearing_elem = BearingDegElement()
     self.altitude_elem = AltitudeElement()
 
-  @staticmethod
-  def get_bottom_dev_ui_offset():
-    if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
-      return DeveloperUiRenderer.BOTTOM_BAR_HEIGHT
-    return 0
-
   def _update_state(self) -> None:
     self.dev_ui_mode = ui_state.developer_ui
 
@@ -85,11 +78,10 @@ class DeveloperUiRenderer(Widget):
     ]
     if controls_state.lateralControlState.which() == 'torqueState':
       elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
+      elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
     else:
       elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
 
-    elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
-
     current_y = y
     for element in elements:
       current_y += self._draw_right_dev_ui_element(x, current_y, element)
@@ -113,7 +105,7 @@ class DeveloperUiRenderer(Widget):
     if element.unit:
       units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
 
-      units_x = x + container_width
+      units_x = x + container_width - 10
       units_y = y + (value_size / 2) + (units_height / 2)
 
       rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
@@ -151,35 +143,22 @@ class DeveloperUiRenderer(Widget):
     if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
       elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
 
-    if not elements:
-      return
-
-    font_size = 38
-    element_widths = []
-    for element in elements:
-      element.measure(self._font_bold, font_size)
-      element_widths.append(element.total_width)
-
-    total_element_width = sum(element_widths)
-    num_gaps = len(elements) + 1
-    available_width = rect.width
-    gap_width = (available_width - total_element_width) / num_gaps
-
+    current_x = int(rect.x + 90)
     center_y = y + bar_height // 2
-    current_x = rect.x + gap_width
+    for element in elements:
+      current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element)
 
-    for i, element in enumerate(elements):
-      element_center_x = int(current_x + element_widths[i] / 2)
-      self._draw_bottom_dev_ui_element(element_center_x, center_y, element)
-      current_x += element_widths[i] + gap_width
-
-  def _draw_bottom_dev_ui_element(self, center_x: int, y: int, element: UiElement) -> None:
+  def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
     font_size = 38
-    start_x = center_x - element.total_width / 2
 
-    rl.draw_text_ex(self._font_bold, element.label_text, rl.Vector2(start_x, y - font_size // 2), font_size, 0, rl.WHITE)
-    rl.draw_text_ex(self._font_bold, element.val_text, rl.Vector2(start_x + element.label_width, y - font_size // 2), font_size, 0, element.color)
+    label_text = f"{element.label} "
+    label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x
+    rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE)
+
+    value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x
+    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color)
 
     if element.unit:
-      rl.draw_text_ex(self._font_bold, element.unit_text, rl.Vector2(start_x + element.label_width + element.val_width, y - font_size // 2),
-                      font_size, 0, rl.WHITE)
+      rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE)
+
+    return 400

selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py

@@ -10,33 +10,12 @@ from dataclasses import dataclass
 from openpilot.common.constants import CV
 
 
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-
-
 @dataclass
 class UiElement:
   value: str
   label: str
   unit: str
   color: rl.Color
-  val_text: str = ""
-  label_text: str = ""
-  unit_text: str = ""
-  val_width: float = 0.0
-  label_width: float = 0.0
-  unit_width: float = 0.0
-  total_width: float = 0.0
-
-  def measure(self, font, font_size: int):
-    self.label_text = f"{self.label} "
-    self.val_text = self.value
-    self.unit_text = f" {self.unit}" if self.unit else ""
-
-    self.label_width = measure_text_cached(font, self.label_text, font_size, 0).x
-    self.val_width = measure_text_cached(font, self.val_text, font_size, 0).x
-    self.unit_width = measure_text_cached(font, self.unit_text, font_size, 0).x if self.unit else 0
-
-    self.total_width = self.label_width + self.val_width + self.unit_width
 
 
 class LeadInfoElement:

selfdrive/ui/sunnypilot/onroad/driver_state.py

@@ -1,49 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import numpy as np
-
-from openpilot.selfdrive.ui import UI_BORDER_SIZE
-from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
-
-
-class DriverStateRendererSP(DriverStateRenderer):
-  def __init__(self):
-    super().__init__()
-    self.dev_ui_offset = DeveloperUiRenderer.get_bottom_dev_ui_offset()
-
-  def _pre_calculate_drawing_elements(self):
-    """Pre-calculate all drawing elements based on the current rectangle"""
-    # Calculate icon position (bottom-left or bottom-right)
-    width, height = self._rect.width, self._rect.height
-    offset = UI_BORDER_SIZE + BTN_SIZE // 2
-    self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
-    self.position_y = self._rect.y + height - offset - self.dev_ui_offset
-
-    # Pre-calculate the face lines positions
-    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
-    for i in range(len(positioned_keypoints)):
-      self.face_lines[i].x = positioned_keypoints[i][0]
-      self.face_lines[i].y = positioned_keypoints[i][1]
-
-    # Calculate arc dimensions based on head rotation
-    delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0  # Horizontal movement
-    delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0  # Vertical movement
-
-    # Horizontal arc
-    h_width = abs(delta_x)
-    self.h_arc_data = self._calculate_arc_data(
-      delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
-      self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
-    )
-
-    # Vertical arc
-    v_height = abs(delta_y)
-    self.v_arc_data = self._calculate_arc_data(
-      delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
-      self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
-    )

selfdrive/ui/sunnypilot/onroad/model_renderer.py

@@ -1,14 +0,0 @@
-"""
-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 openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
-from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-
-
-class ModelRendererSP:
-  def __init__(self):
-    self.rainbow_path = RainbowPath()
-    self.chevron_metrics = ChevronMetrics()

selfdrive/ui/sunnypilot/onroad/rainbow_path.py

@@ -1,78 +0,0 @@
-"""
-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 colorsys
-import pyray as rl
-from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
-
-
-class RainbowPath:
-  DEFAULT_NUM_SEGMENTS = 8
-  DEFAULT_SPEED = 50.0  # degrees per second
-  DEFAULT_SATURATION = 0.9
-  DEFAULT_LIGHTNESS = 0.6
-  BASE_ALPHA = 0.8
-  ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
-
-  def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None):
-    self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS
-    self.speed = speed if speed is not None else self.DEFAULT_SPEED
-    self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION
-    self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS
-
-  def set_speed(self, speed: float):
-    self.speed = speed
-
-  def set_num_segments(self, num_segments: int):
-    self.num_segments = num_segments
-
-  def set_saturation(self, saturation: float):
-    self.saturation = max(0.0, min(1.0, saturation))
-
-  def set_lightness(self, lightness: float):
-    self.lightness = max(0.0, min(1.0, lightness))
-
-  def get_gradient(self) -> Gradient:
-    time_offset = time.monotonic()
-    hue_offset = (time_offset * self.speed) % 360.0
-
-    segment_colors = []
-    gradient_stops = []
-
-    for i in range(self.num_segments):
-      position = i / (self.num_segments - 1)
-      hue = (hue_offset + position * 360.0) % 360.0
-      alpha = self.BASE_ALPHA * (1.0 - position * self.ALPHA_FADE)
-      color = self._hsla_to_color(
-        hue / 360.0,
-        self.saturation,
-        self.lightness,
-        alpha
-      )
-      gradient_stops.append(position)
-      segment_colors.append(color)
-
-    return Gradient(
-      start=(0.0, 1.0),  # Bottom of path
-      end=(0.0, 0.0),  # Top of path
-      colors=segment_colors,
-      stops=gradient_stops,
-    )
-
-  @staticmethod
-  def _hsla_to_color(h: float, s: float, l: float, a: float) -> rl.Color:
-    rgb = colorsys.hls_to_rgb(h, l, s)
-    return rl.Color(
-      int(rgb[0] * 255),
-      int(rgb[1] * 255),
-      int(rgb[2] * 255),
-      int(a * 255)
-    )
-
-  def draw_rainbow_path(self, rect, path):
-    gradient = self.get_gradient()
-    draw_polygon(rect, path.projected_points, gradient=gradient)

selfdrive/ui/sunnypilot/ui_state.py

@@ -4,13 +4,10 @@ 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 cereal import messaging, log, custom
+from cereal import messaging, custom
 from openpilot.common.params import Params
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 
-OpenpilotState = log.SelfdriveState.OpenpilotState
-MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-
 
 class UIStateSP:
   def __init__(self):
@@ -22,50 +19,8 @@ class UIStateSP:
 
     self.sunnylink_state = SunnylinkState()
 
-    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
-
   def update(self) -> None:
-    if self.sunnylink_enabled:
-      self.sunnylink_state.start()
-    else:
-      self.sunnylink_state.stop()
-
-  @staticmethod
-  def update_status(ss, ss_sp, onroad_evt) -> str:
-    state = ss.state
-    mads = ss_sp.mads
-    mads_state = mads.state
-
-    if state == OpenpilotState.preEnabled:
-      return "override"
-
-    if state == OpenpilotState.overriding:
-      if not mads.available:
-        return "override"
-
-      if any(e.overrideLongitudinal for e in onroad_evt):
-        return "override"
-
-    if mads_state in (MADSState.paused, MADSState.overriding):
-      return "override"
-
-    # MADS specific statuses
-    if not mads.available:
-      return "engaged" if ss.enabled else "disengaged"
-
-    if not mads.enabled and not ss.enabled:
-      return "disengaged"
-
-    if mads.enabled and ss.enabled:
-      return "engaged"
-
-    if mads.enabled:
-      return "lat_only"
-
-    if ss.enabled:
-      return "long_only"
-
-    return "disengaged"
+    self.sunnylink_state.start()
 
   def update_params(self) -> None:
     CP_SP_bytes = self.params.get("CarParamsSPPersistent")
@@ -73,16 +28,3 @@ class UIStateSP:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.developer_ui = self.params.get("DevUIInfo")
-    self.rainbow_path = self.params.get_bool("RainbowMode")
-    self.chevron_metrics = self.params.get("ChevronInfo")
-    self.active_bundle = self.params.get("ModelManager_ActiveBundle")
-    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
-
-
-class DeviceSP:
-  def __init__(self):
-    self._params = Params()
-
-  def _set_awake(self, on: bool):
-    if on and self._params.get("DeviceBootMode", return_default=True) == 1:
-      self._params.put_bool("OffroadMode", True)

selfdrive/ui/tests/diff/replay.py

@@ -13,7 +13,7 @@ if "RECORD_OUTPUT" not in os.environ:
 os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
 
 from openpilot.common.params import Params
-from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
+from openpilot.system.version import terms_version, training_version
 from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
@@ -45,8 +45,6 @@ def setup_state():
   params.put("CompletedTrainingVersion", training_version)
   params.put("DongleId", "test123456789")
   params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  params.put("HasAcceptedTermsSP", terms_version_sp)
-  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
   return None
 
