(TICI) sync master and master-tici (#1245)

* SL: bugfix parameter handling in sunnylink restore and remote setting (#1234)

* refactor: improve parameter handling in sunnylink for robustness

- Updated `get_param_as_byte` to return `None` for nonexistent parameters.
- Enhanced param compression and encoding in `sunnylinkd`.

* refactor: centralize parameter restoration with new helper function

- Added `save_param_from_base64_encoded_string` to handle param decoding and saving.
- Updated backup manager and sunnylinkd to use the new method.
- Improved code readability and reduced duplication in parameter handling logic.

* don't bother

* clean

(cherry picked from commit b7f8dd11a5)

* UI: Developer UI (#1233)

(cherry picked from commit 1bb4ca2547)

* Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237)

* Revert "UI: Developer UI (#1233)"

This reverts commit 1bb4ca2547.

* Reapply "UI: Developer UI (#1233)"

This reverts commit b0a77049da.

* QColorConstants is not on device's QT version. Thanks @kumar for the fix

(cherry picked from commit 810a2d9448)

* Revert "UI: Developer UI" (#1238)

* Revert "Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237)"

This reverts commit 810a2d9448.

* Revert "UI: Developer UI (#1233)"

This reverts commit 1bb4ca2547.

(cherry picked from commit 1be13fdc55)

* Reapply "UI: Developer UI" (#1238) (#1239)

This reverts commit 1be13fdc55.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
(cherry picked from commit 4f44d6e643)

---------

Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

.github/workflows/auto_pr_review.yaml

@@ -29,11 +29,11 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels

.github/workflows/badges.yaml

@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   DOCKER_REGISTRY: ghcr.io/sunnypilot
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 

.github/workflows/cereal_validation.yaml

@@ -3,7 +3,7 @@ name: cereal validation
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
     paths:
       - 'cereal/**'
@@ -16,7 +16,7 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:

.github/workflows/ci_weekly_report.yaml

@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -3,7 +3,7 @@ name: docs
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_call:
     inputs:
@@ -12,7 +12,7 @@ on:
         required: true
         type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 jobs:
@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/prebuilt.yaml

@@ -24,11 +24,11 @@ jobs:
       if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
     - uses: actions/checkout@v4
       with:
         submodules: true

.github/workflows/release-drafter.yml

@@ -19,6 +19,7 @@ jobs:
       contents: write
       pull-requests: write
     runs-on: ubuntu-latest
+    if: False
     steps:
       - uses: release-drafter/release-drafter@v6
         with:

.github/workflows/release.yaml

@@ -10,7 +10,7 @@ jobs:
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
@@ -25,7 +25,7 @@ jobs:
       if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo-maintenance.yaml

@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   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
 
@@ -28,7 +28,7 @@ jobs:
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master"
+          base: "master-tici"
           delete-branch: true
           labels: bot
 
@@ -36,7 +36,7 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master
+        base: master-tici
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -3,7 +3,7 @@ name: selfdrive
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,12 +14,12 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+          git fetch  origin master-tici:refs/remotes/origin/master-tici
 
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
             if git ls-files --stage "$path" | grep -q "^160000"; then
               echo "$path"
             fi
@@ -97,7 +97,7 @@ jobs:
       with:
         submodules: true
     - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
@@ -129,7 +129,7 @@ jobs:
         PYTHONWARNINGS: default
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -146,7 +146,7 @@ jobs:
       run: . .venv/bin/activate && scons -j$(nproc)
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -305,5 +305,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

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

@@ -14,7 +14,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'

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

@@ -8,14 +8,14 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev-c3-new ]
+    branches: [ master-tici ]
     tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,7 +1,7 @@
 name: Build dev-c3-new
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
@@ -10,17 +10,17 @@ env:
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [ labeled ]
     branches:
-      - 'master'
+      - 'master-tici'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
@@ -40,11 +40,7 @@ concurrency:
 jobs:
   reset-and-squash:
     runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-      )
+    if: False
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ui_preview.yaml

@@ -2,19 +2,19 @@ name: "ui preview"
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
-      - 'master'
+      - 'master-tici'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
@@ -55,7 +55,7 @@ jobs:
           name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
-      - name: Getting master ui
+      - name: Getting master-tici ui
         uses: actions/checkout@v4
         with:
           repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+      - name: Saving new master-tici ui
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
-            # Check if the master file exists
+            # Check if the master-tici file exists
             if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
               DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
               DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
               DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 

