Merge branch 'ui-models-current-top' into hkg-angle-steering-2025-software

# Conflicts: # system/ui/sunnypilot/widgets/tree_dialog.py
ui: improve TreeOptionDialog node selection and item handling
2026-07-13 15:42:06 +08:00 · 2025-12-07 01:23:31 -05:00 · 2025-12-07 01:23:07 -05:00 · 2025-12-07 00:58:33 -05:00 · 2025-12-07 00:56:23 -05:00 · 2025-12-07 00:50:38 -05:00
175 changed files with 8638 additions and 7405 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -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
@@ -180,6 +180,15 @@ 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
@@ -241,8 +250,8 @@ 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.
@@ -293,7 +302,7 @@ 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: |
@@ -302,7 +311,7 @@ jobs:
            git push -f origin ${TAG}

  notify:
-    needs: 
+    needs:
    - prepare_strategy
    - build
    - publish
@@ -331,7 +340,7 @@ jobs:
          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
          EOF
          )
-          
+
          {
            echo 'content<<EOFMARKER'
            echo "$MESSAGE"
@@ -21,5 +21,12 @@
        </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>
@@ -20,4 +20,11 @@
      <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$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$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$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$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>
@@ -75,7 +75,6 @@ env = Environment(
    "#third_party/acados/include/hpipm/include",
    "#third_party/catch2/include",
    "#third_party/libyuv/include",
-    "#third_party/snpe/include",
  ],
  LIBPATH=[
    "#common",
@@ -101,7 +100,6 @@ 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)
@@ -125,14 +123,6 @@ 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"])
@@ -262,4 +262,11 @@ 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"}},
 };
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434a720871336d359378beff5ebff3f9fd654d958693d272c7c6f2e271c7e41c
+size 47676
@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 import math
-import threading
-import time
 from numbers import Number

 from cereal import car, log
@@ -22,8 +20,6 @@ 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
@@ -33,7 +29,7 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())


-class Controls(ControlsExt, ModelStateBase):
+class Controls(ControlsExt):
  def __init__(self) -> None:
    self.params = Params()
    cloudlog.info("controlsd is waiting for CarParams")
@@ -42,7 +38,6 @@ class Controls(ControlsExt, ModelStateBase):

    # 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)

@@ -231,30 +226,15 @@ class Controls(ControlsExt, ModelStateBase):
    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)
-    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()
+    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()


 def main():
@@ -227,6 +227,6 @@ class HomeLayout(Widget):
    self._prev_alerts_present = alerts_present

  def _get_version_text(self) -> str:
-    brand = "openpilot"
+    brand = "sunnypilot"
    description = self.params.get("UpdaterCurrentDescription")
    return f"{brand} {description}" if description else brand
@@ -10,6 +10,9 @@ 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
@@ -109,8 +109,8 @@ class TermsPage(Widget):
    self._on_accept = on_accept
    self._on_decline = on_decline

-    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."),
+    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."),
                       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 openpilot."),
+    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
    self._back_btn = Button(tr("Back"), click_callback=back_callback)
-    self._uninstall_btn = Button(tr("Decline, uninstall openpilot"), button_style=ButtonStyle.DANGER,
+    self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
                                 click_callback=self._on_uninstall_clicked)

  def _on_uninstall_clicked(self):
@@ -23,10 +23,11 @@ DESCRIPTIONS = {
    "other than your own. A comma employee will NEVER ask you to add their GitHub username."
  ),
  'alpha_longitudinal': tr_noop(
-    "<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."
+    "<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."
  ),
 }

@@ -71,7 +72,7 @@ class DeveloperLayout(Widget):
    )

    self._alpha_long_toggle = toggle_item(
-      lambda: tr("openpilot Longitudinal Control (Alpha)"),
+      lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
      description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
      initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
      callback=self._on_alpha_long_enabled,
@@ -148,6 +149,7 @@ 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)
@@ -19,12 +19,15 @@ 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("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"),
+  '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"),
 }


@@ -162,8 +165,8 @@ class DeviceLayout(Widget):
        cloudlog.exception("invalid LiveTorqueParameters")

    desc += "<br><br>"
-    desc += tr("openpilot is continuously calibrating, resetting is rarely required. " +
-               "Resetting calibration will restart openpilot if the car is powered on.")
+    desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
+               "Resetting calibration will restart sunnypilot if the car is powered on.")

    self._reset_calib_btn.set_description(desc)