 

selfdrive/ui/tests/test_ui/raylib_screenshots.py

@@ -18,7 +18,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.updated.updated import parse_release_notes
-from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
+from openpilot.system.version import terms_version, training_version
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -378,8 +378,6 @@ def create_screenshots():
       # Set terms and training version (to skip onboarding)
       params.put("HasAcceptedTerms", terms_version)
       params.put("CompletedTrainingVersion", training_version)
-      params.put("HasAcceptedTermsSP", terms_version_sp)
-      params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
 
       if name == "homescreen_paired":
         params.put("PrimeType", 0)  # NONE

selfdrive/ui/tests/test_ui/run.py

@@ -0,0 +1,310 @@
+#!/usr/bin/env python3
+import capnp
+import pathlib
+import shutil
+import sys
+import os
+import pywinctl
+import pyautogui
+import pickle
+import time
+from collections import namedtuple
+
+from cereal import car, log
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from cereal.messaging import PubMaster, log_from_bytes, sub_sock
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
+
+UI_DELAY = 0.1 # may be slower on CI?
+TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+
+STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
+OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
+DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
+  ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
+  "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
+  "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
+
+def setup_homescreen(click, pm: PubMaster):
+  pass
+
+def setup_settings_device(click, pm: PubMaster):
+  click(100, 100)
+
+def setup_settings_toggles(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 600)
+  time.sleep(UI_DELAY)
+
+def setup_settings_software(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 720)
+  time.sleep(UI_DELAY)
+
+def setup_settings_firehose(click, pm: PubMaster):
+  click(1780, 730)
+
+def setup_settings_developer(click, pm: PubMaster):
+  CP = car.CarParams()
+  CP.alphaLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+
+  setup_settings_device(click, pm)
+  click(278, 970)
+  time.sleep(UI_DELAY)
+
+def setup_onroad(click, pm: PubMaster):
+  vipc_server = VisionIpcServer("camerad")
+  for stream_type, cam, _ in STREAMS:
+    vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
+  vipc_server.start_listener()
+
+  uidebug_received_cnt = 0
+  packet_id = 0
+  uidebug_sock = sub_sock('uiDebug')
+
+  # Condition check for uiDebug processing
+  check_uidebug = DATA['deviceState'].deviceState.started and not DATA['carParams'].carParams.notCar
+
+  # Loop until 20 'uiDebug' messages are received
+  while uidebug_received_cnt <= 20:
+    for service, data in DATA.items():
+      if data:
+        data.clear_write_flag()
+        pm.send(service, data)
+
+    for stream_type, _, image in STREAMS:
+      vipc_server.send(stream_type, image, packet_id, packet_id, packet_id)
+
+    if check_uidebug:
+      while uidebug_sock.receive(non_blocking=True):
+        uidebug_received_cnt += 1
+    else:
+      uidebug_received_cnt += 1
+
+    packet_id += 1
+    time.sleep(0.05)
+
+def setup_onroad_disengaged(click, pm: PubMaster):
+  DATA['selfdriveState'].selfdriveState.enabled = False
+  setup_onroad(click, pm)
+  DATA['selfdriveState'].selfdriveState.enabled = True
+
+def setup_onroad_override(click, pm: PubMaster):
+  DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.overriding
+  setup_onroad(click, pm)
+  DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.enabled
+
+
+def setup_onroad_wide(click, pm: PubMaster):
+  DATA['selfdriveState'].selfdriveState.experimentalMode = True
+  DATA["carState"].carState.vEgo = 1
+  setup_onroad(click, pm)
+
+def setup_onroad_sidebar(click, pm: PubMaster):
+  setup_onroad(click, pm)
+  click(500, 500)
+  setup_onroad(click, pm)
+
+def setup_onroad_wide_sidebar(click, pm: PubMaster):
+  setup_onroad_wide(click, pm)
+  click(500, 500)
+  setup_onroad_wide(click, pm)
+
+def setup_body(click, pm: PubMaster):
+  DATA['carParams'].carParams.brand = "body"
+  DATA['carParams'].carParams.notCar = True
+  DATA['carState'].carState.charging = True
+  DATA['carState'].carState.fuelGauge = 50.0
+  setup_onroad(click, pm)
+
+def setup_keyboard(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(250, 965)
+  click(1930, 420)
+
+def setup_keyboard_uppercase(click, pm: PubMaster):
+  setup_keyboard(click, pm)
+  click(200, 800)
+
+def setup_driver_camera(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(1950, 435)
+  DATA['deviceState'].deviceState.started = False
+  setup_onroad(click, pm)
+  DATA['deviceState'].deviceState.started = True
+
+def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.SelfdriveState.AlertStatus.normal):
+  print(f'setup onroad alert, size: {size}')
+  state = DATA['selfdriveState']
+  origin_state_bytes = state.to_bytes()
+  cs = state.selfdriveState
+  cs.alertText1 = text1
+  cs.alertText2 = text2
+  cs.alertSize = size
+  cs.alertStatus = status
+  cs.alertType = "test_onroad_alert"
+  setup_onroad(click, pm)
+  DATA['selfdriveState'] = log_from_bytes(origin_state_bytes).as_builder()
+
+def setup_onroad_alert_small(click, pm: PubMaster):
+  setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
+
+def setup_onroad_alert_mid(click, pm: PubMaster):
+  setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.SelfdriveState.AlertSize.mid)
+
+def setup_onroad_alert_full(click, pm: PubMaster):
+  setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
+
+def setup_offroad_alert(click, pm: PubMaster):
+  for alert in OFFROAD_ALERTS:
+    set_offroad_alert(alert, True)
+
+  # Toggle between settings and home to refresh the offroad alert widget
+  setup_settings_device(click, pm)
+  click(240, 216)
+
+def setup_update_available(click, pm: PubMaster):
+  Params().put_bool("UpdateAvailable", True)
+  release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
+  with open(release_notes_path) as file:
+    release_notes = file.read().split('\n\n', 1)[0]
+  Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
+
+  setup_settings_device(click, pm)
+  click(240, 216)
+
+def setup_pair_device(click, pm: PubMaster):
+  click(1950, 435)
+  click(1800, 900)
+
+CASES = {
+  "homescreen": setup_homescreen,
+  "prime": setup_homescreen,
+  "pair_device": setup_pair_device,
+  "settings_device": setup_settings_device,
+  "settings_toggles": setup_settings_toggles,
+  "settings_software": setup_settings_software,
+  "settings_firehose": setup_settings_firehose,
+  "settings_developer": setup_settings_developer,
+  "onroad": setup_onroad,
+  "onroad_disengaged": setup_onroad_disengaged,
+  "onroad_override": setup_onroad_override,
+  "onroad_sidebar": setup_onroad_sidebar,
+  "onroad_alert_small": setup_onroad_alert_small,
+  "onroad_alert_mid": setup_onroad_alert_mid,
+  "onroad_alert_full": setup_onroad_alert_full,
+  "onroad_wide": setup_onroad_wide,
+  "onroad_wide_sidebar": setup_onroad_wide_sidebar,
+  "driver_camera": setup_driver_camera,
+  "body": setup_body,
+  "offroad_alert": setup_offroad_alert,
+  "update_available": setup_update_available,
+  "keyboard": setup_keyboard,
+  "keyboard_uppercase": setup_keyboard_uppercase
+}
+
+TEST_DIR = pathlib.Path(__file__).parent
+
+TEST_OUTPUT_DIR = TEST_DIR / "report_1"
+SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
+
+
+class TestUI:
+  def __init__(self):
+    os.environ["SCALE"] = "1"
+    sys.modules["mouseinfo"] = False
+
+  def setup(self):
+    self.pm = PubMaster(list(DATA.keys()))
+    DATA['deviceState'].deviceState.networkType = log.DeviceState.NetworkType.wifi
+    DATA['deviceState'].deviceState.lastAthenaPingTime = 0
+    for _ in range(10):
+      self.pm.send('deviceState', DATA['deviceState'])
+      DATA['deviceState'].clear_write_flag()
+      time.sleep(0.05)
+    try:
+      self.ui = pywinctl.getWindowsWithTitle("ui")[0]
+    except Exception as e:
+      print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
+      self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
+
+  def screenshot(self, name):
+    im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
+    assert im.width == 2160
+    assert im.height == 1080
+
+  def click(self, x, y, *args, **kwargs):
+    pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
+    time.sleep(UI_DELAY) # give enough time for the UI to react
+
+  @with_processes(["ui"])
+  def test_ui(self, name, setup_case):
+    self.setup()
+    setup_case(self.click, self.pm)
+    self.screenshot(name)
+
+def create_screenshots():
+  if TEST_OUTPUT_DIR.exists():
+    shutil.rmtree(TEST_OUTPUT_DIR)
+
+  SCREENSHOTS_DIR.mkdir(parents=True)
+
+  route = Route(TEST_ROUTE)
+
+  segnum = 2
+  lr = LogReader(route.qlog_paths()[segnum])
+  DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
+  for event in migrate(lr, [migrate_controlsState, migrate_carState]):
+    if event.which() in DATA:
+      DATA[event.which()] = event.as_builder()
+
+    if all(DATA.values()):
+      break
+
+  cam = DEVICE_CAMERAS[("tici", "ar0231")]
+
+  frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames'
+  if os.path.isfile(frames_cache):
+    with open(frames_cache, 'rb') as f:
+      frames = pickle.load(f)
+      road_img = frames[0]
+      wide_road_img = frames[1]
+      driver_img = frames[2]
+  else:
+    with open(frames_cache, 'wb') as f:
+      road_img = FrameReader(route.camera_paths()[segnum], pix_fmt="nv12").get(0)
+      wide_road_img = FrameReader(route.ecamera_paths()[segnum], pix_fmt="nv12").get(0)
+      driver_img = FrameReader(route.dcamera_paths()[segnum], pix_fmt="nv12").get(0)
+      pickle.dump([road_img, wide_road_img, driver_img], f)
+
+  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
+  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
+  STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
+
+  t = TestUI()
+
+  for name, setup in CASES.items():
+    with OpenpilotPrefix():
+      params = Params()
+      params.put("DongleId", "123456789012345")
+      if name == 'prime':
+        params.put('PrimeType', 1)
+      elif name == 'pair_device':
+        params.put('ApiCache_Device', {"is_paired":0, "prime_type":-1})
+
+      t.test_ui(name, setup)
+
+if __name__ == "__main__":
+  print("creating test screenshots")
+  create_screenshots()

selfdrive/ui/ui_state.py

@@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
-from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 
@@ -21,8 +21,6 @@ class UIStatus(Enum):
   DISENGAGED = "disengaged"
   ENGAGED = "engaged"
   OVERRIDE = "override"
-  LAT_ONLY = "lat_only"
-  LONG_ONLY = "long_only"
 
 
 class UIState(UIStateSP):
@@ -100,7 +98,7 @@ class UIState(UIStateSP):
 