Dockerfile.sunnypilot

@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
 
 ENV PYTHONUNBUFFERED=1
 

README.md

@@ -22,7 +22,7 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
 
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,25 +31,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
   1. On the comma three, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
 
 
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+|     Branch      |               Installation URL                |
+|:---------------:|:---------------------------------------------:|
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |
 
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
 
 > [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.

common/params_keys.h

@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},

release/ci/docker_common_sp.sh

@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
   export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
   export DOCKER_FILE=Dockerfile.sunnypilot
 else
   echo "Invalid docker build image: '$1'"

selfdrive/ui/qt/onroad/alerts.cc

@@ -4,6 +4,9 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
   QPainter p(this);
 
   // draw background + gradient

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
+#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"

selfdrive/ui/qt/onroad/driver_monitoring.cc

@@ -73,6 +73,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  y -= dev_ui_info > 1 ? 50 : 0;
+#endif
+
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];

selfdrive/ui/sunnypilot/SConscript

@@ -39,6 +39,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
+  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -72,6 +72,15 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
+  // Visuals: Developer UI Info (Dev UI)
+  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
+  dev_ui_settings = new ButtonParamControlSP(
+    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
+    "",
+    dev_ui_settings_texts,
+    380);
+  list->addItem(dev_ui_settings);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -90,4 +99,7 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
+  if (dev_ui_settings) {
+    dev_ui_settings->refresh();
+  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -28,4 +28,5 @@ protected:
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
+ ButtonParamControlSP *dev_ui_settings;
 };

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -14,3 +14,8 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
+
+void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
+  AnnotatedCameraWidget::showEvent(event);
+  ui_update_params_sp(uiState());
+}

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h

@@ -15,4 +15,7 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
+
+protected:
+  void showEvent(QShowEvent *event) override;
 };

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc

@@ -0,0 +1,227 @@
+/**
+ * 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 <cmath>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
+
+
+// Add Relative Distance to Primary Lead Car
+// Unit: Meters
+UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
+  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Orange if close, Red if very close
+    if (lead_d_rel < 5) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_d_rel < 15) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL DIST", "m", color);
+}
+
+// Add Relative Velocity vs Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL SPEED", speed_unit, color);
+}
+
+// Add Real Steering Angle
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
+  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  // Red if large steering angle
+  // Orange if moderate steering angle
+  if (std::fabs(angle_steers) > 180) {
+    color = QColor(255, 0, 0, 255);
+  } else if (std::fabs(angle_steers) > 90) {
+    color = QColor(255, 188, 0, 255);
+  }
+
+  return UiElement(value, "REAL STEER", "", color);
+}
+
+// Add Actual Lateral Acceleration (roll compensated) when using Torque
+// Unit: m/s²
+UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
+
+  QString value = QString::number(actualLateralAccel, 'f', 2);
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
+}
+
+// Add Desired Steering Angle when using PID
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
+  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lat_active) {
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angle_steers) > 180) {
+      color = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angle_steers) > 90) {
+      color = QColor(255, 188, 0, 255);
+    } else {
+      color = QColor(0, 255, 0, 255);
+    }
+  }
+
+  return UiElement(value, "DESIRED STEER", "", color);
+}
+
+// Add Device Memory (RAM) Usage
+// Unit: Percent
+UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
+  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
+  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "RAM", "", color);
+}
+
+// Add Vehicle Current Acceleration
+// Unit: m/s²
+UiElement DeveloperUi::getAEgo(float a_ego) {
+  QString value = QString::number(a_ego, 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACC.", "m/s²", color);
+}
+
+// Add Relative Velocity to Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "L.S.", speed_unit, color);
+}
+
+// Add Friction Coefficient Raw from torqued
+// Unit: None
+UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
+  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "FRIC.", "", color);
+}
+
+// Add Lateral Acceleration Factor Raw from torqued
+// Unit: m/s²
+UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
+  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "L.A.", "m/s²", color);
+}
+
+// Add Steering Torque from Car EPS
+// Unit: Newton Meters
+UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
+  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "E.T.", "N·dm", color);
+}
+
+// Add Bearing Degree and Direction from Car (Compass)
+// Unit: Meters
+UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
+  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+  QString dir_value;
+
+  if (bearing_accuracy_deg != 180.00) {
+    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
+      dir_value = "N";
+    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
+      dir_value = "NE";
+    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
+      dir_value = "E";
+    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
+      dir_value = "SE";
+    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
+      dir_value = "S";
+    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
+      dir_value = "SW";
+    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
+      dir_value = "W";
+    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
+      dir_value = "NW";
+    }
+  } else {
+    dir_value = "OFF";
+  }
+
+  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
+}
+
+// Add Altitude of Current Location
+// Unit: Meters
+UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
+  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ALT.", "m", color);
+}
+
+// Add Actuators Output
+// Unit: Degree (angle) or m/s² (torque)
+UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                                 cereal::CarControl::Actuators::Reader &actuators,
+                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  QString label;
+  QString value;
+  QString unit;
+
+  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
+    label = "DESIRED STEER";
+    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
+  } else {
+    label = "DESIRED L.A.";
+    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
+    value = QString::number(desiredLateralAccel, 'f', 2);
+    unit = "m/s²";
+  }
+
+  value = lat_active ? value : "-";
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, label, unit, color);
+}

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h

@@ -0,0 +1,31 @@
+/**
+ * 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/qt/onroad/developer_ui/ui_elements.h"
+
+class DeveloperUi {
+
+public:
+  static UiElement getDRel(bool lead_status, float lead_d_rel);
+  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
+  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
+  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
+  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
+  static UiElement getMemoryUsagePercent(int memory_usage_percent);
+  static UiElement getAEgo(float a_ego);
+  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
+  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
+  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
+  static UiElement getSteeringTorqueEps(float steering_torque_eps);
+  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
+  static UiElement getAltitude(float gps_accuracy, float altitude);
+  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                             cereal::CarControl::Actuators::Reader &actuators,
+                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
+};

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h

@@ -0,0 +1,19 @@
+/**
+ * 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 <QColor>
+
+struct UiElement {
+  QString value{};
+  QString label{};
+  QString units{};
+  QColor color{};
+
+  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
+    : value(value), label(label), units(units), color(color) {}
+};

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -7,12 +7,202 @@
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
+#include "selfdrive/ui/qt/util.h"
+
+
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
+
+  const SubMaster &sm = *(s.sm);
+  const bool cs_alive = sm.alive("controlsState");
+  const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
+  const auto car_params = sm["carParams"].getCarParams();
+
+  static int reverse_delay = 0;
+  bool reverse_allowed = false;
+  if (int(car_state.getGearShifter()) != 4) {
+    reverse_delay = 0;
+    reverse_allowed = false;
+  } else {
+    reverse_delay += 50;
+    if (reverse_delay >= 1000) {
+      reverse_allowed = true;
+    }
+  }
+
+  reversing = reverse_allowed;
+  is_metric = s.scene.is_metric;
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  latActive = car_control.getLatActive();
+  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  lead_d_rel = radar_state.getLeadOne().getDRel();
+  lead_v_rel = radar_state.getLeadOne().getVRel();
+  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
+  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
+  angleSteers = car_state.getSteeringAngleDeg();
+  desiredCurvature = cs.getDesiredCurvature();
+  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
+  vEgo = car_state.getVEgo();
+  aEgo = car_state.getAEgo();
+  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+  if (!reversing) {
+    // Bottom Dev UI
+    if (devUiInfo == 2) {
+      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(0, 0, 0, 100));
+      p.drawRect(rect_bottom);
+      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
+    }
+
+    // Right Dev UI
+    if (devUiInfo != 0) {
+      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
+      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
+    }
+  }
+}
+
+void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
+int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+
+  p.setFont(InterFont(28, QFont::Bold));
+  x += 92;
+  y += 80;
+  drawText(p, x, y, label);
+
+  p.setFont(InterFont(30 * 2, QFont::Bold));
+  y += 65;
+  drawText(p, x, y, value, color);
+
+  p.setFont(InterFont(28, QFont::Bold));
+
+  if (units.length() > 0) {
+    p.save();
+    x += 120;
+    y -= 25;
+    p.translate(x, y);
+    p.rotate(-90);
+    drawText(p, 0, 0, units);
+    p.restore();
+  }
+
+  return 130;
+}
+
+void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
+  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
+  ry = y + rh;
+
+  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
+  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
+  ry = y + rh;
+
+  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
+  ry = y + rh;
+
+  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
+  ry = y + rh;
+
+  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
+}
+
+int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+  p.setFont(InterFont(38, QFont::Bold));
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(label + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect2 = fm.boundingRect(value);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveLeft(real_rect.right() + 10);
+
+  QRect init_rect3 = fm.boundingRect(units);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect2.right() + 10);
+
+  p.setPen(Qt::white);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
+
+  p.setPen(color);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
+  return 430;
+}
+
+void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
+  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
+
+  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
+  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
+
+  if (torqueLateral && torquedUseParams) {
+    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
+
+    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
+  } else {
+    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
+    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
+
+    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
+    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
+  }
+
+  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
+  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }

selfdrive/ui/sunnypilot/qt/onroad/hud.h

@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <QPainter>
-
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -18,4 +17,40 @@ public:
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
+
+private:
+  Params params;
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
+  void drawRightDevUI(QPainter &p, int x, int y);
+  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  void drawBottomDevUI(QPainter &p, int x, int y);
+
+  bool lead_status;
+  float lead_d_rel;
+  float lead_v_rel;
+  bool torqueLateral;
+  float angleSteers;
+  float desiredCurvature;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  QString speedUnit;
+  bool latActive;
+  bool steerOverride;
+  bool reversing;
+  cereal::CarParams::SteerControlType steerControlType;
+  cereal::CarControl::Actuators::Reader actuators;
 };

selfdrive/ui/sunnypilot/ui.cc

@@ -18,13 +18,22 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
+    "carStateSP", "liveParameters"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
+
+  // Param watcher for UIScene param updates
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    ui_update_params_sp(this);
+  });
+  param_watcher->addParam("DevUIInfo");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -39,6 +48,11 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
+void ui_update_params_sp(UIStateSP *s) {
+  auto params = Params();
+  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+}
+
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);

selfdrive/ui/sunnypilot/ui.h

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -73,6 +74,7 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
+  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -92,3 +94,5 @@ private:
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
+
+void ui_update_params_sp(UIStateSP *s);

selfdrive/ui/sunnypilot/ui_scene.h

@@ -0,0 +1,12 @@
+/**
+  * 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
+
+typedef struct UISceneSP : UIScene {
+  int dev_ui_info = 0;
+} UISceneSP;

selfdrive/ui/ui.h

@@ -66,6 +66,11 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/ui_scene.h"
+#define UIScene UISceneSP
+#endif
+
 class UIState : public QObject {
   Q_OBJECT
 

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -23,7 +23,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -184,14 +184,18 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 
   try:
     param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
-    params_dict:  dict[str, list[dict[str, str | bool | int ]]] = {"params": [
-      {
+    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
+    for key in param_keys_validated:
+      value = get_param_as_byte(key)
+      if value is None:
+        continue
+
+      params_dict["params"].append({
         "key": key,
-        "value": base64.b64encode(gzip.compress(get_param_as_byte(key)) if compression else get_param_as_byte(key)).decode('utf-8'),
+        "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
         "type": int(params.get_type(key).value),
         "is_compressed": compression
-      } for key in param_keys_validated
-    ]}
+      })
 
     response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
     response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
@@ -204,15 +208,9 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
-  params = Params()
-  params_dict = {key: base64.b64decode(value) for key, value in params_to_update.items()}
-
-  if compression:
-    params_dict = {key: gzip.decompress(value) for key, value in params_dict.items()}
-
-  for key, value in params_dict.items():
+  for key, value in params_to_update.items():
     try:
-      params.put(key, value)
+      save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 

sunnypilot/sunnylink/backups/manager.py

@@ -12,7 +12,7 @@ from enum import Enum
 from typing import Any
 
 from openpilot.common.git import get_branch
-from openpilot.common.params import Params, ParamKeyType, ParamKeyFlag
+from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version
@@ -20,7 +20,7 @@ from openpilot.system.version import get_version
 from cereal import messaging, custom
 from sunnypilot.sunnylink.api import SunnylinkApi
 from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
-from sunnypilot.sunnylink.utils import get_param_as_byte
+from sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
 class OperationType(Enum):
@@ -173,8 +173,7 @@ class BackupManagerSP:
       self._update_progress(75.0, OperationType.RESTORE)
 
       # Apply configuration
-      all_values_encoded = self._get_metadata_value(backup_metadata, "all_values_encoded", "false")
-      self._apply_config(config_data, str(all_values_encoded).lower() == "true")
+      self._apply_config(config_data)
 
       self.restore_status = custom.BackupManagerSP.Status.completed
       self._update_progress(100.0, OperationType.RESTORE)
@@ -187,7 +186,7 @@ class BackupManagerSP:
       self._report_status()
       return False
 