@@ -17,7 +17,7 @@ from openpilot.selfdrive.ui.lib.api_helpers import get_token

 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  "sunnypilot 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."
 )
@@ -11,6 +11,9 @@ 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

@@ -11,26 +11,27 @@ 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 openpilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Use the sunnypilot 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 openpilot."),
+  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
  "LongitudinalPersonality": tr_noop(
-    "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 " +
+    "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
    "your steering wheel distance button."
  ),
  "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 openpilot is not engaged."),
+  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot 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."),
@@ -46,7 +47,7 @@ class TogglesLayout(Widget):
    # param, title, desc, icon, needs_restart
    self._toggle_defs = {
      "OpenpilotEnabledToggle": (
-        lambda: tr("Enable openpilot"),
+        lambda: tr("Enable sunnypilot"),
        DESCRIPTIONS["OpenpilotEnabledToggle"],
        "chffr_wheel.png",
        True,
@@ -99,7 +100,7 @@ class TogglesLayout(Widget):
      lambda: tr("Driving Personality"),
      lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
      buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")],
-      button_width=255,
+      button_width=300,
      callback=self._set_longitudinal_personality,
      selected_index=self._params.get("LongitudinalPersonality", return_default=True),
      icon="speed_limit.png"
@@ -125,7 +126,7 @@ 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 openpilot if the car is powered on.")
+        additional_desc = tr("Changing this setting will restart sunnypilot 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
@@ -158,10 +159,10 @@ class TogglesLayout(Widget):
    ui_state.update_params()

    e2e_description = tr(
-      "openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
+      "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
      "Experimental features are listed below:<br>" +
      "<h4>End-to-End Longitudinal Control</h4><br>" +
-      "Let the driving model control the gas and brakes. openpilot 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. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
      "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
      "mistakes should be expected.<br>" +
      "<h4>New Driving Visualization</h4><br>" +
@@ -183,13 +184,13 @@ 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("openpilot longitudinal control may come in a future update.")
+        long_desc = unavailable + " " + tr("sunnypilot 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 openpilot longitudinal control can be tested, along with " +
+            long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with " +
                                               "Experimental mode, on non-release branches.")
          else:
-            long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.")
+            long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.")

        self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
    else:
@@ -45,7 +45,7 @@ class DeviceStatus(Widget):
    self._version_text = self._get_version_text()

  def _get_version_text(self) -> str:
-    brand = "openpilot"
+    brand = "sunnypilot"
    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("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
+    self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
@@ -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 openpilot {version}, {date}. go to comma.ai/blog to read the release notes."
+            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."

        update_alert_data.visible = True
        active_count += 1
@@ -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. openpilot is a driver assistance system.\n\n" +
+    self._warning_label = UnifiedLabel("1. sunnypilot 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 openpilot", self._on_uninstall)
+    self._uninstall_slider = SmallSlider("uninstall sunnypilot", 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 openpilot",
+    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
                                       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 openpilot. " +
+    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
                                     "Read the latest terms at https://comma.ai/terms before continuing.", 36,
                                     FontWeight.ROMAN)

@@ -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 openpilot", "", self._txt_update_icon)
+    super().__init__("update sunnypilot", "", 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 openpilot")
+      self.set_text("update sunnypilot")

  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 openpilot", "", "icons_mici/settings/device/uninstall.png")
+    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "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)
@@ -17,7 +17,7 @@ from openpilot.system.ui.widgets import NavWidget

 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  "sunnypilot 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."
 )
@@ -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 openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)

    self._scroller = Scroller([
      self._personality_toggle,
@@ -65,7 +65,7 @@ class Alert:

 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1="openpilot Unavailable",
+  text1="sunnypilot Unavailable",
  text2="Waiting to start",
  size=AlertSize.mid,
  status=AlertStatus.normal,
@@ -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 openpilot", 54, FontWeight.DISPLAY,
+    self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 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 openpilot")
+      self._offroad_label.set_text("start the car to\nuse sunnypilot")

  def _handle_mouse_release(self, mouse_pos: MousePos):
    # Don't trigger click callback if bookmark was triggered
@@ -48,7 +48,7 @@ class Alert:

 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1=tr("openpilot Unavailable"),
+  text1=tr("sunnypilot Unavailable"),
  text2=tr("Waiting to start"),
  size=AlertSize.mid,
  status=AlertStatus.normal,
@@ -1,158 +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/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")));
-  }
-}
@@ -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.
- */
-
-#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;
-};
@@ -0,0 +1,30 @@
+"""
+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()
@@ -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.
+"""
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+
+
+class DeviceLayoutSP(DeviceLayout):
+  def __init__(self):
+    DeviceLayout.__init__(self)
@@ -0,0 +1,30 @@
+"""
+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()
@@ -0,0 +1,258 @@
+"""
+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()
@@ -0,0 +1,30 @@
+"""
+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()
@@ -0,0 +1,46 @@
+"""
+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()
@@ -0,0 +1,30 @@
+"""
+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()
@@ -0,0 +1,202 @@
+"""
+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()
@@ -0,0 +1,96 @@
+"""
+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)
@@ -0,0 +1,30 @@
+"""
+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()
@@ -0,0 +1,343 @@
+"""
+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)
@@ -0,0 +1,30 @@
+"""
+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()
@@ -0,0 +1,67 @@
+"""
+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()
@@ -0,0 +1,16 @@
+"""
+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."""
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,45 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -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.
+"""
+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)
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,54 @@
+"""
+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)
@@ -0,0 +1,43 @@
+"""
+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())
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,15 @@
+"""
+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
@@ -0,0 +1,138 @@
+"""
+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)
@@ -0,0 +1,30 @@
+"""
+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()
@@ -0,0 +1,87 @@
+/**
+ * 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;
+}
@@ -0,0 +1,39 @@
+/**
+ * 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;
+};
@@ -0,0 +1,29 @@
+"""
+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")
@@ -41,47 +41,47 @@ def put_update_params(params: Params):
  params.put("UpdaterTargetBranch", BRANCH_NAME)


-def setup_homescreen(click, pm: PubMaster):
+def setup_homescreen(click, pm: PubMaster, scroll=None):
  pass


-def setup_homescreen_update_available(click, pm: PubMaster):
+def setup_homescreen_update_available(click, pm: PubMaster, scroll=None):
  params = Params()
  params.put_bool("UpdateAvailable", True)
  put_update_params(params)
  setup_offroad_alert(click, pm)


-def setup_settings(click, pm: PubMaster):
+def setup_settings(click, pm: PubMaster, scroll=None):
  click(100, 100)


-def close_settings(click, pm: PubMaster):
-  click(240, 216)
+def close_settings(click, pm: PubMaster, scroll=None):
+  click(140, 120)


-def setup_settings_network(click, pm: PubMaster):
+def setup_settings_network(click, pm: PubMaster, scroll=None):
  setup_settings(click, pm)
  click(278, 450)


-def setup_settings_network_advanced(click, pm: PubMaster):
-  setup_settings_network(click, pm)
+def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
+  setup_settings_network(click, pm, scroll=scroll)
  click(1880, 100)


-def setup_settings_toggles(click, pm: PubMaster):
+def setup_settings_toggles(click, pm: PubMaster, scroll=None):
  setup_settings(click, pm)
-  click(278, 600)
+  click(278, 620)


-def setup_settings_software(click, pm: PubMaster):
+def setup_settings_software(click, pm: PubMaster, scroll=None):
  put_update_params(Params())
  setup_settings(click, pm)
-  click(278, 720)
+  click(278, 730)


-def setup_settings_software_download(click, pm: PubMaster):
+def setup_settings_software_download(click, pm: PubMaster, scroll=None):
  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):
  setup_settings_software(click, pm)


-def setup_settings_software_release_notes(click, pm: PubMaster):
-  setup_settings_software(click, pm)
+def setup_settings_software_release_notes(click, pm: PubMaster, scroll=None):
+  setup_settings_software(click, pm, scroll=scroll)
  click(588, 110)  # expand description for current version


-def setup_settings_software_branch_switcher(click, pm: PubMaster):
-  setup_settings_software(click, pm)
+def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
+  setup_settings_software(click, pm, scroll=scroll)
  params = Params()
  params.put("UpdaterAvailableBranches", f"master,nightly,release,{BRANCH_NAME}")
  params.put("GitBranch", BRANCH_NAME)  # should be on top
@@ -103,30 +103,32 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster):
  click(1984, 449)


-def setup_settings_firehose(click, pm: PubMaster):
+def setup_settings_firehose(click, pm: PubMaster, scroll=None):
  setup_settings(click, pm)
-  click(278, 845)
+  scroll(-20, 278, 950)
+  click(278, 850)


-def setup_settings_developer(click, pm: PubMaster):
+def setup_settings_developer(click, pm: PubMaster, scroll=None):
  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):
-  setup_settings_developer(click, pm)
+def setup_keyboard(click, pm: PubMaster, scroll=None):
+  setup_settings_developer(click, pm, scroll=scroll)
  click(1930, 470)


-def setup_pair_device(click, pm: PubMaster):
+def setup_pair_device(click, pm: PubMaster, scroll=None):
  click(1950, 800)


-def setup_offroad_alert(click, pm: PubMaster):
+def setup_offroad_alert(click, pm: PubMaster, scroll=None):
  put_update_params(Params())
  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
@@ -137,22 +139,73 @@ def setup_offroad_alert(click, pm: PubMaster):
  close_settings(click, pm)


-def setup_confirmation_dialog(click, pm: PubMaster):
+def setup_confirmation_dialog(click, pm: PubMaster, scroll=None):
  setup_settings(click, pm)
  click(1985, 791)  # reset calibration


-def setup_experimental_mode_description(click, pm: PubMaster):
+def setup_experimental_mode_description(click, pm: PubMaster, scroll=None):
  setup_settings_toggles(click, pm)
  click(1200, 280)  # expand description for experimental mode


-def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster):
-  setup_settings_developer(click, pm)
-  click(650, 960)  # toggle openpilot longitudinal control
+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_onroad(click, pm: PubMaster):
+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):
  ds = messaging.new_message('deviceState')
  ds.deviceState.started = True

@@ -173,7 +226,7 @@ def setup_onroad(click, pm: PubMaster):
    time.sleep(0.05)


-def setup_onroad_sidebar(click, pm: PubMaster):
+def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
  setup_onroad(click, pm)
  click(100, 100)  # open sidebar

@@ -192,23 +245,23 @@ def setup_onroad_alert(click, pm: PubMaster, size: log.SelfdriveState.AlertSize,
    time.sleep(0.05)


-def setup_onroad_small_alert(click, pm: PubMaster):
+def setup_onroad_small_alert(click, pm: PubMaster, scroll=None):
  setup_onroad_alert(click, pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal)


-def setup_onroad_medium_alert(click, pm: PubMaster):
+def setup_onroad_medium_alert(click, pm: PubMaster, scroll=None):
  setup_onroad_alert(click, pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt)


-def setup_onroad_full_alert(click, pm: PubMaster):
+def setup_onroad_full_alert(click, pm: PubMaster, scroll=None):
  setup_onroad_alert(click, pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical)


-def setup_onroad_full_alert_multiline(click, pm: PubMaster):
+def setup_onroad_full_alert_multiline(click, pm: PubMaster, scroll=None):
  setup_onroad_alert(click, pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal)


-def setup_onroad_full_alert_long_text(click, pm: PubMaster):
+def setup_onroad_full_alert_long_text(click, pm: PubMaster, scroll=None):
  setup_onroad_alert(click, pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt)


@@ -243,6 +296,19 @@ 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):
@@ -276,11 +342,20 @@ 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)
+    setup_case(self.click, self.pm, self.scroll)
    self.screenshot(name)


@@ -294,6 +369,7 @@ def create_screenshots():
    with OpenpilotPrefix():
      params = Params()
      params.put("DongleId", "123456789012345")
+      params.put("SunnylinkDongleId", "123456789012345")

      # Set branch name
      params.put("UpdaterCurrentDescription", VERSION)
@@ -12,6 +12,8 @@ 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


@@ -21,7 +23,7 @@ class UIStatus(Enum):
  OVERRIDE = "override"


-class UIState:
+class UIState(UIStateSP):
  _instance: 'UIState | None' = None

  def __new__(cls):
@@ -31,6 +33,7 @@ class UIState:
    return cls._instance

  def _initialize(self):
+    UIStateSP.__init__(self)
    self.params = Params()
    self.sm = messaging.SubMaster(
      [
@@ -55,7 +58,7 @@ class UIState:
        "carControl",
        "liveParameters",
        "rawAudioData",
-      ]
+      ] + self.sm_services_ext
    )

    self.prime_state = PrimeState()
@@ -111,6 +114,7 @@ class UIState:
    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
@@ -180,6 +184,7 @@ class UIState:
        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()


@@ -1,5 +1,3 @@
-import glob
-
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
@@ -23,12 +21,6 @@ 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']
@@ -40,20 +32,13 @@ 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'])
@@ -4,20 +4,15 @@ 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
@@ -1,4 +1,3 @@
 #pragma once

 #include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/runners/snpemodel.h"
@@ -1,116 +0,0 @@
-#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();
-  }
-}
@@ -1,52 +0,0 @@
-#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;
-};
@@ -1,9 +0,0 @@
-# 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)
@@ -1,17 +0,0 @@
-# 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)
@@ -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_v9.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v10.json"

  def __init__(self, params: Params):
    self.params = params
@@ -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 = 11
-REQUIRED_MIN_SELECTOR_VERSION = 11
+CURRENT_SELECTOR_VERSION = 12
+REQUIRED_MIN_SELECTOR_VERSION = 12

 USE_ONNX = os.getenv('USE_ONNX', PC)

@@ -63,6 +63,9 @@ 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
@@ -176,6 +179,7 @@ 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()
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a258a022f0ab90368327d899ed4fb85b47dd0e35c93508e35851d9c3184528c0
+size 36382
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8623dbc5c7dd043a91d98777cb423cfd116014ed6390af6d7d00c1f8dea3c6e8
+size 1181
@@ -4,21 +4,27 @@ 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:
+class ControlsExt(ModelStateBase):
  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)
@@ -27,8 +33,14 @@ class ControlsExt:
    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
    self.pm_services_ext = ['carControlSP']

-  def get_params_sp(self) -> None:
-    self.blinker_pause_lateral.get_params()
+  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_lat_active(self, sm: messaging.SubMaster) -> bool:
    if self.blinker_pause_lateral.update(sm['carState']):
@@ -3,7 +3,6 @@ import os
 import random
 import time
 from datetime import datetime, timedelta
-from pathlib import Path

 import jwt
 from openpilot.common.api.base import BaseApi
@@ -81,23 +80,19 @@ class SunnylinkApi(BaseApi):
    if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
      return sunnylink_dongle_id

-    privkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa")
-    pubkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
+    jwt_algo, private_key, public_key = BaseApi.get_key_pair()

    start_time = time.monotonic()
    successful_registration = False
-    if not pubkey_path.is_file():
+    if not public_key:
      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='RS256')
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
        try:
          if verbose or time.monotonic() - start_time < timeout / 2:
            self._status_update("Registering device to sunnylink...")
@@ -1,5 +1,10 @@
 #!/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
@@ -32,9 +37,11 @@ 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'])
@@ -180,16 +187,30 @@ 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 | None]]] = {"params": []}
+  params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
  for key in available_keys:
    value = get_param_as_byte(key, get_default=True)
-    params_dict["params"].append({
+
+    param_entry = {
      "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", []))}

@@ -238,10 +259,7 @@ 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)
@@ -0,0 +1,221 @@
+"""
+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()
@@ -0,0 +1,86 @@
+"""
+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"]
@@ -0,0 +1,202 @@
+"""
+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
@@ -0,0 +1,56 @@
+#!/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()
@@ -94,6 +94,7 @@ 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"
@@ -227,6 +228,8 @@ class GuiApplication(GuiApplicationExt):
    self._render_profiler = None
    self._render_profile_start_time = None

+    GuiApplicationExt.__init__(self)
+
  @property
  def frame(self):
    return self._frame
@@ -467,6 +470,9 @@ 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()

@@ -41,8 +41,12 @@ class GuiScrollPanel:
    if DEBUG:
      rl.draw_rectangle_lines(0, 0, abs(int(self._velocity_filter_y.x)), 10, rl.RED)

-    # Handle mouse wheel
-    self._offset_filter_y.x += rl.get_mouse_wheel_move() * MOUSE_WHEEL_SCROLL_SPEED
+    # Handle mouse wheel only when the mouse cursor is over this panel
+    mouse_wheel = rl.get_mouse_wheel_move()
+    if mouse_wheel != 0:
+      mouse_pos = rl.get_mouse_position()
+      if rl.check_collision_point_rec(mouse_pos, bounds):
+        self._offset_filter_y.x += mouse_wheel * MOUSE_WHEEL_SCROLL_SPEED

    max_scroll_distance = max(0, content.height - bounds.height)
    if self._scroll_state == ScrollState.IDLE:
@@ -383,7 +383,7 @@ class WifiManager:
        'connection': {
          'type': ('s', '802-11-wireless'),
          'uuid': ('s', str(uuid.uuid4())),
-          'id': ('s', f'openpilot connection {ssid}'),
+          'id': ('s', f'sunnypilot connection {ssid}'),
          'autoconnect-retries': ('i', 0),
        },
        '802-11-wireless': {
@@ -701,7 +701,7 @@ class Setup(Widget):

    except urllib.error.HTTPError as e:
      if e.code == 409:
-        error_msg = "Incompatible openpilot version"
+        error_msg = "Incompatible sunnypilot version"
        self.download_failed(self.download_url, error_msg)
    except Exception:
      error_msg = "Invalid URL"
@@ -6,10 +6,35 @@ See the LICENSE.md file in the root directory for more details.
 """
 import os

+import pyray as rl
+
+SHOW_MOUSE_COORDS = os.getenv("SHOW_MOUSE_COORDS") == "1"
 SUNNYPILOT_UI = os.getenv("SUNNYPILOT_UI", "1") == "1"


 class GuiApplicationExt:
+  def __init__(self):
+    self._show_mouse_coords = SHOW_MOUSE_COORDS
+
  @staticmethod
  def sunnypilot_ui() -> bool:
    return SUNNYPILOT_UI
+
+  def _draw_mouse_coordinates(self, font):
+    coords_text = f"X:{int(rl.get_mouse_x())}, Y:{int(rl.get_mouse_y())}"
+
+    green_color = rl.Color(0, 159, 47, 255)  # Match the green color of FPS counter
+
+    # Calculate text width to position it at the right edge; estimate width based on text length
+    # Each character is approximately 10-12 pixels wide at font size 20
+    estimated_text_width = len(coords_text) * 11
+
+    # Position text at the top right corner, 10px from the top
+    screen_width = self._scaled_width if self._scale != 1.0 else self._width
+    text_pos = rl.Vector2(screen_width - estimated_text_width - 10, 6)
+
+    # Draw the text
+    rl.draw_text_ex(font, coords_text, text_pos, 20, 0, green_color)
+
+  def set_show_mouse_coords(self, show: bool):
+    self._show_mouse_coords = show
@@ -17,19 +17,27 @@ class Base:
  ITEM_TEXT_FONT_SIZE = 50
  ITEM_DESC_FONT_SIZE = 40
  ITEM_DESC_V_OFFSET = 150
+  ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255)
+  CLOSE_BTN_SIZE = 160
+
+  TEXT_PADDING = 20

  # Toggle Control
  TOGGLE_HEIGHT = 120
  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20

+  # Button Control
+  BUTTON_WIDTH = 300
+  BUTTON_HEIGHT = 120
+

@dataclass
 class DefaultStyleSP(Base):
  # Base Colors
  BASE_BG_COLOR = rl.Color(57, 57, 57, 255)  # Grey
  ON_BG_COLOR = rl.Color(28, 101, 186, 255)  # Blue
-  OFF_BG_COLOR = rl.Color(70, 70, 70, 255)  # Lighter Grey
+  OFF_BG_COLOR = BASE_BG_COLOR
  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255)  # Dark Blue
  OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255)  # Dull Blue
@@ -46,5 +54,32 @@ class DefaultStyleSP(Base):
  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255)  # Lighter Grey

+  # Multi Button Control
+  MBC_TRANSPARENT = rl.Color(255, 255, 255, 0)
+  MBC_BG_CHECKED_ENABLED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  MBC_DISABLED = rl.Color(0xFF, 0xFF, 0xFF, 0x33)
+
+  # Option Control
+  OPTION_CONTROL_CONTAINER_BG = OFF_BG_COLOR
+  OPTION_CONTROL_BTN_ENABLED = rl.Color(88, 88, 88, 255)
+  OPTION_CONTROL_BTN_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  OPTION_CONTROL_BTN_DISABLED = DISABLED_OFF_BG_COLOR
+  OPTION_CONTROL_TEXT_ENABLED = rl.WHITE
+  OPTION_CONTROL_TEXT_PRESSED = rl.WHITE
+  OPTION_CONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR
+
+  # Tree Button Colors
+  BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255)  # Royal Blue
+  BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
+  BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255)  # Very Dark Grey
+  TREE_DIALOG_TRANSPARENT = rl.Color(0, 0, 0, 0)
+  TREE_DIALOG_SEARCH_BUTTON_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  TREE_DIALOG_SEARCH_BUTTON_BORDER = rl.Color(150, 150, 150, 200)
+
+  # Vehicle Description Colors
+  GREEN = rl.Color(0, 241, 0, 255)
+  BLUE = rl.Color(0, 134, 233, 255)
+  YELLOW = rl.Color(255, 213, 0, 255)
+

 style = DefaultStyleSP
--- a/Show More
+++ b/Show More