   @property
   def engaged(self) -> bool:
-    return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
+    return self.started and self.sm["selfdriveState"].enabled
 
   def is_onroad(self) -> bool:
     return self.started
@@ -135,7 +133,10 @@ class UIState(UIStateSP):
     # Handle wide road camera state updates
     if self.sm.updated["wideRoadCameraState"]:
       cam_state = self.sm["wideRoadCameraState"]
-      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
+
+      # Scale factor based on sensor type
+      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
+      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
     elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
       self.light_sensor = -1
 
@@ -158,8 +159,6 @@ class UIState(UIStateSP):
       else:
         self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
 
-      self.status = UIStatus(UIStateSP.update_status(ss, self.sm["selfdriveStateSP"], self.sm["onroadEvents"]))
-
     # Check for engagement state changes
     if self.engaged != self._engaged_prev:
       for callback in self._engaged_transition_callbacks:
@@ -192,9 +191,8 @@ class UIState(UIStateSP):
     self._param_update_time = time.monotonic()
 
 
-class Device(DeviceSP):
+class Device:
   def __init__(self):
-    DeviceSP.__init__(self)
     self._ignition = False
     self._interaction_time: float = -1
     self._override_interactive_timeout: int | None = None
@@ -221,9 +219,6 @@ class Device(DeviceSP):
     if self._override_interactive_timeout is not None:
       return self._override_interactive_timeout
 
-    if gui_app.sunnypilot_ui() and ui_state.custom_interactive_timeout != 0:
-      return ui_state.custom_interactive_timeout
-
     ignition_timeout = 10 if gui_app.big_ui() else 5
     return ignition_timeout if ui_state.ignition else 30
 
@@ -288,7 +283,6 @@ class Device(DeviceSP):
 
   def _set_awake(self, on: bool):
     if on != self._awake:
-      DeviceSP._set_awake(self, on)
       self._awake = on
       cloudlog.debug(f"setting display power {int(on)}")
       HARDWARE.set_display_power(on)

sunnypilot/modeld/modeld.py

@@ -24,7 +24,6 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
@@ -196,7 +195,6 @@ def main(demo=False):
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
-  camera_offset_helper = CameraOffsetHelper()
 
 
   if demo:
@@ -252,14 +250,12 @@ def main(demo=False):
     frame_id = sm["roadCameraState"].frameId
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
       model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)

sunnypilot/modeld_v2/SConscript

@@ -1,4 +1,3 @@
-import os
 import glob
 
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
@@ -29,38 +28,3 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
-
-# Get model metadata
-PC = not os.path.isfile('/TICI')
-if PC:
-  inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
-  outputs = []
-  model_dir = Dir("models").abspath
-  cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
-
-  for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
-    if File(f"models/{model_name}.onnx").exists():
-        inputs.append(File(f"models/{model_name}.onnx"))
-        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
-        outputs.append(File(f"models/{model_name}_metadata.pkl"))
-  if outputs:
-    lenv.Command(outputs, inputs, cmd)
-
-def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-  fn = File(f"models/{model_name}").abspath
-  return lenv.Command(
-    fn + "_tinygrad.pkl",
-    [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  )
-
-# Compile small models
-for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
-  if File(f"models/{model_name}.onnx").exists():
-    flags = {
-      'larch64': 'DEV=QCOM',
-      'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-    }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
-    tg_compile(flags, model_name)

sunnypilot/modeld_v2/camera_offset_helper.py

@@ -1,39 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import numpy as np
-
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-
-
-class CameraOffsetHelper:
-  def __init__(self):
-    self.camera_offset = 0.0
-    self.actual_camera_offset = 0.0
-
-  @staticmethod
-  def apply_camera_offset(model_transform, intrinsics, height, offset_param):
-    cy = intrinsics[1, 2]
-    shear = np.eye(3, dtype=np.float32)
-    shear[0, 1] = offset_param / height
-    shear[0, 2] = -offset_param / height * cy
-    model_transform = (shear @ model_transform).astype(np.float32)
-    return model_transform
-
-  def set_offset(self, offset):
-    self.camera_offset = offset
-
-  def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera):
-    self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
-    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-    height = sm["liveCalibration"].height[0] if sm['liveCalibration'].height else 1.22
-
-    intrinsics_main = dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics
-    model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
-
-    intrinsics_extra = dc.ecam.intrinsics
-    model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
-    return model_transform_main, model_transform_extra

sunnypilot/modeld_v2/install_models_pc.py

@@ -1,89 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import shutil
-import pickle
-import codecs
-import onnx
-from pathlib import Path
-
-from openpilot.system.hardware.hw import Paths
-
-
-def get_name_and_shape(value_info):
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  return value_info.name, shape
-
-
-def get_metadata_value_by_name(model, name):
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
-  return None
-
-
-def generate_metadata_pkl(model_path, output_path):
-  try:
-    model = onnx.load(str(model_path))
-    output_slices = get_metadata_value_by_name(model, 'output_slices')
-
-    if output_slices:
-      metadata = {
-        'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-        'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-        'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-        'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
-      }
-      with open(output_path, 'wb') as f:
-        pickle.dump(metadata, f)
-      return True
-    else:
-      return False
-  except Exception:
-    return False
-
-
-def install_models(model_dir):
-  model_dir = Path(model_dir)
-  models = ["driving_policy", "driving_vision"]
-  found_models = []
-
-  for model in models:
-    if (model_dir / f"{model}.onnx").exists():
-      found_models.append(model)
-
-  if not found_models:
-    return
-
-  try:
-    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
-  except EOFError:
-    return
-
-  if not custom_name:
-    print("No name provided, skipping installation.")
-    return
-
-  dest_dir = Path(Paths.model_root())
-  dest_dir.mkdir(parents=True, exist_ok=True)
-
-  for model in found_models:
-    onnx_path = model_dir / f"{model}.onnx"
-    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
-    metadata_pkl = model_dir / f"{model}_metadata.pkl"
-
-    if not metadata_pkl.exists():
-      generate_metadata_pkl(onnx_path, metadata_pkl)
-
-    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
-    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
-
-    if tinygrad_pkl.exists():
-      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
-    if metadata_pkl.exists():
-      shutil.move(str(metadata_pkl), str(dest_metadata))
-
-if __name__ == "__main__":
-  if len(sys.argv) < 2:
-    print("Usage: install_models_pc.py <model_dir>")
-    sys.exit(1)
-  install_models(sys.argv[1])

sunnypilot/modeld_v2/modeld.py

@@ -21,7 +21,6 @@ from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_p
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
@@ -29,6 +28,7 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
+RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
 
 
 class FrameMeta:
@@ -63,7 +63,6 @@ class ModelState(ModelStateBase):
     self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
-    self.PLANPLUS_CONTROL: float = 1.0
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
     self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
@@ -159,8 +158,7 @@ class ModelState(ModelStateBase):
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
     if 'planplus' in model_output:
-      recovery_power = self.PLANPLUS_CONTROL * (0.75 if v_ego > 20.0 else 1.0)
-      plan = plan + recovery_power * model_output['planplus'][0]
+      plan = plan + RECOVERY_POWER*model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -231,7 +229,6 @@ def main(demo=False):
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
-  camera_offset_helper = CameraOffsetHelper()
 
 
   if demo:
@@ -286,15 +283,13 @@ def main(demo=False):
     v_ego = max(sm["carState"].vEgo, 0.)
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-      model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
-      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics,
+                                             False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)

sunnypilot/modeld_v2/tests/test_camera_offset_helper.py

@@ -1,84 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import numpy as np
-
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-
-
-class MockStruct:
-  def __init__(self, **kwargs):
-    for k, v in kwargs.items():
-      setattr(self, k, v)
-
-  def __getitem__(self, item):
-    return getattr(self, item)
-
-
-class TestCameraOffset:
-  def setup_method(self):
-    self.camera_offset = CameraOffsetHelper()
-    self.dc = DEVICE_CAMERAS[('mici', 'os04c10')]
-
-  def test_smoothing(self):
-    self.camera_offset.set_offset(0.2)
-
-    sm = MockStruct(
-      deviceState=MockStruct(deviceType='mici'),
-      roadCameraState=MockStruct(sensor='os04c10'),
-      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
-    )
-
-    intrinsics_main = self.dc.fcam.intrinsics
-    intrinsics_extra = self.dc.ecam.intrinsics
-    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
-    main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
-    extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
-
-    self.camera_offset.update(main_transform, extra_transform, sm, False)
-    np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.02)
-    self.camera_offset.update(main_transform, extra_transform, sm, False)
-    np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
-
-  def test_camera_offset_(self):
-    intrinsics = self.dc.fcam.intrinsics
-    transform = np.eye(3, dtype=np.float32)
-    height = 1.22
-    offset = 0.1
-
-    cy = intrinsics[1, 2]
-    expected_shear = np.eye(3, dtype=np.float32)
-    expected_shear[0, 1] = offset / height
-    expected_shear[0, 2] = -offset / height * cy
-
-    result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
-    np.testing.assert_array_almost_equal(result, expected_shear)
-
-  def test_update(self):
-    sm = MockStruct(
-      deviceState=MockStruct(deviceType='mici'),
-      roadCameraState=MockStruct(sensor='os04c10'),
-      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
-    )
-    intrinsics_main = self.dc.fcam.intrinsics
-    intrinsics_extra = self.dc.ecam.intrinsics
-    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
-    main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
-    extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
-
-    self.camera_offset.set_offset(0.0)  # test default offset doesn't change transformation
-    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
-    np.testing.assert_array_equal(main_out, main_transform)
-    np.testing.assert_array_equal(extra_out, extra_transform)
-
-    self.camera_offset.set_offset(0.2)  # test valid offset changes transformation
-    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
-    assert not np.array_equal(main_out, main_transform)
-    assert not np.array_equal(extra_out, extra_transform)
-    assert main_out[0, 1] != 0.0
-    assert main_out[0, 2] != 0.0

sunnypilot/modeld_v2/tests/test_modeld.py

@@ -0,0 +1,102 @@
+import numpy as np
+import random
+
+import cereal.messaging as messaging
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.params import Params
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.realtime import DT_MDL
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+
+CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
+IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
+IMG_BYTES = IMG.flatten().tobytes()
+
+
+class TestModeld:
+
+  def setup_method(self):
+    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.start_listener()
+    Params().put("CarParams", get_demo_car_params().to_bytes())
+
+    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
+
+    managed_processes['modeld'].start()
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)
+
+  def teardown_method(self):
+    managed_processes['modeld'].stop()
+    del self.vipc_server
+
+  def _send_frames(self, frame_id, cams=None):
+    if cams is None:
+      cams = ('roadCameraState', 'wideRoadCameraState')
+
+    cs = None
+    for cam in cams:
+      msg = messaging.new_message(cam)
+      cs = getattr(msg, cam)
+      cs.frameId = frame_id
+      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
+      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
+
+      self.pm.send(msg.which(), msg)
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
+                            cs.timestampSof, cs.timestampEof)
+    return cs
+
+  def _wait(self):
+    self.sm.update(5000)
+    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
+      self.sm.update(1000)
+
+  def test_modeld(self):
+    for n in range(1, 500):
+      cs = self._send_frames(n)
+      self._wait()
+
+      mdl = self.sm['modelV2']
+      assert mdl.frameId == n
+      assert mdl.frameIdExtra == n
+      assert mdl.timestampEof == cs.timestampEof
+      assert mdl.frameAge == 0
+      assert mdl.frameDropPerc == 0
+
+      odo = self.sm['cameraOdometry']
+      assert odo.frameId == n
+      assert odo.timestampEof == cs.timestampEof
+
+  def test_dropped_frames(self):
+    """
+      modeld should only run on consecutive road frames
+    """
+    frame_id = -1
+    road_frames = list()
+    for n in range(1, 50):
+      if (random.random() < 0.1) and n > 3:
+        cams = random.choice([(), ('wideRoadCameraState', )])
+        self._send_frames(n, cams)
+      else:
+        self._send_frames(n)
+        road_frames.append(n)
+      self._wait()
+
+      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
+        frame_id = road_frames[-1]
+
+      mdl = self.sm['modelV2']
+      odo = self.sm['cameraOdometry']
+      assert mdl.frameId == frame_id
+      assert mdl.frameIdExtra == frame_id
+      assert odo.frameId == frame_id
+      if n != frame_id:
+        assert not self.sm.updated['modelV2']
+        assert not self.sm.updated['cameraOdometry']

sunnypilot/modeld_v2/tests/test_recovery_power.py

@@ -1,61 +0,0 @@
-import numpy as np
-
-from cereal import log
-
-from openpilot.sunnypilot.modeld_v2.constants import Plan
-from openpilot.sunnypilot.modeld_v2.modeld import ModelState
-import openpilot.sunnypilot.modeld_v2.modeld as modeld
-
-
-class MockStruct:
-  def __init__(self, **kwargs):
-    for k, v in kwargs.items():
-      setattr(self, k, v)
-
-
-def test_recovery_power_scaling():
-  state = MockStruct(
-    PLANPLUS_CONTROL=1.0,
-    LONG_SMOOTH_SECONDS=0.3,
-    LAT_SMOOTH_SECONDS=0.1,
-    MIN_LAT_CONTROL_SPEED=0.3,
-    mlsim=True,
-    generation=12,
-    constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
-  )
-  prev_action = log.ModelDataV2.Action()
-  recorded_vel: list = []
-
-  def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
-    recorded_vel.append(plan_vel.copy())
-    return 0.0, False
-
-  modeld.get_accel_from_plan = mock_accel
-  modeld.get_curvature_from_output = lambda *args: 0.0
-  plan = np.random.rand(1, 100, 15).astype(np.float32)
-  planplus = np.random.rand(1, 100, 15).astype(np.float32)
-
-  model_output: dict = {
-    'plan': plan.copy(),
-    'planplus': planplus.copy()
-  }
-
-  test_cases: list = [
-    # (control, v_ego, expected_factor)
-    (0.55, 20.0, 1.0),
-    (1.0, 25.0, .75),
-    (1.5, 25.1, 0.75),
-    (2.0, 20.0, 1.0),
-    (0.75, 19.0, 1.0),
-    (0.8, 25.1, 0.75),
-  ]
-
-  for control, v_ego, factor in test_cases:
-    state.PLANPLUS_CONTROL = control
-    recorded_vel.clear()
-    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)
-
-    expected_recovery_power = control * factor
-    expected_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + expected_recovery_power * planplus[0, :, Plan.VELOCITY][:, 0]
-
-    np.testing.assert_allclose(recorded_vel[0], expected_plan_vel, rtol=1e-5, atol=1e-6)

sunnypilot/models/runners/helpers.py

@@ -2,17 +2,25 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
 from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
 from openpilot.sunnypilot.models.runners.constants import ModelType
+from openpilot.system.hardware import TICI
 
+if not TICI:
+  from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner
 
 def get_model_runner() -> ModelRunner:
   """
   Factory function to create and return the appropriate ModelRunner instance.
 
-  Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
+  Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner
+  (for TICI platforms), choosing TinygradSplitRunner if separate vision/policy
   models are detected in the active bundle.
 
   :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
   """
+  if not TICI:
+    return ONNXRunner()
+
+  # On TICI platforms, use Tinygrad runners
   bundle = get_active_bundle()
   if bundle and bundle.models:
     model_types = {m.type.raw for m in bundle.models}

sunnypilot/selfdrive/assets/logo.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:66b3aefa108dd0c7f64205a11e424430c318e6fd06de31b5550d0b9d05616e6a
-size 19035

sunnypilot/selfdrive/car/interfaces.py

@@ -114,7 +114,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
 
   # hyundai
   keys.extend([
-    "HyundaiLongitudinalTuning",
+    "HyundaiLongitudinalTuning"
   ])
 
   # subaru
@@ -128,9 +128,4 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "TeslaCoopSteering",
   ])
 
-  # toyota
-  keys.extend([
-    "ToyotaEnforceStockLongitudinal",
-  ])
-
   return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -42,16 +42,6 @@ METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__f
 
 params = Params()
 
-# Parameters that should never be remotely modified
-BLOCKED_PARAMS = {
-  "CompletedSunnylinkConsentVersion",
-  "CompletedTrainingVersion",
-  "GithubUsername",  # Could grant SSH access
-  "GithubSshKeys",   # Direct SSH key injection
-  "HasAcceptedTerms",
-  "HasAcceptedTermsSP",
-}
-
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -66,7 +56,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-              threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
@@ -258,11 +248,6 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
   for key, value in params_to_update.items():
-    # disallow modifications to blocked parameters
-    if key in BLOCKED_PARAMS:
-      cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
-      continue
-
     try:
       save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:

sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py

@@ -1,59 +0,0 @@
-"""
-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 openpilot.sunnypilot.sunnylink.athena import sunnylinkd
-
-
-class TestSunnylinkdMethods:
-  def setup_method(self):
-    self.saved_params = []
-
-    self.original_save = sunnylinkd.save_param_from_base64_encoded_string
-
-    def mock_save_param(key, value, compression=False):
-      self.saved_params.append((key, value, compression))
-
-    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param
-
-  def teardown_method(self):
-    sunnylinkd.save_param_from_base64_encoded_string = self.original_save
-
-  def test_saveParams_blocked(self):
-    blocked_params = {
-      "GithubUsername": "attacker",
-      "GithubSshKeys": "ssh-rsa attacker_key",
-    }
-
-    sunnylinkd.saveParams(blocked_params)
-
-    assert len(self.saved_params) == 0
-
-  def test_saveParams_allowed(self):
-    allowed_params = {
-      "SpeedLimitOffset": "5",
-      "MyCustomParam": "123"
-    }
-
-    sunnylinkd.saveParams(allowed_params)
-
-    # verify content
-    assert len(self.saved_params) == 2
-    keys_saved = [p[0] for p in self.saved_params]
-    assert "SpeedLimitOffset" in keys_saved
-    assert "MyCustomParam" in keys_saved
-
-  def test_saveParams_mixed(self):
-    mixed_params = {
-      "GithubUsername": "attacker",
-      "SpeedLimitOffset": "10"
-    }
-
-    sunnylinkd.saveParams(mixed_params)
-
-    # should save allowed one
-    assert len(self.saved_params) == 1
-    assert self.saved_params[0][0] == "SpeedLimitOffset"
-    assert self.saved_params[0][1] == "10"

sunnypilot/sunnylink/backups/manager.py

@@ -19,7 +19,7 @@ from openpilot.system.version import get_version
 
 from cereal import messaging, custom
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
-from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder
+from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
 from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
@@ -95,7 +95,7 @@ class BackupManagerSP:
 
       # Serialize and encrypt config data
       config_json = json.dumps(config_data)
-      encrypted_config = encrypt_compressed_data(config_json, use_aes_256=True)
+      encrypted_config = encrypt_compress_data(config_json, use_aes_256=True)
       self._update_progress(50.0, OperationType.BACKUP)
 
       backup_info = custom.BackupManagerSP.BackupInfo()

sunnypilot/sunnylink/backups/utils.py

@@ -4,9 +4,9 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
 import base64
 import hashlib
-import os
 import zlib
 import re
 import json
@@ -14,9 +14,8 @@ from pathlib import Path
 
 from cryptography.hazmat.backends import default_backend
 from cryptography.hazmat.primitives import serialization
-from cryptography.hazmat.primitives.asymmetric import rsa, ec
+from cryptography.hazmat.primitives.asymmetric import rsa
 
-from openpilot.common.api.base import KEYS
 from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher
 from openpilot.system.hardware.hw import Paths
 
@@ -28,43 +27,37 @@ class KeyDerivation:
       return f.read()
 
   @staticmethod
-  def derive_aes_key_iv(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
-    key_pem: bytes = KeyDerivation._load_key(key_path)
-    key_plain = key_pem.decode(errors="ignore")
+  def derive_aes_key_iv_from_rsa(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
+    rsa_key_pem: bytes = KeyDerivation._load_key(key_path)
+    key_plain = rsa_key_pem.decode(errors="ignore")
 
     if "private" in key_plain.lower():
-      private_key = serialization.load_pem_private_key(key_pem, password=None, backend=default_backend())
-      if isinstance(private_key, (rsa.RSAPrivateKey, ec.EllipticCurvePrivateKey)):
-        public_key = private_key.public_key()
-      else:
-        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
+      private_key = serialization.load_pem_private_key(rsa_key_pem, password=None, backend=default_backend())
+      if not isinstance(private_key, rsa.RSAPrivateKey):
+        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
+
+      der_data = private_key.private_bytes(
+        encoding=serialization.Encoding.DER,
+        format=serialization.PrivateFormat.TraditionalOpenSSL,
+        encryption_algorithm=serialization.NoEncryption()
+      )
     elif "public" in key_plain.lower():
-      public_key = serialization.load_pem_public_key(key_pem, backend=default_backend())  # type: ignore[assignment]
-      if not isinstance(public_key, (rsa.RSAPublicKey, ec.EllipticCurvePublicKey)):
-        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
-    else:
-      raise ValueError("Invalid key format: Unable to determine if key is public or private.")
+      public_key = serialization.load_pem_public_key(rsa_key_pem, backend=default_backend())
+      if not isinstance(public_key, rsa.RSAPublicKey):
+        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
 
-    if isinstance(public_key, rsa.RSAPublicKey):
       der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
-    elif isinstance(public_key, ec.EllipticCurvePublicKey):
-      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.SubjectPublicKeyInfo)
     else:
-      raise ValueError("Unsupported key type.")
+      raise ValueError("Unknown key format: Unable to determine if key is public or private.")
 
-    if use_aes_256:
-      # AES-256-CBC
-      key = hashlib.sha256(der_data).digest()
-      iv = hashlib.md5(der_data).digest()
-    else:
-      # AES-128-CBC
-      key = hashlib.md5(der_data).digest()
-      iv = hashlib.md5(der_data).digest()  # Insecure IV reuse, kept for compatibility
+    sha256_hash = hashlib.sha256(der_data).digest()
+    aes_key = sha256_hash[:32] if use_aes_256 else sha256_hash[:16]
+    aes_iv = sha256_hash[16:32]
 
-    return key, iv
+    return aes_key, aes_iv
 
 
-def uncompress_dat(data):
+def qUncompress(data):
   """
   Decompress data using zlib.
 
@@ -78,7 +71,7 @@ def uncompress_dat(data):
   return zlib.decompress(data_stripped_4)
 
 
-def compress_dat(data):
+def qCompress(data):
   """
   Compress data using zlib.
 
@@ -92,19 +85,6 @@ def compress_dat(data):
   return b"ZLIB" + compressed_data
 
 
-def get_key_path(use_aes_256=False) -> str:
-  key_path = ""
-  for key in KEYS:
-    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-      key_path = str(Path(Paths.persist_root() + f'/comma/{key}') if use_aes_256 else Path(Paths.persist_root() + f'/comma/{key}.pub'))
-      break
-
-  if not key_path:
-    raise FileNotFoundError("No valid key pair found in persist storage.")
-
-  return key_path
-
-
 def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   """
   Decrypt and decompress data from base64 string.
@@ -116,17 +96,18 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   Returns:
       str: Decrypted and decompressed string
   """
+  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Decode base64
     encrypted_data = base64.b64decode(encrypted_base64)
 
     # Decrypt
-    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
     cipher = AESCipher(key, iv)
     decrypted_data = cipher.decrypt(encrypted_data)
 
     # Decompress
-    decompressed_data = uncompress_dat(decrypted_data)
+    decompressed_data = qUncompress(decrypted_data)
 
     # Decode UTF-8
     result = decompressed_data.decode('utf-8')
@@ -136,7 +117,7 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
     return ""
 
 
-def encrypt_compressed_data(text, use_aes_256=True):
+def encrypt_compress_data(text, use_aes_256=True):
   """
   Compress and encrypt string data to base64.
 
@@ -147,15 +128,16 @@ def encrypt_compressed_data(text, use_aes_256=True):
   Returns:
       str: Base64 encoded encrypted data
   """
+  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Encode to UTF-8
     text_bytes = text.encode('utf-8')
 
     # Compress
-    compressed_data = compress_dat(text_bytes)
+    compressed_data = qCompress(text_bytes)
 
     # Encrypt
-    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
     cipher = AESCipher(key, iv)
     encrypted_data = cipher.encrypt(compressed_data)
 

sunnypilot/sunnylink/params_metadata.json

@@ -5,17 +5,15 @@
   },
   "AdbEnabled": {
     "title": "Enable ADB",
-    "description": "Allow ADB connections to the device.",
-    "long_description": "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
+    "description": ""
   },
   "AlphaLongitudinalEnabled": {
-    "title": "sunnypilot Longitudinal Control (Alpha)",
-    "description": "Enable sunnypilot longitudinal control alpha for this car (disables AEB).",
-    "long_description": "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on."
+    "title": "Alpha Longitudinal",
+    "description": ""
   },
   "AlwaysOnDM": {
-    "title": "Always-On Driver Monitoring",
-    "description": "Enable driver monitoring even when sunnypilot is not engaged."
+    "title": "Always-on Driver Monitor",
+    "description": ""
   },
   "ApiCache_Device": {
     "title": "Api Cache  Device",
@@ -84,11 +82,11 @@
     ]
   },
   "BackupManager_CreateBackup": {
-    "title": "Backup Settings",
+    "title": "Create Backup",
     "description": ""
   },
   "BackupManager_RestoreVersion": {
-    "title": "Restore Settings",
+    "title": "Restore Version",
     "description": ""
   },
   "BlindSpot": {
@@ -123,18 +121,9 @@
     "title": "Camera Debug Exp Time",
     "description": ""
   },
-  "CameraOffset": {
-    "title": "Adjust Camera Offset",
-    "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
-    "min": -0.35,
-    "max": 0.35,
-    "step": 0.01,
-    "unit": "meters"
-  },
   "CarBatteryCapacity": {
     "title": "Car Battery Capacity",
-    "description": "Battery Size",
-    "unit": "kWh"
+    "description": ""
   },
   "CarList": {
     "title": "Supported Car List",
@@ -176,10 +165,6 @@
     "title": "Chevron Info",
     "description": ""
   },
-  "CompletedSunnylinkConsentVersion": {
-    "title": "Completed sunnylink Consent Version",
-    "description": ""
-  },
   "CompletedTrainingVersion": {
     "title": "Completed Training Version",
     "description": ""
@@ -197,7 +182,7 @@
     "description": ""
   },
   "CustomAccIncrementsEnabled": {
-    "title": "Custom ACC Increments",
+    "title": "Custom ACC Increments Enabled",
     "description": ""
   },
   "CustomAccLongPressIncrement": {
@@ -215,25 +200,24 @@
     "step": 1
   },
   "CustomTorqueParams": {
-    "title": "Enable Custom Torque Tuning",
-    "description": "Enables custom tuning for Torque lateral control"
+    "title": "Custom Torque Params",
+    "description": ""
   },
   "DevUIInfo": {
     "title": "Developer UI Info",
     "description": ""
   },
   "DeviceBootMode": {
-    "title": "Wake Up Behavior",
-    "description": "Choose device behavior after boot/sleep.",
-    "long_description": "Controls state of the device after boot/sleep.\n\nDefault: Device will boot/wake-up normally & will be ready to engage.\nOffroad: Device will be in Always Offroad mode after boot/wake-up.",
+    "title": "Device Boot Mode",
+    "description": "",
     "options": [
       {
         "value": 0,
-        "label": "Default"
+        "label": "Standard"
       },
       {
         "value": 1,
-        "label": "Offroad"
+        "label": "Always Offroad"
       }
     ]
   },
@@ -250,8 +234,8 @@
     "description": ""
   },
   "DisengageOnAccelerator": {
-    "title": "Disengage on Accelerator Pedal",
-    "description": "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+    "title": "Disengage On Accelerator",
+    "description": ""
   },
   "DoReboot": {
     "title": "Reboot",
@@ -266,7 +250,7 @@
     "description": ""
   },
   "DongleId": {
-    "title": "Dongle ID",
+    "title": "Device ID",
     "description": ""
   },
   "DriverTooDistracted": {
@@ -286,18 +270,16 @@
     "description": ""
   },
   "EnableSunnylinkUploader": {
-    "title": "Enable sunnylink uploader (infrastructure test)",
-    "description": "Upload driving data to sunnypilot servers (tier-gated).",
-    "long_description": "Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"
+    "title": "Enable sunnylink Uploader",
+    "description": ""
   },
   "EnforceTorqueControl": {
     "title": "Enforce Torque Control",
-    "description": "Enable this to enforce sunnypilot to steer with Torque lateral control."
+    "description": ""
   },
   "ExperimentalMode": {
     "title": "Experimental Mode",
-    "description": "Enable alpha experimental features and new driving visualization.",
-    "long_description": "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.<br><h4>New Driving Visualization</h4><br>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."
+    "description": ""
   },
   "ExperimentalModeConfirmed": {
     "title": "Experimental Mode Confirmed",
@@ -360,17 +342,13 @@
     "description": ""
   },
   "HardwareSerial": {
-    "title": "Serial",
+    "title": "Serial Number",
     "description": ""
   },
   "HasAcceptedTerms": {
     "title": "Has Accepted Terms",
     "description": ""
   },
-  "HasAcceptedTermsSP": {
-    "title": "Has Accepted sunnypilot Terms",
-    "description": ""
-  },
   "HideVEgoUI": {
     "title": "Hide vEgo UI",
     "description": ""
@@ -403,8 +381,7 @@
   },
   "InteractivityTimeout": {
     "title": "Interactivity Timeout",
-    "description": "",
-    "unit": "seconds"
+    "description": ""
   },
   "IsDevelopmentBranch": {
     "title": "Is Development Branch",
@@ -419,13 +396,12 @@
     "description": ""
   },
   "IsLdwEnabled": {
-    "title": "Enable Lane Departure Warnings",
-    "description": "Alert when drifting over lane lines without signaling.",
-    "long_description": "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."
+    "title": "Lane Departure Warnings",
+    "description": ""
   },
   "IsMetric": {
-    "title": "Use Metric System",
-    "description": "Display speed in km/h instead of mph."
+    "title": "Use Metric Units",
+    "description": ""
   },
   "IsOffroad": {
     "title": "Is Offroad",
@@ -460,31 +436,25 @@
     "description": ""
   },
   "LagdToggle": {
-    "title": "Live Learning Steer Delay",
-    "description": "Let the car learn and adapt its steering response time.",
-    "long_description": "Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."
+    "title": "LaGD Toggle",
+    "description": ""
   },
   "LagdToggleDelay": {
-    "title": "Adjust Software Delay",
-    "description": "Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2",
-    "min": 0.05,
-    "max": 0.5,
-    "step": 0.01,
-    "unit": "seconds"
+    "title": "LaGD Toggle Delay",
+    "description": ""
   },
   "LagdValueCache": {
     "title": "LaGD Value Cache",
     "description": ""
   },
   "LaneTurnDesire": {
-    "title": "Use Lane Turn Desires",
-    "description": "Plan a turn at low speeds when signaling.",
-    "long_description": "If you're driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong turn direction."
+    "title": "Lane Turn Desire",
+    "description": ""
   },
   "LaneTurnValue": {
-    "title": "Adjust Lane Turn Speed",
-    "description": "Set the maximum speed for lane turn desires. Default is 19 mph.",
-    "min": 5,
+    "title": "Lane Turn Value",
+    "description": "",
+    "min": 0,
     "max": 20,
     "step": 1
   },
@@ -561,12 +531,12 @@
     "description": ""
   },
   "LiveTorqueParamsRelaxedToggle": {
-    "title": "Less Restrict Settings for Self-Tune (Beta)",
-    "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."
+    "title": "Live Torque Params Relaxed Toggle",
+    "description": ""
   },
   "LiveTorqueParamsToggle": {
-    "title": "Self-Tune",
-    "description": "Enables self-tune for Torque lateral control"
+    "title": "Live Torque Params Toggle",
+    "description": ""
   },
   "LocationFilterInitialState": {
     "title": "Location Filter Initial State",
@@ -578,8 +548,7 @@
   },
   "LongitudinalPersonality": {
     "title": "Driving Personality",
-    "description": "Choose relaxed, standard, or aggressive following behavior.",
-    "long_description": "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.",
+    "description": "",
     "options": [
       {
         "value": 0,
@@ -643,68 +612,18 @@
   },
   "MaxTimeOffroad": {
     "title": "Max Time Offroad",
-    "description": "Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)",
-    "options": [
-      {
-        "value": 0,
-        "label": "Always On"
-      },
-      {
-        "value": 5,
-        "label": "5m"
-      },
-      {
-        "value": 10,
-        "label": "10m"
-      },
-      {
-        "value": 15,
-        "label": "15m"
-      },
-      {
-        "value": 30,
-        "label": "30m"
-      },
-      {
-        "value": 60,
-        "label": "1h"
-      },
-      {
-        "value": 120,
-        "label": "2h"
-      },
-      {
-        "value": 180,
-        "label": "3h"
-      },
-      {
-        "value": 300,
-        "label": "5h"
-      },
-      {
-        "value": 600,
-        "label": "10h"
-      },
-      {
-        "value": 1440,
-        "label": "24h"
-      },
-      {
-        "value": 1800,
-        "label": "30h (Default)"
-      }
-    ]
+    "description": ""
   },
   "ModelManager_ActiveBundle": {
-    "title": "Current Model",
+    "title": "Model Manager Active Bundle",
     "description": ""
   },
   "ModelManager_ClearCache": {
-    "title": "Clear Model Cache",
+    "title": "Model Manager Clear Cache",
     "description": ""
   },
   "ModelManager_DownloadIndex": {
-    "title": "Cancel Download",
+    "title": "Model Manager Download Index",
     "description": ""
   },
   "ModelManager_Favs": {
@@ -712,7 +631,7 @@
     "description": ""
   },
   "ModelManager_LastSyncTime": {
-    "title": "Refresh Model List",
+    "title": "Model Manager Last Sync Time",
     "description": ""
   },
   "ModelManager_ModelsCache": {
@@ -770,7 +689,7 @@
     "description": ""
   },
   "OffroadMode": {
-    "title": "Always Offroad",
+    "title": "Offroad Mode",
     "description": ""
   },
   "Offroad_CarUnrecognized": {
@@ -834,69 +753,22 @@
     "description": ""
   },
   "OnroadScreenOffBrightness": {
-    "title": "Onroad Brightness",
+    "title": "Onroad Screen Off Brightness",
     "description": "",
     "min": 0,
     "max": 100,
     "step": 5
   },
   "OnroadScreenOffControl": {
-    "title": "Onroad Screen: Reduced Brightness",
-    "description": "Turn off device screen or reduce brightness after driving starts"
+    "title": "Onroad Screen Off Control",
+    "description": ""
   },
   "OnroadScreenOffTimer": {
-    "title": "Onroad Brightness Delay",
+    "title": "Onroad Screen Off Timer",
     "description": "",
-    "options": [
-      {
-        "value": 15,
-        "label": "15s"
-      },
-      {
-        "value": 30,
-        "label": "30s"
-      },
-      {
-        "value": 60,
-        "label": "1m"
-      },
-      {
-        "value": 120,
-        "label": "2m"
-      },
-      {
-        "value": 180,
-        "label": "3m"
-      },
-      {
-        "value": 240,
-        "label": "4m"
-      },
-      {
-        "value": 300,
-        "label": "5m"
-      },
-      {
-        "value": 360,
-        "label": "6m"
-      },
-      {
-        "value": 420,
-        "label": "7m"
-      },
-      {
-        "value": 480,
-        "label": "8m"
-      },
-      {
-        "value": 540,
-        "label": "9m"
-      },
-      {
-        "value": 600,
-        "label": "10m"
-      }
-    ]
+    "min": 0,
+    "max": 60,
+    "step": 1
   },
   "OnroadUploads": {
     "title": "Onroad Uploads",
@@ -904,8 +776,7 @@
   },
   "OpenpilotEnabledToggle": {
     "title": "Enable sunnypilot",
-    "description": "Enable sunnypilot adaptive cruise and lane keep.",
-    "long_description": "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature."
+    "description": ""
   },
   "OsmDbUpdatesCheck": {
     "title": "OSM DB Updates Check",
@@ -955,14 +826,6 @@
     "title": "Panda Som Reset Triggered",
     "description": ""
   },
-  "PlanplusControl": {
-    "title": "Plan Plus Controls",
-    "description": "Adjust planplus model recentering strength.",
-    "long_description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong.",
-    "min": 0.0,
-    "max": 2.0,
-    "step": 0.1
-  },
   "PrimeType": {
     "title": "Prime Type",
     "description": ""
@@ -980,16 +843,16 @@
     "description": ""
   },
   "RecordAudio": {
-    "title": "Record and Upload Microphone Audio",
-    "description": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+    "title": "Record & Upload Mic Audio",
+    "description": ""
   },
   "RecordAudioFeedback": {
     "title": "Record Audio Feedback",
     "description": ""
   },
   "RecordFront": {
-    "title": "Record and Upload Driver Camera",
-    "description": "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+    "title": "Record & Upload Driver Camera",
+    "description": ""
   },
   "RecordFrontLock": {
     "title": "Record Front Lock",
@@ -1000,7 +863,7 @@
     "description": ""
   },
   "RoadNameToggle": {
-    "title": "Display Road Name",
+    "title": "Road Name Toggle",
     "description": ""
   },
   "RouteCount": {
@@ -1013,7 +876,7 @@
   },
   "ShowAdvancedControls": {
     "title": "Show Advanced Controls",
-    "description": "Enable to show advanced controls on device"
+    "description": ""
   },
   "ShowDebugInfo": {
     "title": "UI Debug Mode",
@@ -1024,11 +887,11 @@
     "description": ""
   },
   "SmartCruiseControlMap": {
-    "title": "Smart Cruise Control - Map",
+    "title": "Smart Cruise Control Map",
     "description": ""
   },
   "SmartCruiseControlVision": {
-    "title": "Smart Cruise Control - Vision",
+    "title": "Smart Cruise Control Vision",
     "description": ""
   },
   "SnoozeUpdate": {
@@ -1036,7 +899,7 @@
     "description": ""
   },
   "SpeedLimitMode": {
-    "title": "Speed Limit Assist Mode",
+    "title": "Speed Limit Mode",
     "description": "",
     "options": [
       {
@@ -1076,7 +939,7 @@
     ]
   },
   "SpeedLimitPolicy": {
-    "title": "Speed Limit Source",
+    "title": "Speed Limit Policy",
     "description": "",
     "options": [
       {
@@ -1102,7 +965,7 @@
     ]
   },
   "SpeedLimitValueOffset": {
-    "title": "Speed Limit Offset Value",
+    "title": "Speed Limit Value Offset",
     "description": "",
     "min": -30,
     "max": 30,
@@ -1117,13 +980,12 @@
     "description": ""
   },
   "SubaruStopAndGo": {
-    "title": "Stop and Go (Beta)",
-    "description": "Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms."
+    "title": "Subaru Stop and Go",
+    "description": ""
   },
   "SubaruStopAndGoManualParkingBrake": {
-    "title": "Stop and Go for Manual Parking Brake (Beta)",
-    "description": "Enable stop-and-go for Subaru Global models with manual handbrake.",
-    "long_description": "Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!"
+    "title": "Subaru Stop and Go Manual Parking Brake",
+    "description": ""
   },
   "SunnylinkCache_Roles": {
     "title": "sunnylink Cache  Roles",
@@ -1134,12 +996,12 @@
     "description": ""
   },
   "SunnylinkDongleId": {
-    "title": "Dongle ID",
+    "title": "sunnylink Dongle ID",
     "description": ""
   },
   "SunnylinkEnabled": {
-    "title": "Enable sunnylink",
-    "description": "This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."
+    "title": "sunnylink Enabled",
+    "description": ""
   },
   "SunnylinkTempFault": {
     "title": "sunnylink Temp Fault",
@@ -1158,27 +1020,22 @@
     "description": ""
   },
   "TorqueParamsOverrideEnabled": {
-    "title": "Manual Real-Time Tuning",
+    "title": "Torque Params Override Enabled",
     "description": ""
   },
   "TorqueParamsOverrideFriction": {
-    "title": "Manual Tune - Friction",
+    "title": "Torque Params Override Friction",
     "description": "",
     "min": 0.0,
     "max": 1.0,
     "step": 0.01
   },
   "TorqueParamsOverrideLatAccelFactor": {
-    "title": "Manual Tune - Lateral Acceleration Factor",
+    "title": "Torque Params Override Lat Accel Factor",
     "description": "",
     "min": 0.1,
     "max": 5.0,
-    "step": 0.1,
-    "unit": "m/s²"
-  },
-  "ToyotaEnforceStockLongitudinal": {
-    "title": "Enforce Factory Longitudinal Control",
-    "description": "sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
+    "step": 0.1
   },
   "TrainingVersion": {
     "title": "Training Version",

sunnypilot/sunnylink/sunnylink_state.py

@@ -136,11 +136,10 @@ class SunnylinkState:
       token = self._api.get_token()
       response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token)
       if response.status_code == 200:
-        roles = response.text
-        self._params.put("SunnylinkCache_Roles", roles)
+        self._roles = _parse_roles(response.text)
+        self._params.put("SunnylinkCache_Roles", response.text)
+        sponsor_tier = self._get_highest_tier()
         with self._lock:
-          self._roles = _parse_roles(roles)
-          sponsor_tier = self._get_highest_tier()
           if sponsor_tier != self.sponsor_tier:
             self.sponsor_tier = sponsor_tier
             cloudlog.info(f"Sunnylink sponsor tier updated to {sponsor_tier.name}")
@@ -158,7 +157,7 @@ class SunnylinkState:
         users = response.text
         self._params.put("SunnylinkCache_Users", users)
         with self._lock:
-          self._users = _parse_users(users)
+          _parse_users(users)
     except Exception as e:
       cloudlog.exception(f"Failed to fetch sunnylink users: {e} for dongle id {self.sunnylink_dongle_id}")
 

system/camerad/SConscript

@@ -4,7 +4,7 @@ libs = [common, 'OpenCL', messaging, visionipc]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                           'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
   env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":

system/camerad/cameras/hw.h

@@ -13,7 +13,7 @@ typedef enum {
   ISP_BPS_PROCESSED,  // fully processed image through the BPS
 } SpectraOutputType;
 
-// For the comma 3X three camera platform
+// For the comma 3/3X three camera platform
 
 struct CameraConfig {
   int camera_num;

system/camerad/cameras/spectra.cc

@@ -1004,8 +1004,9 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new OS04C10) &&
-      !init_sensor_lambda(new OX03C10)) {
+  if (!init_sensor_lambda(new AR0231) &&
+      !init_sensor_lambda(new OX03C10) &&
+      !init_sensor_lambda(new OS04C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
     return false;

system/camerad/sensors/ar0231.cc

@@ -0,0 +1,136 @@
+#include <cassert>
+#include <cmath>
+
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const size_t AR0231_REGISTERS_HEIGHT = 2;
+// TODO: this extra height is universal and doesn't apply per camera
+const size_t AR0231_STATS_HEIGHT = 2 + 8;
+
+const float sensor_analog_gains_AR0231[] = {
+    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
+    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
+    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
+    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
+
+}  // namespace
+
+AR0231::AR0231() {
+  image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
+  pixel_size_mm = 0.003;
+  data_word = true;
+  frame_width = 1928;
+  frame_height = 1208;
+  frame_stride = (frame_width * 12 / 8) + 4;
+  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
+
+  registers_offset = 0;
+  frame_offset = AR0231_REGISTERS_HEIGHT;
+  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
+
+  start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
+  init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
+  probe_reg_addr = 0x3000;
+  probe_expected_data = 0x354;
+  bits_per_pixel = 12;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+  mclk_frequency = 19200000; //Hz
+
+  readout_time_ns = 22850000;
+
+  dc_gain_factor = 2.5;
+  dc_gain_min_weight = 0;
+  dc_gain_max_weight = 1;
+  dc_gain_on_grey = 0.2;
+  dc_gain_off_grey = 0.3;
+  exposure_time_min = 2;       // with HDR, fastest ss
+  exposure_time_max = 0x0855;  // with HDR, slowest ss, 40ms
+  analog_gain_min_idx = 0x1;   // 0.25x
+  analog_gain_rec_idx = 0x6;   // 0.8x
+  analog_gain_max_idx = 0xD;   // 4.0x
+  analog_gain_cost_delta = 0;
+  analog_gain_cost_low = 0.1;
+  analog_gain_cost_high = 5.0;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
+  }
+  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = 1.0;
+
+  black_level = 168;
+  color_correct_matrix = {
+    0x000000af, 0x00000ff9, 0x00000fd8,
+    0x00000fbc, 0x000000bb, 0x00000009,
+    0x00000fb6, 0x00000fe0, 0x000000ea,
+  };
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
+    const float gamma_k = 0.75;
+    const float gamma_b = 0.125;
+    const float mp = 0.01; // ideally midpoint should be adaptive
+    const float rk = 9 - 100*mp;
+    // poly approximation for s curve
+    fx = (fx > mp) ?
+      ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
+      ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
+    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
+  }
+  prepare_gamma_lut();
+  linearization_lut = {
+    0x02000000, 0x02000000, 0x02000000, 0x02000000,
+    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
+    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
+    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
+    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
+  vignetting_lut = {
+    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
+    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
+    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
+    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
+    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
+    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
+    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
+    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
+    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
+    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
+    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
+    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
+    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
+  };
+}
+
+std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
+  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
+  return {
+    {0x3366, analog_gain_reg},
+    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
+    {0x3012, (uint16_t)exposure_time},
+  };
+}
+
+int AR0231::getSlaveAddress(int port) const {
+  assert(port >= 0 && port <= 2);
+  return (int[]){0x20, 0x30, 0x20}[port];
+}
+
+float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
+  // Cost of ev diff
+  float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
+  // Cost of absolute gain
+  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+  // Cost of changing gain
+  score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
+  return score;
+}

system/camerad/sensors/ar0231_registers.h

@@ -0,0 +1,121 @@
+#pragma once
+
+const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
+const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
+
+const struct i2c_random_wr_payload init_array_ar0231[] = {
+  {0x301A, 0x0018}, // RESET_REGISTER
+
+  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
+
+  // CLOCK Settings
+  // input clock is 19.2 / 2 * 0x37 = 528 MHz
+  // pixclk is 528 / 6 = 88 MHz
+  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
+  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
+  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
+  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
+  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
+  {0x3030, 0x0037}, // PLL_MULTIPLIER
+  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
+  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
+
+  // FORMAT
+  {0x3040, 0xC000}, // READ_MODE
+  {0x3004, 0x0000}, // X_ADDR_START_
+  {0x3008, 0x0787}, // X_ADDR_END_
+  {0x3002, 0x0000}, // Y_ADDR_START_
+  {0x3006, 0x04B7}, // Y_ADDR_END_
+  {0x3032, 0x0000}, // SCALING_MODE
+  {0x30A2, 0x0001}, // X_ODD_INC_
+  {0x30A6, 0x0001}, // Y_ODD_INC_
+  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
+  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
+  {0x3064, 0x1982}, // SMIA_TEST
+  {0x30BA, 0x11F2}, // DIGITAL_CTRL
+
+  // Enable external trigger and disable GPIO outputs
+  {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
+  {0x340A, 0xE0},   // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
+  {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
+
+  // Readout timing
+  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
+  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
+  {0x3042, 0x0000}, // EXTRA_DELAY
+
+  // Readout Settings
+  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
+  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
+  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
+  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
+  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
+  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
+  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
+  {0x31B0, 0x0053}, // FRAME_PREAMBLE
+  {0x31B2, 0x003B}, // LINE_PREAMBLE
+  {0x301A, 0x001C}, // RESET_REGISTER
+
+  // Noise Corrections
+  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
+  {0x337A, 0x0C80}, // DBLC_SCALE0
+  {0x3370, 0x03B1}, // DBLC
+  {0x3044, 0x0400}, // DARK_CONTROL
+
+  // Enable temperature sensor
+  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
+  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
+
+  // Enable dead pixel correction using
+  // the 1D line correction scheme
+  {0x31E0, 0x0003},
+
+  // HDR Settings
+  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
+  {0x3238, 0x0444}, // EXPOSURE_RATIO
+
+  {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
+  {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
+  {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
+  {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
+
+  // TODO: do these have to be lower than LINE_LENGTH_PCK?
+  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
+  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
+
+  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
+  {0x33DA, 0x0000}, // COMPANDING
+  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
+
+  // DLO Settings
+  {0x3100, 0x4000}, // DLO_CONTROL0
+  {0x3280, 0x0CCC}, // T1 G1
+  {0x3282, 0x0CCC}, // T1 R
+  {0x3284, 0x0CCC}, // T1 B
+  {0x3286, 0x0CCC}, // T1 G2
+  {0x3288, 0x0FA0}, // T2 G1
+  {0x328A, 0x0FA0}, // T2 R
+  {0x328C, 0x0FA0}, // T2 B
+  {0x328E, 0x0FA0}, // T2 G2
+
+   // Initial Gains
+  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
+  {0x3366, 0xFF77}, // ANALOG_GAIN (1x)
+
+  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
+
+  {0x3362, 0x0000}, // DC GAIN
+
+  {0x305A, 0x00F8}, // red gain
+  {0x3058, 0x0122}, // blue gain
+  {0x3056, 0x009A}, // g1 gain
+  {0x305C, 0x009A}, // g2 gain
+
+  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
+
+  // Initial Integration Time
+  {0x3012, 0x0005},
+};

system/camerad/sensors/sensor.h

@@ -10,6 +10,7 @@
 #include "media/cam_sensor.h"
 