-  def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
+  def _apply_config(self, config_data: dict[str, str]) -> None:
     """Applies configuration data from a backup, but only for parameters marked as backupable."""
     backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     backupable_set_lower = {p.lower() for p in backupable_params}
@@ -199,26 +198,8 @@ class BackupManagerSP:
       if param.lower() in backupable_set_lower:
         # Find real param name (with correct casing)
         real_param = next(p for p in backupable_params if p.lower() == param.lower())
-        param_type = self.params.get_type(real_param)
         try:
-          value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
-
-          if param_type != ParamKeyType.BYTES:
-            value = value.decode('utf-8')  # type: ignore
-
-          if param_type == ParamKeyType.STRING:
-            value = value
-          elif param_type == ParamKeyType.BOOL:
-            value = value.lower() in ('true', '1', 'yes')  # type: ignore
-          elif param_type == ParamKeyType.INT:
-            value = int(value)  # type: ignore
-          elif param_type == ParamKeyType.FLOAT:
-            value = float(value)  # type: ignore
-          elif param_type == ParamKeyType.TIME:
-            value = str(value)
-          elif param_type == ParamKeyType.JSON:
-            value = json.loads(value)
-          self.params.put(real_param, value)
+          save_param_from_base64_encoded_string(real_param, encoded_value)
           restored_count += 1
         except Exception as e:
           cloudlog.error(f"Failed to restore param {param}: {str(e)}")

sunnypilot/sunnylink/utils.py

@@ -1,3 +1,5 @@
+import base64
+import gzip
 import json
 from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
@@ -58,13 +60,45 @@ def get_api_token():
   print(f"API Token: {token}")
 
 
-def get_param_as_byte(param_name: str) -> bytes:
+def get_param_as_byte(param_name: str) -> bytes | None:
+  """Get a parameter as bytes. Returns None if the parameter does not exist."""
   params = Params()
   param = params.get(param_name)
-  param_type = params.get_type(param_name)
+  if param is None:
+    return None
 
+  param_type = params.get_type(param_name)
   if param_type == ParamKeyType.BYTES:
     return bytes(param)
   elif param_type == ParamKeyType.JSON:
     return json.dumps(param).encode('utf-8')
   return str(param).encode('utf-8')
+
+
+def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
+  """Save a parameter from bytes. Overwrites the parameter if it already exists."""
+  params = Params()
+  # Find real param name (with correct casing)
+  param_type = params.get_type(param_name)
+  value = base64.b64decode(base64_encoded_data)
+
+  if is_compressed:
+    value = gzip.decompress(value)
+
+  # We convert to string anything that isn't bytes first. We later transform further.
+  if param_type != ParamKeyType.BYTES:
+    value = value.decode('utf-8')  # type: ignore
+
+  if param_type == ParamKeyType.STRING:
+    value = value
+  elif param_type == ParamKeyType.BOOL:
+    value = value.lower() in ('true', '1', 'yes')  # type: ignore
+  elif param_type == ParamKeyType.INT:
+    value = int(value)  # type: ignore
+  elif param_type == ParamKeyType.FLOAT:
+    value = float(value)  # type: ignore
+  elif param_type == ParamKeyType.TIME:
+    value = str(value)  # type: ignore
+  elif param_type == ParamKeyType.JSON:
+    value = json.loads(value)
+  params.put(param_name, value)

sunnypilot/system/hardware/c3/launch_env.sh

@@ -9,3 +9,5 @@ export VECLIB_MAXIMUM_THREADS=1
 if [ -z "$AGNOS_VERSION" ]; then
   export AGNOS_VERSION="12.8"
 fi
+
+export STAGING_ROOT="/data/safe_staging"

system/hardware/hardwared.py

@@ -331,7 +331,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # - TIZI, or
     # - TICI and channel_type is "tici"
     build_metadata = get_build_metadata()
-    is_unsupported_combo = TICI and build_metadata.channel_type != "tici"
+    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
     startup_conditions["not_tici"] = not is_unsupported_combo
     onroad_conditions["not_tici"] = not is_unsupported_combo
     set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)

system/version.py

@@ -11,7 +11,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
 RELEASE_SP_BRANCHES = ['release-c3']
-TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging-tici']
 MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES