add branch end-of-life notice and onroad gate

common/params_keys.h

@@ -141,6 +141,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
     {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
     {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
+    {"BranchEolAck", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
     {"CarList", {PERSISTENT, JSON}},
     {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
@@ -169,6 +170,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_BranchEol", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
     {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},

selfdrive/selfdrived/alerts_offroad.json

@@ -1,4 +1,8 @@
 {
+  "Offroad_BranchEol": {
+    "text": "This branch will not receive any more functional updates. Switch to hkg-angle-steering-2025. See the angle steering topic on community.sunnypilot.ai for what you need to do.",
+    "severity": 1
+  },
   "Offroad_TemperatureTooHigh": {
     "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
     "severity": 0

selfdrive/ui/layouts/main.py

@@ -9,6 +9,7 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.sunnypilot.layouts.branch_eol import BranchEolGate, BranchEolNotice
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -46,6 +47,8 @@ class MainLayout(Widget):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+    self._branch_eol = BranchEolGate(self, BranchEolNotice)
+
   def _render(self, _):
     self._handle_onroad_transition()
     self._render_main_content()

selfdrive/ui/mici/layouts/main.py

@@ -6,6 +6,8 @@ from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.sunnypilot.layouts.branch_eol import BranchEolGate
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.branch_eol import MiciBranchEolNotice
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -59,6 +61,8 @@ class MiciMainLayout(Scroller):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+    self._branch_eol = BranchEolGate(self, MiciBranchEolNotice)
+
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),

selfdrive/ui/sunnypilot/layouts/branch_eol.py

@@ -0,0 +1,85 @@
+"""
+Copyright (c) 2021-, 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 numpy as np
+import pyray as rl
+import qrcode
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+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
+
+BRANCH_EOL_URL = "https://community.sunnypilot.ai/t/support-for-newer-vehicles-equipped-with-angle-steering-lfa2/22/751?u=sunnyhaibin"
+BRANCH_EOL_TEXT = "hkg-angle-steering-2025-hda1 will not receive any more functional updates. Switch to hkg-angle-steering-2025."
+
+
+class BranchEolGate:
+  # The ack param clears on boot and on every offroad transition, so the notice is shown again after each drive.
+  def __init__(self, main: Widget, notice_cls: Callable[[Callable[[], None]], Widget]):
+    self._main = main
+    self._notice = notice_cls(self._on_ack)
+    self._acked = False
+    gui_app.add_nav_stack_tick(self._tick)
+
+  def _tick(self):
+    if ui_state.started:
+      self._acked = False
+    elif not self._acked and gui_app.get_active_widget() is self._main:
+      gui_app.push_widget(self._notice)
+
+  def _on_ack(self):
+    self._acked = True
+    ui_state.params.put_bool("BranchEolAck", True)
+    gui_app.pop_widgets_to(self._main, instant=True)
+
+
+class BranchEolNotice(Widget):
+  def __init__(self, on_ack: Callable[[], None]):
+    super().__init__()
+    self._title = Label(tr("This branch is no longer updated"), font_size=75, font_weight=FontWeight.BOLD,
+                        text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                        text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    self._desc = Label(tr(BRANCH_EOL_TEXT + "\n\nScan the QR code to see what you need to do."),
+                       font_size=55, font_weight=FontWeight.MEDIUM,
+                       text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                       text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    self._ack_btn = Button(tr("I understand"), button_style=ButtonStyle.PRIMARY, click_callback=on_ack)
+
+    qr = qrcode.QRCode(error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4)
+    qr.add_data(BRANCH_EOL_URL)
+    qr.make(fit=True)
+    pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA')
+    img_array = np.array(pil_img, dtype=np.uint8)
+    rl_image = rl.Image()
+    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+    rl_image.width = pil_img.width
+    rl_image.height = pil_img.height
+    rl_image.mipmaps = 1
+    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+    self._qr_texture = rl.load_texture_from_image(rl_image)
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+
+    qr_size = 560
+    qr_x = rect.x + rect.width - qr_size - 90
+    text_x = rect.x + 90
+    text_w = qr_x - text_x - 60
+    self._title.render(rl.Rectangle(text_x, rect.y + 90, text_w, 200))
+    self._desc.render(rl.Rectangle(text_x, rect.y + 300, text_w, 450))
+
+    src = rl.Rectangle(0, 0, self._qr_texture.width, self._qr_texture.height)
+    rl.draw_texture_pro(self._qr_texture, src, rl.Rectangle(qr_x, rect.y + 90, qr_size, qr_size), rl.Vector2(0, 0), 0, rl.WHITE)
+
+    self._ack_btn.render(rl.Rectangle(rect.x + 45, rect.y + rect.height - 160 - 45, rect.width - 90, 160))
+
+  def __del__(self):
+    if self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)

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

@@ -0,0 +1,33 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.selfdrive.ui.mici.layouts.onboarding import QRCodeWidget
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.sunnypilot.layouts.branch_eol import BRANCH_EOL_URL
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.mici_setup import GreyBigButton
+from openpilot.system.ui.widgets.scroller import Scroller
+
+
+class MiciBranchEolNotice(Scroller):
+  def __init__(self, on_ack: Callable[[], None]):
+    super().__init__()
+    self._scroller.add_widgets([
+      GreyBigButton("no longer\nupdated", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "This branch will not receive any more functional updates."),
+      GreyBigButton("switch to", "hkg-angle-steering-2025"),
+      GreyBigButton("scan the QR code", "to see what to do"),
+      QRCodeWidget(BRANCH_EOL_URL),
+      BigConfirmationCircleButton("I\nunderstand", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_ack),
+    ])
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    super()._render(_)

system/hardware/hardwared.py

@@ -210,6 +210,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   thermal_config = HARDWARE.get_thermal_config()
 
   fan_controller = FanController(int(1./DT_HW))
+  set_offroad_alert("Offroad_BranchEol", True)
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -301,6 +302,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
     startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
+    startup_conditions["branch_eol_ack"] = params.get_bool("BranchEolAck")
     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