Merge branch 'master' into navigationd-init

This reverts commit 3bbb33f6bd.

.codespellignore

@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -6,10 +6,10 @@ env:
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
+  
   # Branch configurations
   STAGING_SOURCE_BRANCH: 'master'
-
+  
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
@@ -75,7 +75,7 @@ jobs:
             cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
             echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
             echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
+          
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
@@ -85,7 +85,7 @@ jobs:
           fi
           echo "build=$BUILD" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
-
+  
   validate_tests:
     runs-on: ubuntu-24.04
     needs: [ prepare_strategy ]
@@ -119,7 +119,7 @@ jobs:
       needs.prepare_strategy.result == 'success' &&
       (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
       (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
       }}
     steps:
       - uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
@@ -148,7 +148,7 @@ jobs:
           echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
           echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
+          
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -180,15 +180,6 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -250,8 +241,8 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
+  
+  
   publish:
     concurrency:
       # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
@@ -302,7 +293,7 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-
+      
       - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
         if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
         run: |
@@ -311,7 +302,7 @@ jobs:
             git push -f origin ${TAG}
 
   notify:
-    needs:
+    needs: 
     - prepare_strategy
     - build
     - publish
@@ -340,7 +331,7 @@ jobs:
           ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
           EOF
           )
-
+          
           {
             echo 'content<<EOFMARKER'
             echo "$MESSAGE"

.github/workflows/tests.yaml

@@ -21,11 +21,12 @@ env:
   PYTHONWARNINGS: error
   BASE_IMAGE: sunnypilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: release/ci/docker_build_sp.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 

.idea/customTargets.xml

@@ -21,12 +21,5 @@
         </clean>
       </configuration>
     </target>
-    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
-      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv build tools replay" />
-        </build>
-      </configuration>
-    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,11 +20,4 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
-  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>

.run/Replay for controls + ui.run.xml

@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>

.run/replay for controls.run.xml

@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

SConstruct

@@ -75,6 +75,7 @@ env = Environment(
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
+    "#third_party/snpe/include",
   ],
   LIBPATH=[
     "#common",
@@ -100,6 +101,7 @@ if arch == "larch64":
     "/usr/local/lib",
     "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
+    "#third_party/snpe/larch64",
   ])
   arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
   env.Append(CCFLAGS=arch_flags)
@@ -123,6 +125,14 @@ else:
     "/usr/local/lib",
   ])
 
+  if arch == "x86_64":
+    env.Append(LIBPATH=[
+      f"#third_party/snpe/{arch}"
+    ])
+    env.Append(RPATH=[
+      Dir(f"#third_party/snpe/{arch}").abspath,
+    ])
+
 # Sanitizers and extra CCFLAGS from CLI
 if GetOption('asan'):
   env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])

common/params_keys.h

@@ -189,6 +189,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
+    // Navigation params
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {CLEAR_ON_MANAGER_START, STRING}},
+
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 
@@ -262,11 +267,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
-
-    // Tuning keys
-    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
-    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {

selfdrive/controls/controlsd.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import math
+import threading
+import time
 from numbers import Number
 
 from cereal import car, log
@@ -20,6 +22,8 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -29,7 +33,7 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt):
+class Controls(ControlsExt, ModelStateBase):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
@@ -38,6 +42,7 @@ class Controls(ControlsExt):
 
     # Initialize sunnypilot controlsd extension and base model state
     ControlsExt.__init__(self, self.CP, self.params)
+    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -226,15 +231,30 @@ class Controls(ControlsExt):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.get_params_sp()
+
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+
+      time.sleep(0.1)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
-      self.get_params_sp(self.sm)
-      self.run_ext(self.sm, self.pm)
-      rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e,))
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        self.run_ext(self.sm, self.pm)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 
 def main():

selfdrive/ui/layouts/home.py

@@ -227,6 +227,6 @@ class HomeLayout(Widget):
     self._prev_alerts_present = alerts_present
 
   def _get_version_text(self) -> str:
-    brand = "sunnypilot"
+    brand = "openpilot"
     description = self.params.get("UpdaterCurrentDescription")
     return f"{brand} {description}" if description else brand

selfdrive/ui/layouts/main.py

@@ -10,9 +10,6 @@ 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
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-
 
 class MainState(IntEnum):
   HOME = 0

selfdrive/ui/layouts/onboarding.py

@@ -109,8 +109,8 @@ class TermsPage(Widget):
     self._on_accept = on_accept
     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 and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."),
+    self._title = Label(tr("Welcome to openpilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._desc = Label(tr("You must accept the Terms and Conditions to use openpilot. 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)
@@ -143,10 +143,10 @@ class TermsPage(Widget):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
+    self._text = Label(tr("You must accept the Terms and Conditions in order to use openpilot."),
                        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,
+    self._uninstall_btn = Button(tr("Decline, uninstall openpilot"), button_style=ButtonStyle.DANGER,
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):

selfdrive/ui/layouts/settings/developer.py

@@ -23,11 +23,10 @@ DESCRIPTIONS = {
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<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."
+    "<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " +
+    "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. " +
+    "Changing this setting will restart openpilot if the car is powered on."
   ),
 }
 
@@ -72,7 +71,7 @@ class DeveloperLayout(Widget):
     )
 
     self._alpha_long_toggle = toggle_item(
-      lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
+      lambda: tr("openpilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
       initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
       callback=self._on_alpha_long_enabled,
@@ -149,7 +148,6 @@ class DeveloperLayout(Widget):
     self._params.put_bool("ShowDebugInfo", state)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
-    gui_app.set_show_mouse_coords(state)
 
   def _on_enable_adb(self, state: bool):
     self._params.put_bool("AdbEnabled", state)

selfdrive/ui/layouts/settings/device.py

@@ -19,15 +19,12 @@ from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_b
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
 # Description constants
 DESCRIPTIONS = {
   'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
   'driver_camera': tr_noop("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"),
-  'reset_calibration': tr_noop("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
-  'review_guide': tr_noop("Review the rules, features, and limitations of sunnypilot"),
+  'reset_calibration': tr_noop("openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
+  'review_guide': tr_noop("Review the rules, features, and limitations of openpilot"),
 }
 
 
@@ -165,8 +162,8 @@ class DeviceLayout(Widget):
         cloudlog.exception("invalid LiveTorqueParameters")
 
     desc += "<br><br>"
-    desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
-               "Resetting calibration will restart sunnypilot if the car is powered on.")
+    desc += tr("openpilot is continuously calibrating, resetting is rarely required. " +
+               "Resetting calibration will restart openpilot if the car is powered on.")
 
     self._reset_calib_btn.set_description(desc)
 

selfdrive/ui/layouts/settings/firehose.py

@@ -17,7 +17,7 @@ from openpilot.selfdrive.ui.lib.api_helpers import get_token
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
   + "Firehose Mode allows you to maximize your training data uploads to improve "
   + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 )

selfdrive/ui/layouts/settings/software.py

@@ -11,9 +11,6 @@ from openpilot.system.ui.widgets.list_view import button_item, text_item, ListIt
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
 

selfdrive/ui/layouts/settings/toggles.py

@@ -11,27 +11,26 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 
 if gui_app.sunnypilot_ui():
   from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
-  from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 # Description constants
 DESCRIPTIONS = {
   "OpenpilotEnabledToggle": tr_noop(
-    "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
     "Your attention is required at all times to use this feature."
   ),
-  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
+  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage openpilot."),
   "LongitudinalPersonality": tr_noop(
-    "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 " +
+    "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
     "your steering wheel distance button."
   ),
   "IsLdwEnabled": tr_noop(
     "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)."
   ),
-  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
+  "AlwaysOnDM": tr_noop("Enable driver monitoring even when openpilot is not engaged."),
   'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
   "IsMetric": tr_noop("Display speed in km/h instead of mph."),
   "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
@@ -47,7 +46,7 @@ class TogglesLayout(Widget):
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {
       "OpenpilotEnabledToggle": (
-        lambda: tr("Enable sunnypilot"),
+        lambda: tr("Enable openpilot"),
         DESCRIPTIONS["OpenpilotEnabledToggle"],
         "chffr_wheel.png",
         True,
@@ -100,7 +99,7 @@ class TogglesLayout(Widget):
       lambda: tr("Driving Personality"),
       lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
       buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")],
-      button_width=300,
+      button_width=255,
       callback=self._set_longitudinal_personality,
       selected_index=self._params.get("LongitudinalPersonality", return_default=True),
       icon="speed_limit.png"
@@ -126,7 +125,7 @@ class TogglesLayout(Widget):
       # Make description callable for live translation
       additional_desc = ""
       if needs_restart and not locked:
-        additional_desc = tr("Changing this setting will restart sunnypilot if the car is powered on.")
+        additional_desc = tr("Changing this setting will restart openpilot if the car is powered on.")
       toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
 
       # track for engaged state updates
@@ -159,10 +158,10 @@ class TogglesLayout(Widget):
     ui_state.update_params()
 
     e2e_description = tr(
-      "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
+      "openpilot 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. " +
+      "Let the driving model control the gas and brakes. openpilot 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>" +
@@ -184,13 +183,13 @@ class TogglesLayout(Widget):
 
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
 
-        long_desc = unavailable + " " + tr("sunnypilot longitudinal control may come in a future update.")
+        long_desc = unavailable + " " + tr("openpilot longitudinal control may come in a future update.")
         if ui_state.CP.alphaLongitudinalAvailable:
           if self._is_release:
-            long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with " +
+            long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with " +
                                                "Experimental mode, on non-release branches.")
           else:
-            long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.")
+            long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.")
 
         self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
     else:

selfdrive/ui/mici/layouts/home.py

@@ -45,7 +45,7 @@ class DeviceStatus(Widget):
     self._version_text = self._get_version_text()
 
   def _get_version_text(self) -> str:
-    brand = "sunnypilot"
+    brand = "openpilot"
     description = ui_state.params.get("UpdaterCurrentDescription")
     return f"{brand} {description}" if description else brand
 
@@ -111,7 +111,7 @@ 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=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
+    self._openpilot_label = MiciLabel("openpilot", 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/offroad_alerts.py

@@ -254,7 +254,7 @@ class MiciOffroadAlerts(Widget):
           parts = new_desc.split(" / ")
           if len(parts) > 3:
             version, date = parts[0], parts[3]
-            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
+            update_alert_data.text = f"update available\n openpilot {version}, {date}. go to comma.ai/blog to read the release notes."
 
         update_alert_data.visible = True
         active_count += 1

selfdrive/ui/mici/layouts/onboarding.py

@@ -182,7 +182,7 @@ class TrainingGuideAttentionNotice(SetupTermsPage):
   def __init__(self, continue_callback):
     super().__init__(continue_callback, continue_text="continue")
     self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" +
+    self._warning_label = UnifiedLabel("1. openpilot is a driver assistance system.\n\n" +
                                        "2. You must pay attention at all times.\n\n" +
                                        "3. You must be ready to take over at any time.\n\n" +
                                        "4. You are fully responsible for driving the car.", 42,
@@ -239,12 +239,12 @@ class TrainingGuide(Widget):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall)
+    self._uninstall_slider = SmallSlider("uninstall openpilot", self._on_uninstall)
 
     self._back_button = SmallButton("back")
     self._back_button.set_click_callback(back_callback)
 
-    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
+    self._warning_header = TermsHeader("you must accept the\nterms to use openpilot",
                                        gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
 
   def _on_uninstall(self):
@@ -282,7 +282,7 @@ class TermsPage(SetupTermsPage):
     info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
     self._title_header = TermsHeader("terms & conditions", info_txt)
 
-    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
+    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use openpilot. " +
                                      "Read the latest terms at https://comma.ai/terms before continuing.", 36,
                                      FontWeight.ROMAN)
 

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

@@ -156,7 +156,7 @@ class UpdateOpenpilotBigButton(BigButton):
     self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
     self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64)
     self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
-    super().__init__("update sunnypilot", "", self._txt_update_icon)
+    super().__init__("update openpilot", "", self._txt_update_icon)
 
     self._waiting_for_updater_t: float | None = None
     self._hide_value_t: float | None = None
@@ -193,7 +193,7 @@ class UpdateOpenpilotBigButton(BigButton):
     if value:
       self.set_text("")
     else:
-      self.set_text("update sunnypilot")
+      self.set_text("update openpilot")
 
   def _update_state(self):
     if ui_state.started:
@@ -294,7 +294,7 @@ class DeviceLayoutMici(NavWidget):
     reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png")
     reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
 
-    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
+    uninstall_openpilot_btn = BigButton("uninstall openpilot", "", "icons_mici/settings/device/uninstall.png")
     uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
 
     reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False)

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

@@ -17,7 +17,7 @@ from openpilot.system.ui.widgets import NavWidget
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
   + "Firehose Mode allows you to maximize your training data uploads to improve "
   + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 )

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

@@ -24,7 +24,7 @@ class TogglesLayoutMici(NavWidget):
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
-    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+    enable_openpilot = BigParamControl("enable openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
 
     self._scroller = Scroller([
       self._personality_toggle,

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -65,7 +65,7 @@ class Alert:
 
 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1="sunnypilot Unavailable",
+  text1="openpilot Unavailable",
   text2="Waiting to start",
   size=AlertSize.mid,
   status=AlertStatus.normal,

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -153,7 +153,7 @@ class AugmentedRoadView(CameraView):
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
-    self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
+    self._offroad_label = UnifiedLabel("start the car to\nuse openpilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                                        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
@@ -171,7 +171,7 @@ class AugmentedRoadView(CameraView):
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
     else:
-      self._offroad_label.set_text("start the car to\nuse sunnypilot")
+      self._offroad_label.set_text("start the car to\nuse openpilot")
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered

selfdrive/ui/onroad/alert_renderer.py

@@ -48,7 +48,7 @@ class Alert:
 
 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1=tr("sunnypilot Unavailable"),
+  text1=tr("openpilot Unavailable"),
   text2=tr("Waiting to start"),
   size=AlertSize.mid,
   status=AlertStatus.normal,

selfdrive/ui/qt/offroad/offroad_home.cc

@@ -0,0 +1,158 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/qt/offroad/offroad_home.h"
+
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+
+// OffroadHome: the offroad home page
+
+OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(40, 40, 40, 40);
+
+  // top header
+  header_layout = new QHBoxLayout();
+  header_layout->setContentsMargins(0, 0, 0, 0);
+  header_layout->setSpacing(16);
+
+  update_notif = new QPushButton(tr("UPDATE"));
+  update_notif->setVisible(false);
+  update_notif->setStyleSheet("background-color: #364DEF;");
+  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
+  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  alert_notif = new QPushButton();
+  alert_notif->setVisible(false);
+  alert_notif->setStyleSheet("background-color: #E22C2C;");
+  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
+  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  version = new ElidedLabel();
+  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  main_layout->addLayout(header_layout);
+
+  // main content
+  main_layout->addSpacing(25);
+  center_layout = new QStackedLayout();
+
+  QWidget *home_widget = new QWidget(this);
+  {
+    home_layout = new QHBoxLayout(home_widget);
+    home_layout->setContentsMargins(0, 0, 0, 0);
+    home_layout->setSpacing(30);
+
+#ifndef SUNNYPILOT
+    // left: PrimeAdWidget
+    QStackedWidget *left_widget = new QStackedWidget(this);
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    left_prime_layout->setContentsMargins(0, 0, 0, 0);
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
+    left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
+
+    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
+      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
+    });
+
+    home_layout->addWidget(left_widget, 1);
+#endif
+
+    // right: ExperimentalModeButton, SetupWidget
+    QWidget* right_widget = new QWidget(this);
+    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
+    right_column->setContentsMargins(0, 0, 0, 0);
+    right_widget->setFixedWidth(750);
+    right_column->setSpacing(30);
+
+    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(experimental_mode, 1);
+
+    SetupWidget *setup_widget = new SetupWidget;
+    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(setup_widget, 1);
+
+    home_layout->addWidget(right_widget, 1);
+  }
+  center_layout->addWidget(home_widget);
+
+  // add update & alerts widgets
+  update_widget = new UpdateAlert();
+  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(update_widget);
+  alerts_widget = new OffroadAlert();
+  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(alerts_widget);
+
+  main_layout->addLayout(center_layout, 1);
+
+  // set up refresh timer
+  timer = new QTimer(this);
+  timer->callOnTimeout(this, &OffroadHome::refresh);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+    }
+    OffroadHome {
+      background-color: black;
+    }
+    OffroadHome > QPushButton {
+      padding: 15px 30px;
+      border-radius: 5px;
+      font-size: 40px;
+      font-weight: 500;
+    }
+    OffroadHome > QLabel {
+      font-size: 55px;
+    }
+  )");
+}
+
+void OffroadHome::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(10 * 1000);
+}
+
+void OffroadHome::hideEvent(QHideEvent *event) {
+  timer->stop();
+}
+
+void OffroadHome::refresh() {
+  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
+
+  bool updateAvailable = update_widget->refresh();
+  int alerts = alerts_widget->refresh();
+
+  // pop-up new notification
+  int idx = center_layout->currentIndex();
+  if (!updateAvailable && !alerts) {
+    idx = 0;
+  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
+    idx = 1;
+  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
+    idx = 2;
+  }
+  center_layout->setCurrentIndex(idx);
+
+  update_notif->setVisible(updateAvailable);
+  alert_notif->setVisible(alerts);
+  if (alerts) {
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
+  }
+}

selfdrive/ui/qt/offroad/offroad_home.h

@@ -0,0 +1,59 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
+#define OnroadWindow OnroadWindowSP
+#define LayoutWidget LayoutWidgetSP
+#define Sidebar SidebarSP
+#define ElidedLabel ElidedLabelSP
+#define SetupWidget SetupWidgetSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+#endif
+
+class OffroadHome : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OffroadHome(QWidget* parent = 0);
+
+  signals:
+    void openSettings(int index = 0, const QString &param = "");
+
+protected:
+  QHBoxLayout *home_layout;
+  QHBoxLayout *header_layout;
+
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+private:
+  void hideEvent(QHideEvent *event) override;
+
+  Params params;
+
+  QTimer* timer;
+  ElidedLabel* version;
+  QStackedLayout* center_layout;
+  UpdateAlert *update_widget;
+  OffroadAlert* alerts_widget;
+  QPushButton* alert_notif;
+  QPushButton* update_notif;
+};

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class CruiseLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-
-    items = [
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,12 +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.layouts.settings.device import DeviceLayout
-
-
-class DeviceLayoutSP(DeviceLayout):
-  def __init__(self):
-    DeviceLayout.__init__(self)

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class DisplayLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,258 +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 os
-import re
-import time
-import pyray as rl
-
-from cereal import custom
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets.toggle import ON_COLOR
-
-from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
-
-class ModelAction(ButtonActionSP):
-  def get_width_hint(self):
-    return super().get_width_hint() + 1
-
-
-class ModelsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self.model_manager = None
-    self.download_status = None
-    self.prev_download_status = None
-    self.model_dialog = None
-    self.last_cache_calc_time = 0
-
-    self._initialize_items()
-
-    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
-      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
-
-    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    self.current_model_item = ListItemSP(
-      title=tr("Current Model"),
-      description="",
-      action_item=ModelAction(tr("SELECT")),
-      callback=self._handle_current_model_clicked
-    )
-
-    self.supercombo_label = progress_item(tr("Driving Model"))
-    self.vision_label = progress_item(tr("Vision Model"))
-    self.policy_label = progress_item(tr("Policy Model"))
-
-    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
-                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
-                                             gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
-
-    self.clear_cache_item = ListItemSP(
-      title=tr("Clear Model Cache"),
-      description="",
-      action_item=ModelAction(tr("CLEAR")),
-      callback=self._clear_cache
-    )
-
-    self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
-
-    self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
-                                                  tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
-                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
-                                                  lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
-                                                            f" {'km/h' if ui_state.is_metric else 'mph'}")
-
-    self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
-                                                  tr("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."),
-                                                  param="LaneTurnDesire")
-
-    self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
-                                        tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
-                                        1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
-
-    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
-
-    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
-                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
-
-  def _update_lagd_description(self, lagd_toggle: bool):
-    desc = tr("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.")
-    if lagd_toggle:
-      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
-    elif ui_state.CP:
-      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
-      cp = ui_state.CP.steerActuatorDelay
-      desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
-    self.lagd_toggle.set_description(desc)
-
-  def _is_downloading(self):
-    return (self.model_manager and self.model_manager.selectedBundle and
-            self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
-
-  @staticmethod
-  def _calculate_cache_size():
-    cache_size = 0.0
-    if os.path.exists(CUSTOM_MODEL_PATH):
-      cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
-    return cache_size
-
-  def _clear_cache(self):
-    def _callback(response):
-      if response == DialogResult.CONFIRM:
-        ui_state.params.put_bool("ModelManager_ClearCache", True)
-        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
-    gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
-                                            tr("Clear Cache")), callback=_callback)
-
-  def _handle_bundle_download_progress(self):
-    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
-              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
-              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
-    for label in labels.values():
-      label.set_visible(False)
-    self.cancel_download_item.set_visible(False)
-
-    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
-      return
-
-    bundle = self.model_manager.selectedBundle if self._is_downloading() or (
-      self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
-    ) else self.model_manager.activeBundle
-    if not bundle:
-      return
-
-    self.download_status = bundle.status
-    status_changed = self.prev_download_status != self.download_status
-    self.prev_download_status = self.download_status
-
-    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
-
-    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
-      self.last_cache_calc_time = current_time
-      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
-    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
-      device.reset_interactive_timeout()
-
-    for model in bundle.models:
-      if label := labels.get(getattr(model.type, 'raw', model.type)):
-        label.set_visible(True)
-        p = model.artifact.downloadProgress
-        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
-        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
-          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
-        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
-          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
-          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
-        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
-          text, color = f"download failed - {bundle.displayName}", rl.RED
-        label.action_item.update(p.progress, text, show, color)
-
-  @staticmethod
-  def _show_reset_params_dialog():
-    def _callback(response):
-      if response == DialogResult.CONFIRM:
-        ui_state.params.remove("CalibrationParams")
-        ui_state.params.remove("LiveTorqueParameters")
-    msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
-    gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
-
-  def _on_model_selected(self, result):
-    if result != DialogResult.CONFIRM:
-      return
-    selected_ref = self.model_dialog.selection_ref
-    if selected_ref == "Default":
-      ui_state.params.remove("ModelManager_ActiveBundle")
-      self._show_reset_params_dialog()
-    elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
-      ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
-      if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
-        self._show_reset_params_dialog()
-    self.model_dialog = None
-
-  @staticmethod
-  def _bundle_to_node(bundle):
-    return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
-
-  def _get_folders(self, favorites):
-    bundles = self.model_manager.availableBundles
-    folders = {}
-    for bundle in bundles:
-      folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
-
-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
-    for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
-      folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
-      name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
-      folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
-
-    if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
-      folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
-    return folders_list
-
-  def _handle_current_model_clicked(self):
-    favs = ui_state.params.get("ModelManager_Favs")
-    favorites = set(favs.split(';')) if favs else set()
-    folders_list = self._get_folders(favorites)
-
-    active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
-    self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
-                                         get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
-    gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
-
-  def _update_state(self):
-    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
-    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
-    live_delay: bool = ui_state.params.get_bool("LagdToggle")
-
-    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
-    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
-    self.lagd_toggle.action_item.set_state(live_delay)
-    self.delay_control.set_visible(not live_delay and advanced_controls)
-    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
-    if self.lane_turn_value_control.action_item.value_change_step != new_step:
-      self.lane_turn_value_control.action_item.value_change_step = new_step
-
-    self._update_lagd_description(live_delay)
-    self.model_manager = ui_state.sm["modelManagerSP"]
-    self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
-    self.current_model_item.action_item.set_value(active_name)
-
-    if not ui_state.is_offroad():
-      self.current_model_item.action_item.set_enabled(False)
-      self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
-    else:
-      self.current_model_item.action_item.set_enabled(True)
-      self.current_model_item.set_description("")
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class NavigationLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,46 +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 threading
-import time
-import pyray as rl
-
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.network import NetworkUI, PanelType
-
-
-class NetworkUISP(NetworkUI):
-  def __init__(self, wifi_manager):
-    super().__init__(wifi_manager)
-
-    self.scan_button = Button(tr("Scan"), self._scan_clicked, button_style=ButtonStyle.NORMAL, font_size=60, border_radius=30)
-    self.scan_button.set_rect(rl.Rectangle(0, 0, 400, 100))
-
-    self._scanning = False
-    self._wifi_manager.add_callbacks(networks_updated=self._on_networks_updated)
-
-  def _scan_clicked(self):
-    self._scanning = True
-    self.scan_button.set_text(tr("Scanning..."))
-    self.scan_button.set_enabled(False)
-
-    threading.Thread(target=self._wifi_manager._update_networks, daemon=True).start()
-    self._wifi_manager._request_scan()
-    self._wifi_manager._last_network_update = time.monotonic()
-
-  def _on_networks_updated(self, networks):
-    if self._scanning:
-      self._scanning = False
-      self.scan_button.set_text(tr("Scan"))
-      self.scan_button.set_enabled(True)
-
-  def _render(self, rect: rl.Rectangle):
-    super()._render(rect)
-
-    if self._current_panel == PanelType.WIFI:
-      self.scan_button.set_position(self._rect.x, self._rect.y + 20)
-      self.scan_button.render()

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class OSMLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,202 +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 dataclasses import dataclass
-from enum import IntEnum
-
-import pyray as rl
-from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
-from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
-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.widgets import Widget
-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.navigation import NavigationLayout
-
-OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
-ICON_SIZE = 70
-
-OP.PanelType = IntEnum(  # type: ignore
-  "PanelType",
-  [es.name for es in OP.PanelType] + [
-    "SUNNYLINK",
-    "MODELS",
-    "STEERING",
-    "CRUISE",
-    "VISUALS",
-    "DISPLAY",
-    "OSM",
-    "NAVIGATION",
-    "TRIPS",
-    "VEHICLE",
-  ],
-  start=0,
-)
-
-
-@dataclass
-class PanelInfo(OP.PanelInfo):
-  icon: str = ""
-
-
-class NavButton(Widget):
-  def __init__(self, parent, p_type, p_info):
-    super().__init__()
-    self.parent = parent
-    self.panel_type = p_type
-    self.panel_info = p_info
-
-  def _render(self, rect):
-    is_selected = self.panel_type == self.parent._current_panel
-    text_color = OP.TEXT_SELECTED if is_selected else OP.TEXT_NORMAL
-    content_x = rect.x + 90
-    text_size = measure_text_cached(self.parent._font_medium, self.panel_info.name, 65)
-
-    # Draw background if selected
-    if is_selected:
-      self.container_rect = rl.Rectangle(
-        content_x - 50, rect.y, OP.SIDEBAR_WIDTH - 50, OP.NAV_BTN_HEIGHT
-      )
-      rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
-
-    if self.panel_info.icon:
-      icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
-                      rl.WHITE)
-      content_x += ICON_SIZE + 20
-
-    # Draw button text (right-aligned)
-    text_pos = rl.Vector2(
-      content_x,
-      rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
-    )
-    rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
-
-    # Store button rect for click detection
-    self.panel_info.button_rect = rect
-
-
-class SettingsLayoutSP(OP.SettingsLayout):
-  def __init__(self):
-    OP.SettingsLayout.__init__(self)
-    self._nav_items: list[Widget] = []
-
-    # Create sidebar scroller
-    self._sidebar_scroller = Scroller([], spacing=0, line_separator=False, pad_end=False)
-
-    # Panel configuration
-    wifi_manager = WifiManager()
-    wifi_manager.set_active(False)
-
-    self._panels = {
-      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
-      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
-      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
-      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
-      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
-      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
-      OP.PanelType.VISUALS: PanelInfo(tr_noop("Visuals"), VisualsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
-      OP.PanelType.DISPLAY: PanelInfo(tr_noop("Display"), DisplayLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
-      OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
-      # OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
-      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
-      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
-      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
-      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
-    }
-
-  def _draw_sidebar(self, rect: rl.Rectangle):
-    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
-
-    # Close button
-    close_btn_rect = rl.Rectangle(
-      rect.x + style.ITEM_PADDING * 3, rect.y + style.ITEM_PADDING * 2, style.CLOSE_BTN_SIZE, style.CLOSE_BTN_SIZE
-    )
-
-    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
-               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
-    close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
-    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
-
-    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
-    icon_dest = rl.Rectangle(
-      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
-      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
-      self._close_icon.width,
-      self._close_icon.height,
-    )
-    rl.draw_texture_pro(
-      self._close_icon,
-      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
-      icon_dest,
-      rl.Vector2(0, 0),
-      0,
-      icon_color,
-    )
-
-    # Store close button rect for click detection
-    self._close_btn_rect = close_btn_rect
-
-    # Navigation buttons with scroller
-    if not self._nav_items:
-      for panel_type, panel_info in self._panels.items():
-        nav_button = NavButton(self, panel_type, panel_info)
-        nav_button.rect.width = rect.width - 100  # Full width minus padding
-        nav_button.rect.height = OP.NAV_BTN_HEIGHT
-        self._nav_items.append(nav_button)
-        self._sidebar_scroller.add_widget(nav_button)
-
-    # Draw navigation section with scroller
-    nav_rect = rl.Rectangle(
-      rect.x,
-      self._close_btn_rect.height + style.ITEM_PADDING * 4,  # Starting Y position for nav items
-      rect.width,
-      rect.height - 300  # Remaining height after close button
-    )
-
-    if self._nav_items:
-      self._sidebar_scroller.render(nav_rect)
-      return
-
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
-    # Check close button
-    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
-      if self._close_callback:
-        self._close_callback()
-      return True
-
-    # Check navigation buttons
-    for panel_type, panel_info in self._panels.items():
-      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
-        self.set_current_panel(panel_type)
-        return True
-
-    return False
-
-  def show_event(self):
-    super().show_event()
-    self._panels[self._current_panel].instance.show_event()
-    self._sidebar_scroller.show_event()

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

@@ -1,96 +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 os
-
-from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
-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, 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
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-
-DESCRIPTIONS = {
-  'disable_updates_offroad': tr_noop(
-    "When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
-  ),
-  'disable_updates_onroad': tr_noop(
-    "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
-  )
-}
-
-
-class SoftwareLayoutSP(SoftwareLayout):
-  def __init__(self):
-    super().__init__()
-    self.disable_updates_toggle = toggle_item_sp(
-      lambda: tr("Disable Updates"),
-      description="",
-      initial_state=ui_state.params.get_bool("DisableUpdates"),
-      callback=self._on_disable_updates_toggled,
-    )
-    self._scroller.add_widget(self.disable_updates_toggle)
-
-  def _handle_reboot(self, result):
-    if result == DialogResult.CONFIRM:
-      ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
-      ui_state.params.put_bool("DoReboot", True)
-    else:
-      self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
-
-  def _on_disable_updates_toggled(self, enabled):
-    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
-
-  def _on_select_branch(self):
-    current_git_branch = ui_state.params.get("GitBranch") or ""
-    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
-    branches = [b for b in branches_str.split(",") if b]
-    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
-    top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
-
-    if HARDWARE.get_device_type() == "tici":
-      top_level_branches = ["release-tici", "staging-tici"]
-      branches = [b for b in branches if b.endswith("-tici")]
-
-    top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
-    remaining_branches = [b for b in branches if b not in top_level_branches]
-    prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
-    non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
-
-    folders = [
-      TreeFolder("", top_level_nodes),
-      TreeFolder("Prebuilt Branches", prebuilt_nodes),
-      TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
-    ]
-
-    def _on_branch_selected(result):
-      if result == DialogResult.CONFIRM and self._branch_dialog is not None:
-        selection = self._branch_dialog.selection_ref
-        if selection:
-          ui_state.params.put("UpdaterTargetBranch", selection)
-          self._branch_btn.action_item.set_value(selection)
-          os.system("pkill -SIGUSR1 -f system.updated.updated")
-      self._branch_dialog = None
-
-    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
-                                           on_exit=_on_branch_selected)
-
-    gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
-
-  def _update_state(self):
-    super()._update_state()
-    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
-    self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
-    self.disable_updates_toggle.set_visible(show_advanced)
-
-    disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
-    self.disable_updates_toggle.set_description(disable_updates_desc)

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class SteeringLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,343 +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 cereal import custom
-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.sunnylink_pairing_dialog import SunnylinkPairingDialog
-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 button_item, dual_button_item
-from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-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):
-  def __init__(self):
-    super().__init__()
-
-    self._title = UnifiedLabel(
-      text="🚀 sunnylink 🚀",
-      font_size=90,
-      font_weight=FontWeight.AUDIOWIDE,
-      text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=False,
-      elide=False
-    )
-
-    self._description = UnifiedLabel(
-      text=tr("For secure backup, restore, and remote configuration"),
-      font_size=40,
-      font_weight=FontWeight.LIGHT,
-      text_color=rl.Color(0, 255, 0, 255),  # Green
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=True,
-      elide=False
-    )
-
-    self._sponsor_msg = UnifiedLabel(
-      text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
-           tr("Click the Sponsor button for more details"),
-      font_size=35,
-      font_weight=FontWeight.LIGHT,
-      text_color=rl.Color(255, 165, 0, 255),  # Orange
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=True,
-      elide=False
-    )
-
-    self._padding = 20
-    self._spacing = 10
-
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    super().set_parent_rect(parent_rect)
-
-    content_width = int(parent_rect.width - (self._padding * 2))
-
-    title_height = self._title.get_content_height(content_width)
-    desc_height = self._description.get_content_height(content_width)
-    sponsor_height = self._sponsor_msg.get_content_height(content_width)
-
-    total_height = (self._padding + title_height + self._spacing +
-                    desc_height + self._spacing + sponsor_height + self._padding)
-
-    self._rect.width = parent_rect.width
-    self._rect.height = total_height
-
-  def _render(self, rect: rl.Rectangle):
-    content_width = rect.width - (self._padding * 2)
-    current_y = rect.y + self._padding
-
-    # Render title
-    title_height = self._title.get_content_height(int(content_width))
-    title_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, title_height)
-    self._title.render(title_rect)
-    current_y += title_height + self._spacing
-
-    # Render description
-    desc_height = self._description.get_content_height(int(content_width))
-    desc_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, desc_height)
-    self._description.render(desc_rect)
-    current_y += desc_height + self._spacing
-
-    # Render sponsor message
-    sponsor_height = self._sponsor_msg.get_content_height(int(content_width))
-    sponsor_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, sponsor_height)
-    self._sponsor_msg.render(sponsor_rect)
-
-
-class SunnylinkDescriptionItem(Widget):
-  def __init__(self):
-    super().__init__()
-    self._description = UnifiedLabel(
-      text="",
-      font_size=40,
-      font_weight=FontWeight.LIGHT,
-      text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=True,
-      elide=False,
-    )
-    self._padding = 20
-
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    super().set_parent_rect(parent_rect)
-    desc_height = self._description.get_content_height(int(parent_rect.width)) + self._padding * 2
-
-    self._rect.width = parent_rect.width
-    self._rect.height = desc_height
-
-  def set_text(self, text: str):
-    self._description.set_text(text)
-
-  def set_color(self, color: rl.Color):
-    self._description.set_text_color(color)
-
-  def _render(self, rect: rl.Rectangle):
-    content_width = rect.width - (self._padding * 2)
-
-    desc_height = self._description.get_content_height(int(content_width))
-    desc_rect = rl.Rectangle(rect.x + self._padding, rect.y, content_width, desc_height)
-    self._description.render(desc_rect)
-
-
-class SunnylinkLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._sunnylink_pairing_dialog: SunnylinkPairingDialog | None = None
-    self._restore_in_progress = False
-    self._backup_in_progress = False
-    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
-
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=False, spacing=0)
-
-  def _initialize_items(self):
-    self._sunnylink_toggle = toggle_item_sp(
-      title=tr("Enable sunnylink"),
-      description=tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."),
-      param="SunnylinkEnabled",
-      callback=self._sunnylink_toggle_callback
-    )
-
-    self._sunnylink_description = SunnylinkDescriptionItem()
-    self._sunnylink_description.set_visible(False)
-
-    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(
-      title=tr("Pair GitHub Account"),
-      button_text=tr("Not Paired"),
-      description=tr(
-        "Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink."),
-      callback=lambda: self._handle_pair_btn(True)
-    )
-    self._sunnylink_uploader_toggle = toggle_item_sp(
-      title=tr("Enable sunnylink uploader (infrastructure test)"),
-      description=tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. ") +
-                  tr("(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"),
-      param="EnableSunnylinkUploader"
-    )
-    self._sunnylink_backup_restore_buttons = dual_button_item(
-      description="",
-      left_text=tr("Backup Settings"),
-      right_text=tr("Restore Settings"),
-      left_callback=self._handle_backup_btn,
-      right_callback=self._handle_restore_btn
-    )
-    self._backup_btn: Button = self._sunnylink_backup_restore_buttons.action_item.left_button  # store for easy individual access
-    self._restore_btn: Button = self._sunnylink_backup_restore_buttons.action_item.right_button
-    self._backup_btn.set_button_style(ButtonStyle.NORMAL)
-    self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
-
-    items = [
-      SunnylinkHeader(),
-      LineSeparator(),
-      self._sunnylink_toggle,
-      self._sunnylink_description,
-      LineSeparator(),
-      self._sponsor_btn,
-      LineSeparator(),
-      self._pair_btn,
-      LineSeparator(),
-      self._sunnylink_uploader_toggle,
-      LineSeparator(),
-      self._sunnylink_backup_restore_buttons
-    ]
-    return items
-
-  @staticmethod
-  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()
-    if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
-      gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
-                                                     tr("This may be due to weak internet connection or sunnylink registration issue. ") +
-                                                     tr("Please reboot and try again.")))
-    elif not self._sunnylink_pairing_dialog:
-      self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing)
-      gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None))
-
-  def _handle_backup_btn(self):
-    backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup")
-    gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler)
-
-  def _handle_restore_btn(self):
-    self._restore_btn.set_enabled(False)
-    restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore")
-    gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler)
-
-  def _backup_handler(self, dialog_result: int):
-    if dialog_result == DialogResult.CONFIRM:
-      self._backup_in_progress = True
-      self._backup_btn.set_enabled(False)
-      ui_state.params.put_bool("BackupManager_CreateBackup", True)
-
-  def _restore_handler(self, dialog_result: int):
-    if dialog_result == DialogResult.CONFIRM:
-      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
-        text = tr(f"Backing up {backup_progress}%")
-        self._backup_btn.set_text(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 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
-        dialog = alert_dialog(tr("Settings backup completed."))
-        gui_app.set_modal_overlay(dialog)
-        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
-        text = tr(f"Restoring {restore_progress}%")
-        self._restore_btn.set_text(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 Failed"))
-        dialog = alert_dialog(tr("Unable to restore the settings, try again later."))
-        gui_app.set_modal_overlay(dialog)
-
-      elif (restore_status == custom.BackupManagerSP.Status.completed or
-            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
-        self._restore_in_progress = False
-        dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface."))
-        gui_app.set_modal_overlay(dialog, 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._restore_btn.set_enabled(can_enable)
-      self._restore_btn.set_text(tr("Restore Settings"))
-
-  def _sunnylink_toggle_callback(self, state: bool):
-    if state:
-      description = tr(
-        "Welcome back!! We're excited to see you've enabled sunnylink again!")
-      color = rl.Color(0, 255, 0, 255)  # Green
-    else:
-      description = ("😢 " + tr("Not going to lie, it's sad to see you disabled sunnylink") +
-                     tr(", but we'll be here when you're ready to come back."))
-      color = rl.Color(255, 165, 0, 255)  # Orange
-    self._sunnylink_description.set_text(description)
-    self._sunnylink_description.set_color(color)
-    self._sunnylink_description.set_visible(True)
-    self._sunnylink_toggle.show_description(False)
-
-  def _update_state(self):
-    super()._update_state()
-    self._sunnylink_enabled = ui_state.params.get_bool("SunnylinkEnabled")
-    self._sunnylink_toggle.set_right_value(tr("Dongle ID") + ": " + self._get_sunnylink_dongle_id())
-    self._sunnylink_toggle.action_item.set_enabled(not ui_state.is_onroad())
-    self._sunnylink_toggle.action_item.set_state(self._sunnylink_enabled)
-    self._sunnylink_uploader_toggle.action_item.set_enabled(self._sunnylink_enabled)
-    self.handle_backup_restore_progress()
-
-    sponsor_btn_text = tr("THANKS ♥") if ui_state.sunnylink_state.is_sponsor() else tr("SPONSOR")
-    tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor")
-    self._sponsor_btn.action_item.set_text(sponsor_btn_text)
-    self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color())
-    self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled)
-
-    pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired")
-    self._pair_btn.action_item.set_text(pair_btn_text)
-    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-    self._sunnylink_description.set_visible(False)

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class TripsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,67 +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.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.list_view import ButtonAction
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.factory import BrandSettingsFactory
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.platform_selector import PlatformSelector, LegendWidget
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
-
-
-class VehicleLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self._brand_settings = None
-    self._brand_items = []
-    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")),
-                                    callback=self._platform_selector._on_clicked)
-    self._vehicle_item.title_color = self._platform_selector.color
-    self._legend_widget = LegendWidget(self._platform_selector)
-
-    self.items = [self._vehicle_item, self._legend_widget]
-    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
-
-  @staticmethod
-  def get_brand():
-    if bundle := ui_state.params.get("CarPlatformBundle"):
-      return bundle.get("brand", "")
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
-      return ui_state.CP.brand
-    return ""
-
-  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")
-    self._vehicle_item.action_item.set_text(vehicle_text)
-
-    brand = self.get_brand()
-    if brand != self._current_brand:
-      self._current_brand = brand
-      self._brand_settings = BrandSettingsFactory.create_brand_settings(brand)
-      self._brand_items = self._brand_settings.items if self._brand_settings else []
-
-      self.items = [self._vehicle_item, self._legend_widget] + self._brand_items
-      self._scroller = Scroller(self.items, line_separator=True, spacing=0)
-
-  def _update_state(self):
-    self._update_brand_settings()
-    if self._brand_settings:
-      self._brand_settings.update_settings()
-    self._platform_selector.refresh()
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

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

@@ -1,16 +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 abc
-
-
-class BrandSettings(abc.ABC):
-  def __init__(self):
-    self.items = []
-
-  @abc.abstractmethod
-  def update_settings(self) -> None:
-    """Update the settings based on the current vehicle brand."""

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class BodySettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class ChryslerSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,45 +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.layouts.settings.vehicle.brands.base import BrandSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.body import BodySettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.chrysler import ChryslerSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.ford import FordSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.gm import GMSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.honda import HondaSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.hyundai import HyundaiSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.mazda import MazdaSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.nissan import NissanSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.psa import PSASettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.rivian import RivianSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.subaru import SubaruSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.tesla import TeslaSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.toyota import ToyotaSettings
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.volkswagen import VolkswagenSettings
-
-
-class BrandSettingsFactory:
-  _BRAND_MAP: dict[str, type[BrandSettings]] = {
-    "body": BodySettings,
-    "chrysler": ChryslerSettings,
-    "ford": FordSettings,
-    "gm": GMSettings,
-    "honda": HondaSettings,
-    "hyundai": HyundaiSettings,
-    "mazda": MazdaSettings,
-    "nissan": NissanSettings,
-    "psa": PSASettings,
-    "rivian": RivianSettings,
-    "subaru": SubaruSettings,
-    "tesla": TeslaSettings,
-    "toyota": ToyotaSettings,
-    "volkswagen": VolkswagenSettings,
-  }
-
-  @staticmethod
-  def create_brand_settings(brand: str) -> BrandSettings | None:
-    cls = BrandSettingsFactory._BRAND_MAP.get(brand)
-    return cls() if cls is not None else None

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class FordSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class GMSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class HondaSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.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.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
-from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR
-
-
-class HyundaiSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-    self.alpha_long_available = False
-
-    tuning_texts = [tr("Off"), tr("Dynamic"), tr("Predictive")]
-    self.longitudinal_tuning_item = multiple_button_item_sp(tr("Custom Longitudinal Tuning"), "", tuning_texts,
-                                                            button_width=300, callback=self._on_tuning_selected,
-                                                            param="HyundaiLongitudinalTuning", inline=False)
-    self.items = [self.longitudinal_tuning_item]
-
-  @staticmethod
-  def _on_tuning_selected(index):
-    ui_state.params.put("HyundaiLongitudinalTuning", index)
-
-  def update_settings(self):
-    self.alpha_long_available = False
-    bundle = ui_state.params.get("CarPlatformBundle")
-    if bundle:
-      platform = bundle.get("platform")
-      self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
-    elif ui_state.CP:
-      self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
-
-    tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0")
-    long_enabled = ui_state.has_longitudinal_control
-
-    long_tuning_descs = [
-      tr("Your vehicle will use the Default longitudinal tuning."),
-      tr("Your vehicle will use the Dynamic longitudinal tuning."),
-      tr("Your vehicle will use the Predictive longitudinal tuning."),
-    ]
-    long_tuning_desc = long_tuning_descs[tuning_param] if tuning_param < len(long_tuning_descs) else long_tuning_descs[0]
-
-    longitudinal_tuning_disabled = not ui_state.is_offroad() or not long_enabled
-    if longitudinal_tuning_disabled:
-      if not ui_state.is_offroad():
-        long_tuning_desc = tr("This feature is unavailable while the car is onroad.")
-      elif not long_enabled:
-        long_tuning_desc = tr("This feature is unavailable because sunnypilot Longitudinal Control (Alpha) is not enabled.")
-
-    self.longitudinal_tuning_item.action_item.set_enabled(not longitudinal_tuning_disabled)
-    self.longitudinal_tuning_item.set_description(long_tuning_desc)
-    self.longitudinal_tuning_item.show_description(True)
-    self.longitudinal_tuning_item.action_item.set_selected_button(tuning_param)
-    self.longitudinal_tuning_item.set_visible(self.alpha_long_available)

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class MazdaSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class NissanSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class PSASettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class RivianSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,54 +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.layouts.settings.vehicle.brands.base import BrandSettings
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-from opendbc.car.subaru.values import CAR, SubaruFlags
-
-
-class SubaruSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-    self.has_stop_and_go = False
-
-    self.stop_and_go_toggle = toggle_item_sp(tr("Stop and Go (Beta)"), "", param="SubaruStopAndGo", callback=self._on_toggle_changed)
-
-    self.stop_and_go_manual_parking_brake_toggle = toggle_item_sp(tr("Stop and Go for Manual Parking Brake (Beta)"), "",
-                                                                  param="SubaruStopAndGoManualParkingBrake", callback=self._on_toggle_changed)
-
-    self.items = [self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle]
-
-  def _on_toggle_changed(self, _):
-    self.update_settings()
-
-  def stop_and_go_disabled_msg(self):
-    if not self.has_stop_and_go:
-      return tr("This feature is currently not available on this platform.")
-    elif not ui_state.is_offroad():
-      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
-    return ""
-
-  def update_settings(self):
-    bundle = ui_state.params.get("CarPlatformBundle")
-    if bundle:
-      platform = bundle.get("platform")
-      config = CAR[platform].config
-      self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-    elif ui_state.CP:
-      self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-
-    disabled_msg = self.stop_and_go_disabled_msg()
-    descriptions = [
-      tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms."),
-      tr("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!")
-    ]
-
-    for toggle, desc in zip([self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle], descriptions, strict=True):
-      toggle.action_item.set_enabled(self.has_stop_and_go and ui_state.is_offroad())
-      toggle.set_description(f"<b>{disabled_msg}</b><br><br>{desc}" if disabled_msg else desc)

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

@@ -1,43 +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.layouts.settings.vehicle.brands.base import BrandSettings
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-
-COOP_STEERING_MIN_KMH = 23
-OEM_STEERING_MIN_KMH = 48
-KM_TO_MILE = 0.621371
-
-
-class TeslaSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.items = [self.coop_steering_toggle]
-
-  def update_settings(self):
-    is_metric = ui_state.is_metric
-    unit = "km/h" if is_metric else "mph"
-
-    display_value_coop = COOP_STEERING_MIN_KMH if is_metric else round(COOP_STEERING_MIN_KMH * KM_TO_MILE)
-    display_value_oem = OEM_STEERING_MIN_KMH if is_metric else round(OEM_STEERING_MIN_KMH * KM_TO_MILE)
-
-    coop_steering_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
-    coop_steering_warning = tr(f"Warning: May experience steering oscillations below {display_value_oem} {unit} during turns, " +
-                               "recommend disabling this feature if you experience these.")
-    coop_steering_desc = (
-      f"<b>{coop_steering_warning}</b><br><br>" +
-      f"{tr('Allows the driver to provide limited steering input while openpilot is engaged.')}<br>" +
-      f"{tr(f'Only works above {display_value_coop} {unit}.')}"
-    )
-
-    if not ui_state.is_offroad():
-      coop_steering_desc = f"<b>{coop_steering_disabled_msg}</b><br><br>{coop_steering_desc}"
-
-    self.coop_steering_toggle.set_description(coop_steering_desc)
-    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class ToyotaSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,15 +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.layouts.settings.vehicle.brands.base import BrandSettings
-
-
-class VolkswagenSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-  def update_settings(self):
-    pass

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

@@ -1,138 +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 json
-import os
-import pyray as rl
-from collections.abc import Callable
-from functools import partial
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-from openpilot.selfdrive.ui.ui_state import ui_state
-
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
-
-
-class LegendWidget(Widget):
-  def __init__(self, platform_selector):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, 0, 350))
-    self._platform_selector = platform_selector
-    self._font = gui_app.font(FontWeight.NORMAL)
-    self._bold_font = gui_app.font(FontWeight.BOLD)
-
-  def _render(self, rect):
-    x = rect.x + 20
-    y = rect.y + 20
-    rl.draw_text_ex(self._font, tr("Select vehicle to force fingerprint manually."), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR)
-    y += 80
-    rl.draw_text_ex(self._font, tr("Colors represent vehicle fingerprint status:"), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR)
-    y += 80
-
-    items = [
-      (style.GREEN, tr("Fingerprinted automatically")),
-      (style.BLUE, tr("Manually selected fingerprint")),
-      (style.YELLOW, tr("Not fingerprinted or manually selected")),
-    ]
-    for color, text in items:
-      p_color = self._platform_selector.color
-      is_active = p_color.r == color.r and p_color.g == color.g and p_color.b == color.b and p_color.a == color.a
-      rl.draw_rectangle(int(x), int(y + 5), 30, 30, color)
-      font = self._bold_font if is_active else self._font
-      text_color = rl.WHITE if is_active else style.ITEM_DESC_TEXT_COLOR
-      rl.draw_text_ex(font, f"- {text}", rl.Vector2(x + 50, y - 7), 40, 0, text_color)
-      y += 50
-
-
-class PlatformSelector(Button):
-  def __init__(self, on_platform_change: Callable[[], None] | None = None):
-    super().__init__(tr("Vehicle"), self._on_clicked, button_style=ButtonStyle.NORMAL)
-    self.set_rect(rl.Rectangle(0, 0, 0, 120))
-
-    with open(CAR_LIST_JSON_OUT) as car_list_json:
-      self._platforms = json.load(car_list_json)
-
-    self._on_platform_change = on_platform_change
-    self.refresh()
-
-  @property
-  def text(self):
-    return self._label._text
-
-  def set_parent_rect(self, parent_rect):
-    super().set_parent_rect(parent_rect)
-    self._rect.width = parent_rect.width
-
-  def _on_clicked(self):
-    if ui_state.params.get("CarPlatformBundle"):
-      ui_state.params.remove("CarPlatformBundle")
-      self.refresh()
-      if self._on_platform_change:
-        self._on_platform_change()
-    else:
-      self._show_platform_dialog()
-
-  def _set_platform(self, platform_name):
-    if data := self._platforms.get(platform_name):
-      ui_state.params.put("CarPlatformBundle", {**data, "name": platform_name})
-      self.refresh()
-      if self._on_platform_change:
-        self._on_platform_change()
-
-  def _on_platform_selected(self, dialog, res):
-    if res == DialogResult.CONFIRM and dialog.selection_ref:
-      offroad_msg = tr("This setting will take effect immediately.") if ui_state.is_offroad else \
-                    tr("This setting will take effect once the device enters offroad state.")
-
-      confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm"))
-
-      callback = partial(self._confirm_platform, dialog.selection_ref)
-      gui_app.set_modal_overlay(confirm_dialog, callback=callback)
-
-  def _confirm_platform(self, platform_name, res):
-    if res == DialogResult.CONFIRM:
-      self._set_platform(platform_name)
-
-  def _show_platform_dialog(self):
-    platforms = sorted(self._platforms.keys())
-    makes = sorted({self._platforms[p].get('make') for p in platforms})
-    folders = [TreeFolder(make, [TreeNode(p, {
-      'display_name': p,
-      'search_tags': f"{p} {self._platforms[p].get('make')} {' '.join(map(str, self._platforms[p].get('year', [])))} {self._platforms[p].get('model', p)}"
-    }) for p in platforms if self._platforms[p].get('make') == make]) for make in makes]
-    dialog = TreeOptionDialog(
-      tr("Select a vehicle"),
-      folders,
-      search_title=tr("Search your vehicle"),
-      search_subtitle=tr("Enter model year (e.g., 2021) and model (Toyota Corolla):"),
-      search_funcs=[lambda node: node.data.get('display_name', ''), lambda node: node.data.get('search_tags', '')]
-    )
-    callback = partial(self._on_platform_selected, dialog)
-    dialog.on_exit = callback
-    gui_app.set_modal_overlay(dialog, callback=callback)
-
-  def refresh(self):
-    self.color = style.YELLOW
-    self._platform = tr("Unrecognized Vehicle")
-    self.set_text(tr("No vehicle selected"))
-
-    if bundle := ui_state.params.get("CarPlatformBundle"):
-      self._platform = bundle.get("name", "")
-      self.set_text(self._platform)
-      self.color = style.BLUE
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
-      self._platform = ui_state.CP.carFingerprint
-      self.set_text(self._platform)
-      self.color = style.GREEN
-    self.set_enabled(True)

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

@@ -1,30 +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.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class VisualsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc

@@ -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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  auto *list = new ListWidgetSP(this, false);
-
-  main_layout->addWidget(new QWidget());
-
-  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
-  list->addItem(enableHkgAngleSmoothingFactor);
-
-  auto first_row = new QHBoxLayout();
-  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
-  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgTuningOverridingCycles);
-
-  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
-  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgAngleMinTorque);
-  list->addItem(first_row);
-
-  auto second_row = new QHBoxLayout();
-  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleActiveTorque);
-
-  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleMaxTorque);
-  list->addItem(second_row);
-  
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-
-  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
-  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
-  main_layout->addWidget(warning, 0, Qt::AlignCenter);
-}
-
-void AngleTunningSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void AngleTunningSettings::updateToggles(bool _offroad) {
-  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
-  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
-
-  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
-  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
-
-  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
-  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
-
-  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
-  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
-
-  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
-  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
-
-  offroad = _offroad;
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h

@@ -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.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-class AngleTunningSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit AngleTunningSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-
-  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
-  OptionControlSP* hkgAngleMinTorque;
-  OptionControlSP* hkgAngleActiveTorque;
-  OptionControlSP* hkgAngleMaxTorque;
-  OptionControlSP* hkgTuningOverridingCycles;
-};

selfdrive/ui/sunnypilot/ui_state.py

@@ -1,29 +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 cereal import messaging, custom
-from openpilot.common.params import Params
-from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
-
-
-class UIStateSP:
-  def __init__(self):
-    self.params = Params()
-    self.sm_services_ext = [
-      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
-    ]
-
-    self.sunnylink_state = SunnylinkState()
-
-  def update(self) -> None:
-    self.sunnylink_state.start()
-
-  def update_params(self) -> None:
-    CP_SP_bytes = self.params.get("CarParamsSPPersistent")
-    if CP_SP_bytes is not None:
-      self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
-    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")

selfdrive/ui/tests/test_ui/raylib_screenshots.py

@@ -41,47 +41,47 @@ def put_update_params(params: Params):
   params.put("UpdaterTargetBranch", BRANCH_NAME)
 
 
-def setup_homescreen(click, pm: PubMaster, scroll=None):
+def setup_homescreen(click, pm: PubMaster):
   pass
 
 
-def setup_homescreen_update_available(click, pm: PubMaster, scroll=None):
+def setup_homescreen_update_available(click, pm: PubMaster):
   params = Params()
   params.put_bool("UpdateAvailable", True)
   put_update_params(params)
   setup_offroad_alert(click, pm)
 
 
-def setup_settings(click, pm: PubMaster, scroll=None):
+def setup_settings(click, pm: PubMaster):
   click(100, 100)
 
 
-def close_settings(click, pm: PubMaster, scroll=None):
-  click(140, 120)
+def close_settings(click, pm: PubMaster):
+  click(240, 216)
 
 
-def setup_settings_network(click, pm: PubMaster, scroll=None):
+def setup_settings_network(click, pm: PubMaster):
   setup_settings(click, pm)
   click(278, 450)
 
 
-def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
-  setup_settings_network(click, pm, scroll=scroll)
+def setup_settings_network_advanced(click, pm: PubMaster):
+  setup_settings_network(click, pm)
   click(1880, 100)
 
 
-def setup_settings_toggles(click, pm: PubMaster, scroll=None):
+def setup_settings_toggles(click, pm: PubMaster):
   setup_settings(click, pm)
-  click(278, 620)
+  click(278, 600)
 
 
-def setup_settings_software(click, pm: PubMaster, scroll=None):
+def setup_settings_software(click, pm: PubMaster):
   put_update_params(Params())
   setup_settings(click, pm)
-  click(278, 730)
+  click(278, 720)
 
 
-def setup_settings_software_download(click, pm: PubMaster, scroll=None):
+def setup_settings_software_download(click, pm: PubMaster):
   params = Params()
   # setup_settings_software but with "DOWNLOAD" button to test long text
   params.put("UpdaterState", "idle")
@@ -89,13 +89,13 @@ def setup_settings_software_download(click, pm: PubMaster, scroll=None):
   setup_settings_software(click, pm)
 
 
-def setup_settings_software_release_notes(click, pm: PubMaster, scroll=None):
-  setup_settings_software(click, pm, scroll=scroll)
+def setup_settings_software_release_notes(click, pm: PubMaster):
+  setup_settings_software(click, pm)
   click(588, 110)  # expand description for current version
 
 
-def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
-  setup_settings_software(click, pm, scroll=scroll)
+def setup_settings_software_branch_switcher(click, pm: PubMaster):
+  setup_settings_software(click, pm)
   params = Params()
   params.put("UpdaterAvailableBranches", f"master,nightly,release,{BRANCH_NAME}")
   params.put("GitBranch", BRANCH_NAME)  # should be on top
@@ -103,32 +103,30 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
   click(1984, 449)
 
 
-def setup_settings_firehose(click, pm: PubMaster, scroll=None):
+def setup_settings_firehose(click, pm: PubMaster):
   setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 850)
+  click(278, 845)
 
 
-def setup_settings_developer(click, pm: PubMaster, scroll=None):
+def setup_settings_developer(click, pm: PubMaster):
   CP = car.CarParams()
   CP.alphaLongitudinalAvailable = True  # show alpha long control toggle
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings(click, pm)
-  scroll(-20, 278, 950)
   click(278, 950)
 
 
-def setup_keyboard(click, pm: PubMaster, scroll=None):
-  setup_settings_developer(click, pm, scroll=scroll)
+def setup_keyboard(click, pm: PubMaster):
+  setup_settings_developer(click, pm)
   click(1930, 470)
 
 
-def setup_pair_device(click, pm: PubMaster, scroll=None):
+def setup_pair_device(click, pm: PubMaster):
   click(1950, 800)
 
 
-def setup_offroad_alert(click, pm: PubMaster, scroll=None):
+def setup_offroad_alert(click, pm: PubMaster):
   put_update_params(Params())
   set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
   set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
@@ -139,73 +137,22 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):
   close_settings(click, pm)
 
 
-def setup_confirmation_dialog(click, pm: PubMaster, scroll=None):
+def setup_confirmation_dialog(click, pm: PubMaster):
   setup_settings(click, pm)
   click(1985, 791)  # reset calibration
 
 
-def setup_experimental_mode_description(click, pm: PubMaster, scroll=None):
+def setup_experimental_mode_description(click, pm: PubMaster):
   setup_settings_toggles(click, pm)
   click(1200, 280)  # expand description for experimental mode
 
 
-def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster, scroll=None):
-  setup_settings_developer(click, pm, scroll=scroll)
-  click(650, 960)  # toggle sunnypilot longitudinal control
+def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster):
+  setup_settings_developer(click, pm)
+  click(650, 960)  # toggle openpilot longitudinal control
 
 
-def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 510)
-
-
-def setup_settings_models(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 840)
-
-
-def setup_settings_steering(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 950)
-
-
-def setup_settings_cruise(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-4, 278, 950)
-  click(278, 860)
-
-
-def setup_settings_visuals(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 330)
-
-
-def setup_settings_display(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 420)
-
-
-def setup_settings_osm(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 520)
-
-
-def setup_settings_trips(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 630)
-
-
-def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 750)
-
-
-def setup_onroad(click, pm: PubMaster, scroll=None):
+def setup_onroad(click, pm: PubMaster):
   ds = messaging.new_message('deviceState')
   ds.deviceState.started = True
 
@@ -226,7 +173,7 @@ def setup_onroad(click, pm: PubMaster, scroll=None):
     time.sleep(0.05)
 
 
-def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
+def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
   click(100, 100)  # open sidebar
 
@@ -245,23 +192,23 @@ def setup_onroad_alert(click, pm: PubMaster, size: log.SelfdriveState.AlertSize,
     time.sleep(0.05)
 
 
-def setup_onroad_small_alert(click, pm: PubMaster, scroll=None):
+def setup_onroad_small_alert(click, pm: PubMaster):
   setup_onroad_alert(click, pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal)
 
 
-def setup_onroad_medium_alert(click, pm: PubMaster, scroll=None):
+def setup_onroad_medium_alert(click, pm: PubMaster):
   setup_onroad_alert(click, pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt)
 
 
-def setup_onroad_full_alert(click, pm: PubMaster, scroll=None):
+def setup_onroad_full_alert(click, pm: PubMaster):
   setup_onroad_alert(click, pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical)
 
 
-def setup_onroad_full_alert_multiline(click, pm: PubMaster, scroll=None):
+def setup_onroad_full_alert_multiline(click, pm: PubMaster):
   setup_onroad_alert(click, pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal)
 
 
-def setup_onroad_full_alert_long_text(click, pm: PubMaster, scroll=None):
+def setup_onroad_full_alert_long_text(click, pm: PubMaster):
   setup_onroad_alert(click, pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt)
 
 
@@ -296,19 +243,6 @@ CASES = {
   "onroad_full_alert_long_text": setup_onroad_full_alert_long_text,
 }
 
-# sunnypilot cases
-CASES.update({
-  "settings_sunnylink": setup_settings_sunnylink,
-  "settings_models": setup_settings_models,
-  "settings_steering": setup_settings_steering,
-  "settings_cruise": setup_settings_cruise,
-  "settings_visuals": setup_settings_visuals,
-  "settings_display": setup_settings_display,
-  "settings_osm": setup_settings_osm,
-  "settings_trips": setup_settings_trips,
-  "settings_vehicle": setup_settings_vehicle,
-})
-
 
 class TestUI:
   def __init__(self):
@@ -342,20 +276,11 @@ class TestUI:
     time.sleep(0.01)
     pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)
 
-  def scroll(self, clicks: int, x, y, *args, **kwargs):
-    if clicks == 0:
-      return
-    click = -1 if clicks < 0 else 1  # -1 = down, 1 = up
-    for _ in range(abs(clicks)):
-      pyautogui.scroll(click, self.ui.left + x, self.ui.top + y, *args, **kwargs)  # scroll for individual clicks since we need to delay between clicks
-      time.sleep(0.01)  # small delay between scroll clicks to work properly
-    time.sleep(2)  # wait for scroll to fully settle
-
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
     time.sleep(UI_DELAY)  # wait for UI to start
-    setup_case(self.click, self.pm, self.scroll)
+    setup_case(self.click, self.pm)
     self.screenshot(name)
 
 
@@ -369,7 +294,6 @@ def create_screenshots():
     with OpenpilotPrefix():
       params = Params()
       params.put("DongleId", "123456789012345")
-      params.put("SunnylinkDongleId", "123456789012345")
 
       # Set branch name
       params.put("UpdaterCurrentDescription", VERSION)

selfdrive/ui/ui_state.py

@@ -12,8 +12,6 @@ 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
-
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 
 
@@ -23,7 +21,7 @@ class UIStatus(Enum):
   OVERRIDE = "override"
 
 
-class UIState(UIStateSP):
+class UIState:
   _instance: 'UIState | None' = None
 
   def __new__(cls):
@@ -33,7 +31,6 @@ class UIState(UIStateSP):
     return cls._instance
 
   def _initialize(self):
-    UIStateSP.__init__(self)
     self.params = Params()
     self.sm = messaging.SubMaster(
       [
@@ -58,7 +55,7 @@ class UIState(UIStateSP):
         "carControl",
         "liveParameters",
         "rawAudioData",
-      ] + self.sm_services_ext
+      ]
     )
 
     self.prime_state = PrimeState()
@@ -114,7 +111,6 @@ class UIState(UIStateSP):
     if time.monotonic() - self._param_update_time > 5.0:
       self.update_params()
     device.update()
-    UIStateSP.update(self)
 
   def _update_state(self) -> None:
     # Handle panda states updates
@@ -184,7 +180,6 @@ class UIState(UIStateSP):
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
-    UIStateSP.update_params(self)
     self._param_update_time = time.monotonic()
 
 

sunnypilot/modeld/SConscript

@@ -1,3 +1,5 @@
+import glob
+
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
@@ -21,6 +23,12 @@ thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
 thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
 thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
 
+# SNPE except on Mac and ARM Linux
+snpe_lib = []
+if arch != "Darwin" and arch != "aarch64":
+  common_src += ['runners/snpemodel.cc']
+  snpe_lib += ['SNPE']
+
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -32,13 +40,20 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
   for xenv in (lenv, lenvCython):
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
+# Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
 cython_libs = envCython["LIBS"] + libs
+snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
 if arch == "larch64":
   thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])

sunnypilot/modeld/runners/__init__.py

@@ -4,15 +4,20 @@ from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
 assert Runtime
 
 USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
 
 class ModelRunner(RunModel):
   THNEED = 'THNEED'
+  SNPE = 'SNPE'
   ONNX = 'ONNX'
 
   def __new__(cls, paths, *args, **kwargs):
     if ModelRunner.THNEED in paths and USE_THNEED:
       from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
       runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
     elif ModelRunner.ONNX in paths:
       from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
       runner_type = ModelRunner.ONNX

sunnypilot/modeld/runners/run.h

@@ -1,3 +1,4 @@
 #pragma once
 
 #include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/runners/snpemodel.h"

sunnypilot/modeld/runners/snpemodel.cc

@@ -0,0 +1,116 @@
+#pragma clang diagnostic ignored "-Wexceptions"
+
+#include "sunnypilot/modeld/runners/snpemodel.h"
+
+#include <cstring>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "common/timing.h"
+
+void PrintErrorStringAndExit() {
+  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
+#ifdef QCOM2
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else {
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
+#endif
+  model_data = util::read_file(path);
+  assert(model_data.size() > 0);
+
+  // load model
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
+  if (!container) { PrintErrorStringAndExit(); }
+  LOGW("loaded model with size: %lu", model_data.size());
+
+  // create model runner
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
+  while (!snpe) {
+#ifdef QCOM2
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#else
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#endif
+    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  }
+
+  // create output buffer
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
+  }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
+}
+
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
+
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
+
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
+
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
+}
+
+void SNPEModel::execute() {
+  if (!snpe->execute(input_map, output_map)) {
+    PrintErrorStringAndExit();
+  }
+}

sunnypilot/modeld/runners/snpemodel.h

@@ -0,0 +1,52 @@
+#pragma once
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <DlSystem/IUserBuffer.hpp>
+#include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
+class SNPEModel : public RunModel {
+public:
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
+  void execute();
+
+private:
+  std::string model_data;
+
+#ifdef QCOM2
+  zdl::DlSystem::Runtime_t snpe_runtime;
+#endif
+
+  // snpe model stuff
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
+
+  bool use_tf8;
+  float *output;
+  size_t output_size;
+};

sunnypilot/modeld/runners/snpemodel.pxd

@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
+  cdef cppclass SNPEModel:
+    SNPEModel(string, float*, size_t, int, bool, cl_context)

sunnypilot/modeld/runners/snpemodel_pyx.pyx

@@ -0,0 +1,17 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import os
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .snpemodel cimport SNPEModel as cppSNPEModel
+from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from openpilot.sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
+cdef class SNPEModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)

sunnypilot/models/fetcher.py

@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v10.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/models/helpers.py

@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 12
-REQUIRED_MIN_SELECTOR_VERSION = 12
+CURRENT_SELECTOR_VERSION = 11
+REQUIRED_MIN_SELECTOR_VERSION = 11
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 

sunnypilot/models/manager.py

@@ -63,9 +63,6 @@ class ModelManagerSP:
             f.write(chunk)
             bytes_downloaded += len(chunk)
 
-            if not self.params.get("ModelManager_DownloadIndex"):
-              raise Exception("Download cancelled")
-
             if total_size > 0:
               progress = (bytes_downloaded / total_size) * 100
               model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
@@ -179,7 +176,6 @@ class ModelManagerSP:
               cloudlog.exception(e)
             finally:
               self.params.remove("ModelManager_DownloadIndex")
-              self.selected_bundle = None
 
         if self.params.get("ModelManager_ClearCache"):
             self.clear_model_cache()

sunnypilot/navd/README.md

@@ -0,0 +1,5 @@
+# Navigation
+
+Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
+
+- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.

sunnypilot/navd/helpers.py

@@ -72,6 +72,15 @@ class Coordinate:
     return x * EARTH_MEAN_RADIUS
 
 
+def bearing_between_two_points(point_one: Coordinate, point_two: Coordinate) -> float:
+  dlon = math.radians(point_two.longitude - point_one.longitude)
+  bearing_radians = math.atan2(math.sin(dlon)* math.cos(point_two.latitude), math.cos(point_one.latitude) * math.sin(point_two.latitude) -
+                               math.sin(point_one.latitude) * math.cos(point_two.latitude) * math.cos(dlon))
+  bearing_degrees = math.degrees(bearing_radians)
+  bearing_normalized = (bearing_degrees + 360) % 360
+  return bearing_normalized
+
+
 def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
   if a.distance_to(b) < 0.01:
     return a.distance_to(p)
@@ -126,6 +135,8 @@ def string_to_direction(direction: str) -> str:
     if d in direction:
       if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
         return 'slight' + d.capitalize()
+      elif 'sharp' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'sharp' + d.capitalize()
       return d
   return 'none'
 

sunnypilot/navd/navigation_helpers/mapbox_integration.py

@@ -0,0 +1,113 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 requests
+from urllib.parse import quote
+
+from openpilot.common.params import Params
+
+
+class MapboxIntegration:
+  def __init__(self):
+    self.params = Params()
+
+  def get_public_token(self) -> str:
+    token: str = self.params.get('MapboxToken', return_default=True)
+    return token
+
+  def set_destination(self, postvars, current_lon, current_lat, bearing=None) -> tuple[dict, bool]:
+    if 'latitude' in postvars and 'longitude' in postvars:
+      self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+      return postvars, True
+
+    addr = postvars['place_name']
+    if not addr:
+      return postvars, False
+
+    token = self.get_public_token()
+    url = f'https://api.mapbox.com/geocoding/v5/mapbox.places/{quote(addr)}.json?access_token={token}&limit=1&proximity={current_lon},{current_lat}'
+    try:
+      response = requests.get(url, timeout=5)
+      if response.status_code == 200:
+        features = response.json()['features']
+        if features:
+          longitude, latitude = features[0]['geometry']['coordinates']
+          postvars.update({'latitude': latitude, 'longitude': longitude, 'name': addr})
+          self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+          return postvars, True
+    except requests.RequestException:
+      pass  # Broad exception to handle network errors like no internet without crashing navd process.
+    return postvars, False
+
+  def nav_confirmed(self, postvars, start_lon, start_lat, bearing=None) -> None:
+    if not postvars:
+      return
+
+    latitude = float(postvars['latitude'])
+    longitude = float(postvars['longitude'])
+
+    data: dict = {'navData': {'current': {'latitude': latitude, 'longitude': longitude}, 'route': {}}}
+
+    token = self.get_public_token()
+    route_data = self.generate_route(start_lon, start_lat, longitude, latitude, token, bearing)
+    if route_data:
+      data['navData']['route'] = route_data
+    self.params.put('MapboxSettings', data)
+
+  @staticmethod
+  def generate_route(start_lon, start_lat, end_lon, end_lat, token, bearing=None) -> dict | None:
+    if not token:
+      return None
+
+    params = {
+      'access_token': token,
+      'geometries': 'geojson',
+      'steps': 'true',
+      'overview': 'full',
+      'annotations': 'maxspeed',
+      'alternatives': 'false',
+      'banner_instructions': 'true',
+    }
+    if bearing is not None:
+      params['bearings'] = f'{int((bearing + 360) % 360):.0f},90;'
+
+    try:
+      response = requests.get(f'https://api.mapbox.com/directions/v5/mapbox/driving/{start_lon},{start_lat};{end_lon},{end_lat}', params=params, timeout=5)
+      data = response.json() if response.status_code == 200 else {}
+    except requests.RequestException:
+      return None
+
+    routes = data['routes'] if data else None
+    legs = routes[0]['legs'] if routes else None
+
+    if data.get('code') != 'Ok' or not routes or not legs:
+      return None
+
+    route = routes[0]
+    leg = legs[0]
+
+    steps = [
+      {
+        'maneuver': step['maneuver']['type'],
+        'instruction': step['maneuver']['instruction'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'location': {'longitude': step['maneuver']['location'][0], 'latitude': step['maneuver']['location'][1]},
+        'modifier': step['maneuver'].get('modifier', 'none'),
+        'bannerInstructions': step['bannerInstructions'],
+      }
+      for step in leg['steps']
+    ]
+
+    maxspeed = [{'speed': item['speed'], 'unit': item['unit']} for item in leg['annotation']['maxspeed'] if 'speed' in item]
+
+    return {
+      'steps': steps,
+      'totalDistance': route['distance'],
+      'totalDuration': route['duration'],
+      'geometry': [{'longitude': coord[0], 'latitude': coord[1]} for coord in route['geometry']['coordinates']],
+      'maxspeed': maxspeed,
+    }

sunnypilot/navd/navigation_helpers/nav_instructions.py

@@ -0,0 +1,152 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 numpy import interp
+
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.navd.helpers import Coordinate, bearing_between_two_points, distance_along_geometry, string_to_direction
+
+
+class NavigationInstructions:
+  def __init__(self):
+    self.coord = Coordinate(0, 0)
+    self.params = Params()
+
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+    self.closest_idx: float = 0
+
+  def get_route_progress(self, current_lat, current_lon) -> dict | None:
+    route = self.get_current_route()
+    if not route or not route['geometry'] or not route['steps']:
+      return None
+
+    self.coord.latitude = current_lat
+    self.coord.longitude = current_lon
+
+    # Find the closest point on the route relative to self
+    self.closest_idx, min_distance = min(((idx, self.coord.distance_to(coord)) for idx, coord in enumerate(route['geometry'])), key=lambda x: x[1])
+    closest_cumulative = distance_along_geometry(route['geometry'], self.coord)
+
+    # Find the current step index, which is the HIGHEST idx where the step location cumulative less/equal closest cumulative
+    current_step_idx = max((idx for idx, step in enumerate(route['steps']) if step['cumulative_distance'] <= closest_cumulative), default=-1)
+    current_step = route['steps'][current_step_idx if current_step_idx >= 0 else 0]
+
+    # The next turn is the next step relative to our cumulative index
+    next_turn_idx = current_step_idx + 1
+    next_turn = route['steps'][next_turn_idx] if 0 <= next_turn_idx < len(route['steps']) else None
+
+    current_maxspeed = current_step['maxspeed']
+
+    distance_to_end_of_step = max(0, current_step['distance'] - (closest_cumulative - current_step['cumulative_distance']))
+
+    all_maneuvers: list = []
+    max_maneuvers = 3
+    for idx in range(current_step_idx, min(current_step_idx + max_maneuvers, len(route['steps']))):
+      step = route['steps'][idx]
+      if idx == current_step_idx:
+        distance = distance_to_end_of_step
+      else:
+        distance = step['cumulative_distance'] - closest_cumulative
+      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
+
+    return {
+      'distance_from_route': min_distance,
+      'current_step': current_step,
+      'next_turn': next_turn,
+      'current_maxspeed': current_maxspeed,
+      'all_maneuvers': all_maneuvers,
+      'current_step_idx': current_step_idx,
+      'distance_to_end_of_step': distance_to_end_of_step,
+    }
+
+  def get_current_route(self):
+    if self._route_loaded and self._cached_route is not None:
+      return self._cached_route
+    if self._no_route:
+      return None
+
+    param_value = self.params.get('MapboxSettings')
+    route = param_value['navData']['route'] if param_value else None
+    if not route:
+      self._no_route = True
+      return None
+
+    geometry = [Coordinate(coord['latitude'], coord['longitude']) for coord in route['geometry']]
+    cumulative_distances = [0.0]
+    cumulative_distances.extend(cumulative_distances[-1] + geometry[step - 1].distance_to(geometry[step]) for step in range(1, len(geometry)))
+    maxspeed = [(speed['speed'], speed['unit']) for speed in route['maxspeed']]
+    steps = []
+    for step in route['steps']:
+      location = Coordinate(step['location']['latitude'], step['location']['longitude'])
+      closest_idx = min(range(len(geometry)), key=lambda i: location.distance_to(geometry[i]))
+      steps.append({
+        'bannerInstructions': step['bannerInstructions'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'maneuver': step['maneuver'],
+        'location': location,
+        'cumulative_distance': cumulative_distances[closest_idx],
+        'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
+        'modifier': string_to_direction(step['modifier']),
+        'instruction': step['instruction'],
+      })
+    self._cached_route = {
+      'bearings': [bearing_between_two_points(geometry[i], geometry[i+2]) for i in range(len(geometry)-2)],
+      'steps': steps,
+      'total_distance': route['totalDistance'],
+      'total_duration': route['totalDuration'],
+      'geometry': geometry,
+      'cumulative_distances': cumulative_distances,
+      'maxspeed': maxspeed,
+    }
+    self._route_loaded = True
+    return self._cached_route
+
+  def clear_route_cache(self):
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+  def route_bearing_misalign(self, route, bearing, v_ego) -> bool:
+    route_bearing_misalign:bool = False
+
+    if v_ego < 5.0:
+      route_bearing_misalign = False
+    elif 0 < self.closest_idx < len(route['geometry']) -1:
+      route_bearing = route['bearings'][self.closest_idx -1]
+      current_bearing_normalized = (bearing + 360) % 360
+      bearing_difference = abs(current_bearing_normalized - route_bearing)
+
+      if min(bearing_difference, 360 - bearing_difference) > 95:
+        route_bearing_misalign = True  # flag for recompute/cancellation
+    return route_bearing_misalign
+
+  def get_upcoming_turn_from_progress(self, progress, current_lat, current_lon, v_ego: float) -> str:
+    if progress and progress['next_turn']:
+      speed_breakpoints: list = [0, 5, 10, 15, 20, 25, 30, 35, 40]
+      distance_breakpoints: list = [20, 25, 30, 45, 60, 75, 90, 105, 120]
+      distance_interp = interp(v_ego, speed_breakpoints, distance_breakpoints)
+
+      self.coord.latitude = current_lat
+      self.coord.longitude = current_lon
+      distance = self.coord.distance_to(progress['next_turn']['location'])
+
+      if distance <= distance_interp:
+        modifier = progress['next_turn']['modifier']
+        return str(modifier)
+    return 'none'
+
+  @staticmethod
+  def arrived_at_destination(progress, v_ego) -> bool:
+    if v_ego < 1.0:
+      maneuvers = progress['all_maneuvers'][0]
+      if maneuvers['type'] == 'arrive' or maneuvers['instruction'].startswith('Your destination'):
+        return True
+    return False

sunnypilot/navd/navigation_helpers/tests/test_mapbox.py

@@ -0,0 +1,98 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 os
+
+from openpilot.common.constants import CV
+
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class TestMapbox:
+  @classmethod
+  def setup_class(cls):
+    cls.mapbox = MapboxIntegration()
+    cls.nav = NavigationInstructions()
+
+    token = os.environ.get('MAPBOX_TOKEN_CI')
+    if token:
+      cls.mapbox.params.put('MapboxToken', token)
+
+    # route setup
+    cls.current_lon, cls.current_lat = -119.17557, 34.23305
+    cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
+    cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
+    cls.postvars, cls.valid_addr = cls.mapbox.set_destination(cls.postvars, cls.current_lon, cls.current_lat)
+    cls.route = cls.nav.get_current_route()
+    cls.progress = cls.nav.get_route_progress(cls.current_lat, cls.current_lon)
+
+  def test_set_destination(self):
+    assert self.valid_addr
+    settings = self.mapbox.params.get('MapboxSettings')
+    assert settings is not None
+    dest_lat = settings['navData']['current']['latitude']
+    dest_lon = settings['navData']['current']['longitude']
+    assert dest_lat == self.postvars["latitude"] and dest_lon == self.postvars["longitude"]
+
+  def test_get_route(self):
+    assert self.route is not None
+    assert 'steps' in self.route
+    assert 'geometry' in self.route
+    assert 'maxspeed' in self.route
+    assert 'total_distance' in self.route
+    assert 'total_duration' in self.route
+    assert len(self.route['steps']) > 0
+    assert len(self.route['geometry']) > 0
+    assert len(self.route['maxspeed']) > 0
+
+    if self.route and 'steps' in self.route:
+      for step in self.route['steps']:
+        assert 'modifier' in step
+
+  def test_upcoming_turn_detection(self):
+    upcoming = self.nav.get_upcoming_turn_from_progress(self.progress, self.current_lat, self.current_lon, v_ego=40.0)
+    assert isinstance(upcoming, str)
+    assert upcoming == 'none'
+
+    if self.route['steps']:
+      turn_lat = self.route['steps'][1]['location'].latitude
+      turn_lon = self.route['steps'][1]['location'].longitude
+      close_lat = turn_lat - 0.000175  # slightly before the turn
+      if self.progress and self.progress.get('next_turn'):
+        expected_turn = self.progress['next_turn']['modifier']
+        upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon, v_ego=0.0)
+        if expected_turn:
+          assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
+
+  def test_route_progress_tracking(self):
+    assert self.progress is not None
+    assert 'distance_from_route' in self.progress
+    assert 'next_turn' in self.progress
+    assert 'current_maxspeed' in self.progress
+    assert 'all_maneuvers' in self.progress
+    assert 'distance_to_end_of_step' in self.progress
+    assert self.progress['distance_from_route'] >= 0
+    assert isinstance(self.progress['all_maneuvers'], list)
+
+  def test_speed_limit_handling(self):
+    speed_limit_metric = self.progress['current_maxspeed'][0]
+    speed_limit_imperial = (round(speed_limit_metric * CV.KPH_TO_MPH))
+    assert isinstance(speed_limit_metric, int)
+    assert isinstance(speed_limit_imperial, int)
+
+  def test_arrival_detection(self):
+    is_arrived = self.nav.arrived_at_destination(self.progress, 2.0)
+    assert isinstance(is_arrived, bool)
+    assert not is_arrived
+
+  def test_bearing_misalign(self):
+    lat = self.route['steps'][1]['location'].latitude
+    lon = self.route['steps'][1]['location'].longitude
+    self.nav.get_route_progress(lat, lon)
+    route_bearing_misaligned = self.nav.route_bearing_misalign(self.route, 45, 5.0)
+    # based on math: closest index: 7, normalized bearing: 45 route bearing: 180.5486953778888, expected differential: 135.54869538
+    assert route_bearing_misaligned

sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -4,27 +4,21 @@ 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 cereal.messaging as messaging
 from cereal import log, custom
 
 from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
 
 
-class ControlsExt(ModelStateBase):
+class ControlsExt:
   def __init__(self, CP: structs.CarParams, params: Params):
-    ModelStateBase.__init__(self)
     self.CP = CP
     self.params = params
-    self._param_update_time: float = 0.0
     self.blinker_pause_lateral = BlinkerPauseLateral()
+    self.get_params_sp()
 
     cloudlog.info("controlsd_ext is waiting for CarParamsSP")
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
@@ -33,14 +27,8 @@ class ControlsExt(ModelStateBase):
     self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
-  def get_params_sp(self, sm: messaging.SubMaster) -> None:
-    if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
-      self.blinker_pause_lateral.get_params()
-
-      if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, sm["liveDelay"].lateralDelay)
-
-      self._param_update_time = time.monotonic()
+  def get_params_sp(self) -> None:
+    self.blinker_pause_lateral.get_params()
 
   def get_lat_active(self, sm: messaging.SubMaster) -> bool:
     if self.blinker_pause_lateral.update(sm['carState']):

sunnypilot/sunnylink/api.py

@@ -3,6 +3,7 @@ import os
 import random
 import time
 from datetime import datetime, timedelta
+from pathlib import Path
 
 import jwt
 from openpilot.common.api.base import BaseApi
@@ -80,19 +81,23 @@ class SunnylinkApi(BaseApi):
     if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
       return sunnylink_dongle_id
 
-    jwt_algo, private_key, public_key = BaseApi.get_key_pair()
+    privkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa")
+    pubkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
 
     start_time = time.monotonic()
     successful_registration = False
-    if not public_key:
+    if not pubkey_path.is_file():
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
       Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
+      with pubkey_path.open() as f1, privkey_path.open() as f2:
+        public_key = f1.read()
+        private_key = f2.read()
 
       backoff = 1
       while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
         try:
           if verbose or time.monotonic() - start_time < timeout / 2:
             self._status_update("Registering device to sunnylink...")

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -1,10 +1,5 @@
 #!/usr/bin/env python3
-"""
-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 __future__ import annotations
 
 import base64
@@ -37,11 +32,9 @@ LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
-METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
 
-
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
   sm = messaging.SubMaster(['deviceState'])
@@ -187,30 +180,16 @@ def getParamsAllKeys() -> list[str]:
 
 @dispatcher.add_method
 def getParamsAllKeysV1() -> dict[str, str]:
-  try:
-    with open(METADATA_PATH) as f:
-      metadata = json.load(f)
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
-    metadata = {}
-
   available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
-  params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
+  params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []}
   for key in available_keys:
     value = get_param_as_byte(key, get_default=True)
-
-    param_entry = {
+    params_dict["params"].append({
       "key": key,
       "type": int(params.get_type(key).value),
       "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-    }
-
-    if key in metadata:
-      meta_copy = metadata[key].copy()
-      param_entry["_extra"] = meta_copy
-
-    params_dict["params"].append(param_entry)
+    })
 
   return {"keys": json.dumps(params_dict.get("params", []))}
 
@@ -259,7 +238,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
 
   cloudlog.debug("athena.startLocalProxy.starting")
   ws = create_connection(
-    remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE}
+    remote_ws_uri,
+    header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
+    enable_multithread=True,
+    sslopt={"cert_reqs": ssl.CERT_NONE}
   )
 
   return start_local_proxy_shim(global_end_event, local_port, ws)

sunnypilot/sunnylink/sunnylink_state.py

@@ -1,221 +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
-import threading
-import time
-import json
-import pyray as rl
-
-from cereal import messaging
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
-from openpilot.system.ui.sunnypilot.lib.styles import style
-
-
-class RoleType(IntEnum):
-  READONLY = 0
-  SPONSOR = 1
-  ADMIN = 2
-
-
-class SponsorTier(IntEnum):
-  FREE = 0
-  NOVICE = 1
-  SUPPORTER = 2
-  CONTRIBUTOR = 3
-  BENEFACTOR = 4
-  GUARDIAN = 5
-
-
-class User:
-  device_id: str
-  user_id: str
-  created_at: int
-  updated_at: int
-  token_hash: str
-
-  def __init__(self, json_data):
-    self.device_id = json_data.get("device_id")
-    self.user_id = json_data.get("user_id")
-    self.created_at = json_data.get("created_at")
-    self.updated_at = json_data.get("updated_at")
-    self.token_hash = json_data.get("token_hash")
-
-
-class Role:
-  role_type: str
-  role_tier: str
-
-  def __init__(self, json_data):
-    self.role_type = json_data.get("role_type")
-    self.role_tier = json_data.get("role_tier")
-
-
-def _parse_roles(roles: str) -> list[Role]:
-  lst_roles = []
-  try:
-    roles_list = json.loads(roles)
-    for r in roles_list:
-      try:
-        role = Role(r)
-        lst_roles.append(role)
-      except Exception as e:
-        cloudlog.exception(f"Failed to parse role {r}: {e}")
-    return lst_roles
-  except Exception as e:
-    cloudlog.exception(f"Error parsing roles: {e}")
-    return []
-
-
-def _parse_users(users: str) -> list[User]:
-  lst_users = []
-  try:
-    users_list = json.loads(users)
-    for u in users_list:
-      try:
-        user = User(u)
-        lst_users.append(user)
-      except Exception as e:
-        cloudlog.exception(f"Failed to parse user {u}: {e}")
-    return lst_users
-  except Exception as e:
-    cloudlog.exception(f"Error parsing users: {e}")
-    return []
-
-
-class SunnylinkState:
-  FETCH_INTERVAL = 5.0  # seconds between API calls
-  API_TIMEOUT = 10.0  # seconds for API requests
-  SLEEP_INTERVAL = 0.5  # seconds to sleep between checks in the worker thread
-  NOT_PAIRED_USERNAMES = ["unregisteredsponsor", "temporarysponsor"]
-
-  def __init__(self):
-    self._params = Params()
-    self._lock = threading.Lock()
-    self._running = False
-    self._thread = None
-    self._sm = messaging.SubMaster(['deviceState'])
-
-    self._roles: list[Role] = []
-    self._users: list[User] = []
-    self.sponsor_tier: SponsorTier = SponsorTier.FREE
-    self.sunnylink_dongle_id = self._params.get("SunnylinkDongleId")
-    self._api = SunnylinkApi(self.sunnylink_dongle_id)
-
-    self._load_initial_state()
-
-  def _load_initial_state(self) -> None:
-    roles_cache = self._params.get("SunnylinkCache_Roles")
-    users_cache = self._params.get("SunnylinkCache_Users")
-    if roles_cache is not None:
-      self._roles = _parse_roles(roles_cache)
-      self.sponsor_tier = self._get_highest_tier()
-    if users_cache is not None:
-      self._users = _parse_users(users_cache)
-
-  def _get_highest_tier(self) -> SponsorTier:
-    role_tier = SponsorTier.FREE
-    for role in self._roles:
-      try:
-        if RoleType[role.role_type.upper()] == RoleType.SPONSOR:
-          role_tier = max(role_tier, SponsorTier[role.role_tier.upper()])
-      except Exception as e:
-        cloudlog.exception(f"Error parsing role {role}: {e} for dongle id {self.sunnylink_dongle_id}")
-    return role_tier
-
-  def _fetch_roles(self) -> None:
-    if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
-      return
-
-    try:
-      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:
-        self._roles = _parse_roles(response.text)
-        self._params.put("SunnylinkCache_Roles", response.text)
-        sponsor_tier = self._get_highest_tier()
-        with self._lock:
-          if sponsor_tier != self.sponsor_tier:
-            self.sponsor_tier = sponsor_tier
-            cloudlog.info(f"Sunnylink sponsor tier updated to {sponsor_tier.name}")
-    except Exception as e:
-      cloudlog.exception(f"Failed to fetch sunnylink roles: {e} for dongle id {self.sunnylink_dongle_id}")
-
-  def _fetch_users(self) -> None:
-    if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
-      return
-
-    try:
-      token = self._api.get_token()
-      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token)
-      if response.status_code == 200:
-        users = response.text
-        self._params.put("SunnylinkCache_Users", users)
-        with self._lock:
-          _parse_users(users)
-    except Exception as e:
-      cloudlog.exception(f"Failed to fetch sunnylink users: {e} for dongle id {self.sunnylink_dongle_id}")
-
-  def _worker_thread(self) -> None:
-    while self._running:
-      if self.is_connected():
-        self._fetch_roles()
-        self._fetch_users()
-
-      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
-        if not self._running:
-          break
-        time.sleep(self.SLEEP_INTERVAL)
-
-  def start(self) -> None:
-    if self._thread and self._thread.is_alive():
-      return
-    self._running = True
-    self._thread = threading.Thread(target=self._worker_thread, daemon=True)
-    self._thread.start()
-
-  def stop(self) -> None:
-    self._running = False
-    if self._thread and self._thread.is_alive():
-      self._thread.join(timeout=1.0)
-
-  def get_sponsor_tier(self) -> SponsorTier:
-    with self._lock:
-      return self.sponsor_tier
-
-  def is_sponsor(self) -> bool:
-    with self._lock:
-      is_sponsor = any(role.role_type.upper() == RoleType.SPONSOR.name and role.role_tier.upper() != SponsorTier.FREE.name
-                       for role in self._roles)
-      return is_sponsor
-
-  def is_paired(self) -> bool:
-    with self._lock:
-      is_paired = any(user.user_id not in self.NOT_PAIRED_USERNAMES for user in self._users)
-      return is_paired
-
-  def is_connected(self) -> bool:
-    network_type = self._sm["deviceState"].networkType
-    return bool(network_type != 0)
-
-  def get_sponsor_tier_color(self) -> rl.Color:
-    tier = self.get_sponsor_tier()
-
-    if tier == SponsorTier.GUARDIAN:
-      return rl.Color(255, 215, 0, 255)
-    elif tier == SponsorTier.BENEFACTOR:
-      return rl.Color(60, 179, 113, 255)
-    elif tier == SponsorTier.CONTRIBUTOR:
-      return rl.Color(70, 130, 180, 255)
-    elif tier == SponsorTier.SUPPORTER:
-      return rl.Color(147, 112, 219, 255)
-    else:
-      return style.ITEM_TEXT_VALUE_COLOR
-
-  def __del__(self):
-    self.stop()

sunnypilot/sunnylink/tests/test_params_metadata.py

@@ -1,86 +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 json
-
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
-
-
-def test_get_params_all_keys_v1():
-  """
-  Test the getParamsAllKeysV1 API endpoint.
-
-  Why:
-  This endpoint is used by the UI (and potentially external tools) to fetch the list of
-  available parameters along with their metadata (titles, descriptions, options, constraints).
-  We need to ensure it returns the correct structure and that the metadata from
-  params_metadata.json is correctly merged into the response.
-
-  Expected:
-  - The response should contain a "keys" field which is a JSON string of a list of parameters.
-  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
-  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
-    the source of truth (params_metadata.json).
-  """
-  response = getParamsAllKeysV1()
-  assert "keys" in response
-
-  keys_json = response["keys"]
-  params_list = json.loads(keys_json)
-
-  assert isinstance(params_list, list)
-  assert len(params_list) > 0
-
-  # Check structure of first item
-  first_param = params_list[0]
-  assert "key" in first_param
-  assert "type" in first_param
-  assert "default_value" in first_param
-
-  if "_extra" in first_param:
-    assert isinstance(first_param["_extra"], dict)
-    assert "default" not in first_param["_extra"]
-    assert "type" not in first_param["_extra"]
-
-  # Load the source of truth
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Verify that the API response matches the metadata file for a few sample keys
-  # This ensures the plumbing is working without being brittle to content changes
-
-  # 1. Check a key that should have metadata
-  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
-  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
-
-  for param in keys_with_metadata[:5]:  # Check first 5 matches
-    key = param["key"]
-    expected_meta = metadata[key]
-
-    assert "_extra" in param, f"Parameter {key} should have _extra field"
-    actual_meta = param["_extra"]
-
-    # Verify all fields in JSON are present in the API response
-    for meta_key, meta_val in expected_meta.items():
-      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
-      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
-
-  # 2. Check that we are correctly serving options if they exist
-  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
-  if params_with_options:
-    param = params_with_options[0]
-    key = param["key"]
-    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
-    assert param["_extra"]["options"] == metadata[key]["options"]
-
-  # 3. Check that we are correctly serving numeric constraints if they exist
-  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
-  if params_with_constraints:
-    param = params_with_constraints[0]
-    key = param["key"]
-    assert param["_extra"]["min"] == metadata[key]["min"]
-    assert param["_extra"]["max"] == metadata[key]["max"]
-    assert param["_extra"]["step"] == metadata[key]["step"]

sunnypilot/sunnylink/tests/test_params_sync.py

@@ -1,202 +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 json
-import os
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
-
-
-def test_metadata_json_exists():
-  """
-  Test that the params_metadata.json file exists at the expected path.
-
-  Why:
-  The metadata file is the source of truth for parameter descriptions, options, and constraints.
-  If it's missing, the UI will not be able to display rich information for parameters.
-
-  Expected:
-  The file should exist at sunnypilot/sunnylink/params_metadata.json.
-  """
-  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
-
-
-def test_metadata_json_valid():
-  """
-  Test that the params_metadata.json file contains valid JSON.
-
-  Why:
-  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
-  resulting in missing metadata.
-
-  Expected:
-  The file content should be parseable as a JSON object (dictionary).
-  """
-  with open(METADATA_PATH) as f:
-    try:
-      data = json.load(f)
-    except json.JSONDecodeError:
-      pytest.fail("Metadata file is not valid JSON")
-
-    assert isinstance(data, dict), "Metadata root must be a dictionary"
-
-
-def test_all_params_have_metadata():
-  """
-  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
-
-  Why:
-  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
-  should also be documented in the metadata file.
-
-  Expected:
-  There should be no parameters in Params() that are missing from the metadata file.
-  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
-  """
-  params = Params()
-  all_keys = [k.decode('utf-8') for k in params.all_keys()]
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  missing_keys = [key for key in all_keys if key not in metadata]
-
-  if missing_keys:
-    pytest.fail(
-      f"The following parameters are missing from metadata: {missing_keys}. "
-      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
-    )
-
-
-def test_metadata_keys_exist_in_params():
-  """
-  Test that all keys in params_metadata.json actually exist in the codebase.
-
-  Why:
-  We want to avoid stale metadata for parameters that have been removed or renamed.
-  This keeps the metadata file clean and relevant.
-
-  Expected:
-  There should be no keys in the metadata file that are not present in Params().
-  This prints a warning rather than failing, as it's less critical than missing metadata.
-  """
-  params = Params()
-  all_keys = {k.decode('utf-8') for k in params.all_keys()}
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  extra_keys = [key for key in metadata.keys() if key not in all_keys]
-
-  if extra_keys:
-    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
-
-
-def test_no_default_titles():
-  """
-  Test that no parameter has a title that is identical to its key.
-
-  Why:
-  The default behavior of the update script is to set the title equal to the key.
-  We want to force developers to provide human-readable, descriptive titles for all parameters.
-
-  Expected:
-  No parameter metadata should have 'title' == 'key'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
-
-  if default_title_keys:
-    pytest.fail(
-      f"The following parameters have default titles (title == key): {default_title_keys}. "
-      + "Please update 'params_metadata.json' with descriptive titles."
-    )
-
-
-def test_options_structure():
-  """
-  Test that the 'options' field in metadata follows the correct structure.
-
-  Why:
-  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
-  Incorrect structure will break the UI rendering for dropdowns/toggles.
-
-  Expected:
-  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "options" in meta:
-      options = meta["options"]
-      assert isinstance(options, list), f"Options for {key} must be a list"
-      for option in options:
-        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
-        assert "value" in option, f"Option in {key} must have a 'value' key"
-        assert "label" in option, f"Option in {key} must have a 'label' key"
-
-
-def test_numeric_constraints():
-  """
-  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
-
-  Why:
-  The UI uses these constraints to validate user input and render sliders/steppers.
-  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
-
-  Expected:
-  If any of min/max/step is present, ALL of them must be present.
-  They must be numbers (int/float), and min must be less than max.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "min" in meta or "max" in meta or "step" in meta:
-      assert "min" in meta, f"Numeric param {key} must have 'min'"
-      assert "max" in meta, f"Numeric param {key} must have 'max'"
-      assert "step" in meta, f"Numeric param {key} must have 'step'"
-
-      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
-      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
-      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
-      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
-
-
-def test_known_params_metadata():
-  """
-  Test specific known parameters to ensure they have the expected rich metadata.
-
-  Why:
-  This acts as a spot check to ensure that our rich metadata population logic is working correctly
-  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
-
-  Expected:
-  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
-  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Check an enum-like param
-  lp = metadata.get("LongitudinalPersonality")
-  assert lp is not None
-  assert "options" in lp
-  assert len(lp["options"]) == 3
-  assert lp["options"][0]["label"] == "Aggressive"
-  assert lp["options"][0]["value"] == 0
-
-  # Check a numeric param
-  acc_long = metadata.get("CustomAccLongPressIncrement")
-  assert acc_long is not None
-  assert acc_long["min"] == 1
-  assert acc_long["max"] == 10
-  assert acc_long["step"] == 1

sunnypilot/sunnylink/tools/update_params_metadata.py

@@ -1,56 +0,0 @@
-#!/usr/bin/env python3
-"""
-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 json
-import os
-
-from openpilot.common.params import Params
-
-METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
-
-
-def main():
-  params = Params()
-  all_keys = params.all_keys()
-
-  if os.path.exists(METADATA_PATH):
-    with open(METADATA_PATH) as f:
-      try:
-        data = json.load(f)
-      except json.JSONDecodeError:
-        data = {}
-  else:
-    data = {}
-
-  # Add new keys
-  for key in all_keys:
-    key_str = key.decode("utf-8")
-    if key_str not in data:
-      print(f"Adding new key: {key_str}")
-      data[key_str] = {
-        "title": key_str,
-        "description": "",
-      }
-
-  # Remove deleted keys
-  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
-  # for k in keys_to_remove:
-  #   print(f"Removing deleted key: {k}")
-  #   del data[k]
-
-  # Sort keys
-  sorted_data = dict(sorted(data.items()))
-
-  with open(METADATA_PATH, "w") as f:
-    json.dump(sorted_data, f, indent=2)
-    f.write("\n")
-
-  print(f"Updated {METADATA_PATH}")
-
-
-if __name__ == "__main__":
-  main()

system/ui/lib/application.py

@@ -94,7 +94,6 @@ class FontWeight(StrEnum):
   BOLD = "Inter-Bold.fnt"
   SEMI_BOLD = "Inter-SemiBold.fnt"
   UNIFONT = "unifont.fnt"
-  AUDIOWIDE = "Audiowide-Regular.fnt"
 
   # Small UI fonts
   DISPLAY_REGULAR = "Inter-Regular.fnt"
@@ -228,8 +227,6 @@ class GuiApplication(GuiApplicationExt):
     self._render_profiler = None
     self._render_profile_start_time = None
 
-    GuiApplicationExt.__init__(self)
-
   @property
   def frame(self):
     return self._frame
@@ -470,9 +467,6 @@ class GuiApplication(GuiApplicationExt):
         if self._show_touches:
           self._draw_touch_points()
 
-        if self._show_mouse_coords:
-          self._draw_mouse_coordinates(gui_app.font(FontWeight.SEMI_BOLD))
-
         if self._grid_size > 0:
           self._draw_grid()