 #include "cereal/gen/cpp/log.capnp.h"
+#include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"
 
@@ -87,6 +88,17 @@ public:
   };
 };
 
+class AR0231 : public SensorInfo {
+public:
+  AR0231();
+  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
+  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
+  int getSlaveAddress(int port) const override;
+
+private:
+  mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
+};
+
 class OX03C10 : public SensorInfo {
 public:
   OX03C10();

system/hardware/hardwared.py

@@ -6,6 +6,7 @@ import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
+from pathlib import Path
 
 import psutil
 
@@ -23,7 +24,7 @@ from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
-from openpilot.system.version import terms_version, training_version, get_build_metadata, terms_version_sp
+from openpilot.system.version import terms_version, training_version, get_build_metadata
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -310,7 +311,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
-    startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
@@ -345,6 +345,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
+    if TICI and HARDWARE.get_device_type() == "tici":
+      if not os.path.isfile("/persist/comma/living-in-the-moment"):
+        if not Path("/data/media").is_mount():
+          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
+
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:

system/hardware/tici/agnos.json

@@ -23,14 +23,14 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
   },
   {
     "name": "aop",
@@ -56,14 +56,14 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz",
-    "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "size": 17496064,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae"
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
   },
   {
     "name": "system",
@@ -81,4 +81,4 @@
       "size": 4718592000
     }
   }
-]
+]

system/hardware/tici/amplifier.py

@@ -61,6 +61,18 @@ BASE_CONFIG = [
 ]
 
 CONFIGS = {
+  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
+    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
+    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
+    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
+    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
+    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
+  ],
   "tizi": [
     AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
     AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),

system/hardware/tici/hardware.py

@@ -446,6 +446,9 @@ class Tici(HardwareBase):
 
     # pandad core
     affine_irq(3, "spi_geni")         # SPI
+    if "tici" in self.get_device_type():
+      affine_irq(3, "xhci-hcd:usb3")  # aux panda USB (or potentially anything else on USB)
+      affine_irq(3, "xhci-hcd:usb1")  # internal panda USB (also modem)
     try:
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
@@ -464,20 +467,22 @@ class Tici(HardwareBase):
 
     cmds = []
 
-    if self.get_device_type() in ("tizi", ):
+    if self.get_device_type() in ("tici", "tizi"):
       # clear out old blue prime initial APN
       os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
 
       cmds += [
-        # SIM hot swap
-        'AT+QSIMDET=1,0',
-        'AT+QSIMSTAT=1',
-
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',
         'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
+      if self.get_device_type() == "tizi":
+        # SIM hot swap, not routed on tici
+        cmds += [
+          'AT+QSIMDET=1,0',
+          'AT+QSIMSTAT=1',
+        ]
     elif manufacturer == 'Cavli Inc.':
       cmds += [
         'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM

system/hardware/tici/pins.py

@@ -1,3 +1,5 @@
+# TODO: these are also defined in a header
+
 # GPIO pin definitions
 class GPIO:
   # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@@ -24,4 +26,7 @@ class GPIO:
   CAM2_RSTN = 12
 
   # Sensor interrupts
+  BMX055_ACCEL_INT = 21
+  BMX055_GYRO_INT = 23
+  BMX055_MAGN_INT = 87
   LSM_INT = 84

system/sensord/sensord.py

@@ -97,7 +97,7 @@ def main() -> None:
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
   ]
-  if HARDWARE.get_device_type() == "tizi":
+  if HARDWARE.get_device_type() in ("tizi", "tici"):
     sensors_cfg.append(
       (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
     )

system/ui/lib/application.py

@@ -23,7 +23,7 @@ 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)))
+_DEFAULT_FPS = int(os.getenv("FPS", {'tizi': 20, "tici": 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
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions

system/ui/sunnypilot/widgets/list_view.py

@@ -11,29 +11,14 @@ from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 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 import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
-                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, DualButtonAction
-from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
+                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
 
 
-class Spacer(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_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.x + self._rect.width), int(self._rect.y), rl.Color(0,0,0,0))
-
-
 class ToggleActionSP(ToggleAction):
   def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
                callback: Callable[[bool], None] | None = None, param: str | None = None):
@@ -98,33 +83,6 @@ class ButtonActionSP(ButtonAction):
     return pressed
 
 
-class DualButtonActionSP(DualButtonAction):
-  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
-               right_callback: Callable = None, enabled: bool | Callable[[], bool] = True, border_radius: int = 15):
-    DualButtonAction.__init__(self, left_text, right_text, left_callback, right_callback, enabled)
-    self.left_button._border_radius = self.right_button._border_radius = border_radius
-
-  def _render(self, rect: rl.Rectangle):
-    button_spacing = 20
-    button_height = 150
-    button_width = (rect.width - button_spacing) / 2
-    button_y = rect.y + (rect.height - button_height) / 2
-
-    left_rect = rl.Rectangle(rect.x, button_y, button_width, button_height)
-    right_rect = rl.Rectangle(rect.x + button_width + button_spacing, button_y, button_width, button_height)
-
-    # expand one to full width if other is not visible
-    if not self.left_button.is_visible:
-      right_rect.x = rect.x
-      right_rect.width = rect.width
-    elif not self.right_button.is_visible:
-      left_rect.width = rect.width
-
-    # Render buttons
-    self.left_button.render(left_rect)
-    self.right_button.render(right_rect)
-
-
 class MultipleButtonActionSP(MultipleButtonAction):
   def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None,
                param: str | None = None):
@@ -221,8 +179,13 @@ class ListItemSP(ListItem):
       return rl.Rectangle(0, 0, 0, 0)
 
     if not self.inline:
-      text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-      action_y = item_rect.y + text_size.y + style.ITEM_PADDING * 3
+      has_description = bool(self.description) and self.description_visible
+
+      if has_description:
+        action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
+      else:
+        action_y = item_rect.y + item_rect.height - style.BUTTON_HEIGHT - style.ITEM_PADDING * 1.5
+
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
 
     right_width = self.action_item.get_width_hint()
@@ -292,13 +255,13 @@ class ListItemSP(ListItem):
         item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5
         rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
 
-      # Draw right item if present
-      if self.action_item:
-        right_rect = self.get_right_item_rect(self._rect)
-        if self.action_item.render(right_rect) and self.action_item.enabled:
-          # Right item was clicked/activated
-          if self.callback:
-            self.callback()
+        # Draw right item if present
+        if self.action_item:
+          right_rect = self.get_right_item_rect(self._rect)
+          if self.action_item.render(right_rect) and self.action_item.enabled:
+            # Right item was clicked/activated
+            if self.callback:
+              self.callback()
 
     # Draw description if visible
     if self.description_visible:
@@ -337,34 +300,15 @@ def option_item_sp(title: str | Callable[[], str], param: str,
                    value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None,
                    enabled: bool | Callable[[], bool] = True,
                    icon: str = "", label_width: int = LABEL_WIDTH, value_map: dict[int, int] | None = None,
-                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None, inline: bool = False) -> ListItemSP:
+                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None) -> ListItemSP:
   action = OptionControlSP(
     param, min_value, max_value, value_change_step,
     enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
   )
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon, inline=inline)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
 
 
 def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
                    callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP:
   action = ButtonActionSP(text=button_text, enabled=enabled)
   return ListItemSP(title=title, description=description, action_item=action, callback=callback)
-
-
-def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
-                        right_callback: Callable = None, description: str | Callable[[], str] | None = None,
-                        enabled: bool | Callable[[], bool] = True, border_radius: int = 15) -> ListItemSP:
-  action = DualButtonActionSP(left_text, right_text, left_callback, right_callback, enabled, border_radius)
-  return ListItemSP(title="", description=description, action_item=action)
-
-
-class LineSeparatorSP(LineSeparator):
-  def __init__(self, height: int = 1):
-    super().__init__()
-    self._rect = rl.Rectangle(0, 0, 0, height)
-
-  def _render(self, _):
-    line_y = int(self._rect.y + self._rect.height // 2)
-    rl.draw_line(int(self._rect.x) + LINE_PADDING, line_y,
-                 int(self._rect.x + self._rect.width) - LINE_PADDING, line_y,
-                 LINE_COLOR)

system/ui/tici_reset.py

@@ -13,6 +13,7 @@ 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
 
+NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
 
@@ -48,6 +49,10 @@ class Reset(Widget):
     if PC:
       return
 
+    # Best effort to wipe NVME
+    os.system(f"sudo umount {NVME}")
+    os.system(f"yes | sudo mkfs.ext4 {NVME}")
+
     # Removing data and formatting
     rm = os.system("sudo rm -rf /data/*")
     os.system(f"sudo umount {USERDATA}")

system/version.py

@@ -30,9 +30,6 @@ BUILD_METADATA_FILENAME = "build.json"
 
 training_version: str = "0.2.0"
 terms_version: str = "2"
-terms_version_sp: str = "1.0"
-sunnylink_consent_version: str = "1.0"
-sunnylink_consent_declined: str = "-1"
 
 
 def get_version(path: str = BASEDIR) -> str: