Merge branch 'navigationd-service' into nav-desires

formatting i guess
2026-06-10 13:34:21 +08:00 · 2025-11-16 15:42:20 -08:00 · 2025-11-16 15:31:34 -08:00 · 2025-11-16 15:25:42 -08:00 · 2025-11-16 15:24:43 -08:00 · 2025-11-16 15:20:44 -08:00
55 changed files with 863 additions and 1741 deletions
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -21,11 +21,12 @@ env:
  PYTHONWARNINGS: error
  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: release/ci/docker_build_sp.sh base

-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -369,6 +369,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
  leadOne @2 :LeadData;
  leadTwo @3 :LeadData;
  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  speed @5 :Float32;

  struct Param {
    key @0 :Text;
@@ -454,7 +455,20 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
  }
 }

-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct Navigationd @0xcb9fd56c7057593a {
+  upcomingTurn @0 :Text;
+  currentSpeedLimit @1 :UInt16;
+  bannerInstructions @2 :Text;
+  distanceFromRoute @3 :Float32;
+  allManeuvers @4 :List(Maneuver);
+  valid @5 :Bool;
+
+  struct Maneuver {
+    distance @0 :Float32;
+    type @1 :Text;
+    modifier @2 :Text;
+    instruction @3 :Text;
+  }
 }

 struct CustomReserved11 @0xc2243c65e0340384 {
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2635,7 +2635,7 @@ struct Event {
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
    modelDataV2SP @116 :Custom.ModelDataV2SP;
-    customReserved10 @136 :Custom.CustomReserved10;
+    navigationd @136 :Custom.Navigationd;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
    customReserved13 @139 :Custom.CustomReserved13;
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -89,6 +89,7 @@ _services: dict[str, tuple] = {
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
  "modelDataV2SP": (True, 20.),
+  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),

  # debug
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -174,8 +174,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"sunnypilot_ui", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"UseRaylib", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -191,6 +189,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

+    // Navigation params
+    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {PERSISTENT, STRING}},
+    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -3,6 +3,7 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -51,6 +52,7 @@ class DesireHelper:
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
    self.lane_turn_direction = TurnDirection.none
+    self.navigation_desires = NavigationDesires()

  @staticmethod
  def get_lane_change_direction(CS):
@@ -143,3 +145,7 @@ class DesireHelper:
        self.desire = log.Desire.none

    self.alc.update_state()
+
+    nav_desire = self.navigation_desires.update(carstate, lateral_active)
+    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
+      self.desire = nav_desire
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -10,11 +10,6 @@ from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow

-from openpilot.common.params import Params
-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout
-

 class MainState(IntEnum):
  HOME = 0
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -9,9 +9,6 @@ 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

-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.system.ui.sunnypilot.lib.list_view import (toggle_item_sp as toggle_item)
-
 # Description constants
 DESCRIPTIONS = {
  'enable_adb': tr_noop(
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -11,10 +11,6 @@ from openpilot.selfdrive.ui.ui_state import ui_state

 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants

-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.system.ui.sunnypilot.lib.list_view import (multiple_button_item_sp as multiple_button_item,
-                                                            toggle_item_sp as toggle_item)
-
 # Description constants
 DESCRIPTIONS = {
  "OpenpilotEnabledToggle": tr_noop(
--- a/selfdrive/ui/sunnypilot/layouts/home.py
+++ b/selfdrive/ui/sunnypilot/layouts/home.py
@@ -1,17 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.selfdrive.ui.layouts.home import HomeLayout
-from openpilot.selfdrive.ui.sunnypilot.widgets.drive_stats import DriveStatsWidget
-
-
-class HomeLayoutSP(HomeLayout):
-  def __init__(self):
-    super().__init__()
-    self._drive_stats_widget = DriveStatsWidget()
-
-  def _render_left_column(self):
-    self._drive_stats_widget.render(self.left_column_rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class CruiseLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-
-    items = [
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/device.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -1,126 +0,0 @@
-from itertools import filterfalse
-from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
-from openpilot.system.ui.widgets.list_view import dual_button_item, DualButtonAction
-from openpilot.system.ui.sunnypilot.lib.list_view import option_item_sp, multiple_button_item_sp
-
-offroad_time_options = {
-  0: [0, "Always On"],
-  1: [5, "5m"],
-  2: [10, "10m"],
-  3: [15, "15m"],
-  4: [30, "30m"],
-  5: [60, "1h"],
-  6: [120, "2h"],
-  7: [180, "3h"],
-  8: [300, "5h"],
-  9: [600, "10h"],
-  10: [1440, "24h"],
-  11: [1800, "30h (Default)"]
-}
-brightness_options = {
-  0: [1, "Auto (Dark)"],
-  1: [0, "Auto"],
-  2: [10, "10"],
-  3: [20, "20"],
-  4: [30, "30"],
-  5: [40, "40"],
-  6: [50, "50"],
-  7: [60, "60"],
-  8: [70, "70"],
-  9: [80, "80"],
-  10: [90, "90"],
-  11: [100, "100"]
-}
-
-class DeviceLayoutSP(DeviceLayout):
-  def __init__(self):
-    DeviceLayout.__init__(self)
-
-  def _hide_item(self, item):
-    return (item.title in {"Driver Camera", "Regulatory", "Review Training Guide", "Change Language"}
-            or (isinstance(item.action_item, DualButtonAction)))
-
-  def _initialize_items(self):
-
-    items = DeviceLayout._initialize_items(self)
-    items[:] = filterfalse(self._hide_item, items)
-
-    self.max_time_offroad = option_item_sp(
-      title="Max Time Offroad",
-      description="Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)",
-      param="MaxTimeOffroad",
-      min_value=0,
-      max_value=11,
-      value_change_step=1,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=offroad_time_options,
-      label_width=300,
-      use_float_scaling=False)
-
-    self.device_wake_mode = multiple_button_item_sp(
-      "Wake Up Behavior",
-      description=self.wake_mode_description,
-      param="DeviceBootMode",
-      buttons=["Default", "Offroad"],
-      button_width=255,
-      callback=None,
-    )
-
-    self.interactivity_timeout = option_item_sp(
-      title="Interactivity Timeout",
-      description="""Apply a custom timeout for settings UI.\n
-                  This is the time after which settings UI closes automatically
-                  if user is not interacting with the screen.""",
-      param="InteractivityTimeout",
-      min_value=0,
-      max_value=120,
-      value_change_step=10,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=None,
-      label_width=300,
-      use_float_scaling=False,
-      label_callback=self.update_interactivity_timeout_label
-    )
-
-    self.brightness = option_item_sp(
-      title="Brightness",
-      description="Overrides the brightness of the device.",
-      param="Brightness",
-      min_value=0,
-      max_value=11,
-      value_change_step=1,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=brightness_options,
-      label_width=300,
-      use_float_scaling=False,
-      label_callback=None
-    )
-
-    items += [
-      self.device_wake_mode,
-      self.max_time_offroad,
-      self.interactivity_timeout,
-      self.brightness,
-    ]
-
-    items += [
-      dual_button_item("Reboot", "Power Off", left_callback=self._reboot_prompt, right_callback=self._power_off_prompt),
-    ]
-
-    return items
-
-  def wake_mode_description(self) -> str:
-    def_str = "Default: Device will boot/wake-up normally & will be ready to engage."
-    offrd_str = "Offroad: Device will be in Always Offroad mode after boot/wake-up."
-    header = "Controls state of the device after boot/sleep."
-
-    return f"{header}\n\n{def_str}\n{offrd_str}"
-
-  def update_interactivity_timeout_label(self, value: int) -> str:
-    return "Default" if value == 0 else f"{value}s"
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class DisplayLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -1,90 +0,0 @@
-from openpilot.system.ui.sunnypilot.lib.list_view import button_item_sp, toggle_item_sp
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.tree_option_dialog import TreeOptionDialog, TreeNode, TreeFolder
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.common.params import Params
-
-
-class ModelsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-      button_item_sp("Current Model", "SELECT", callback=self._on_model_select),
-      toggle_item_sp("Live Learning Steer Delay"),
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def _on_model_select(self):
-    # Demo data for TreeOptionDialog
-    tree_items = [
-      # Top-level items (no folder)
-      TreeFolder(
-        folder="",
-        items=[
-          TreeNode("Default Model", "default_model", 0),
-          TreeNode("Experimental Model", "experimental_model", 1),
-        ]
-      ),
-      # Models folder
-      TreeFolder(
-        folder="Available Models",
-        items=[
-          TreeNode("Model A - Comfort", "model_a_comfort", 2),
-          TreeNode("Model B - Aggressive", "model_b_aggressive", 3),
-          TreeNode("Model C - Balanced", "model_c_balanced", 4),
-          TreeNode("Model D - Highway", "model_d_highway", 5),
-          TreeNode("Model E - City", "model_e_city", 6),
-        ]
-      ),
-      # Development Models folder
-      TreeFolder(
-        folder="Development Models",
-        items=[
-          TreeNode("Dev Model Alpha", "dev_alpha", 7),
-          TreeNode("Dev Model Beta", "dev_beta", 8),
-          TreeNode("Dev Model Gamma", "dev_gamma", 9),
-        ]
-      ),
-      # Custom Models folder
-      TreeFolder(
-        folder="Custom Models",
-        items=[
-          TreeNode("Custom Model 1", "custom_1", 10),
-          TreeNode("Custom Model 2", "custom_2", 11),
-          TreeNode("Custom Model 3", "custom_3", 12),
-        ]
-      ),
-    ]
-
-    # Get current model selection
-    current_model = "default_model"
-
-    # Create and show the tree dialog
-    dialog = TreeOptionDialog(
-      title="Select Model",
-      items=tree_items,
-      current=current_model,
-      fav_param="ModelManager_Favs"
-    )
-
-    # Set as modal overlay
-    gui_app.set_modal_overlay(dialog)
-
-    # Save selection when dialog closes
-    def save_selection():
-      if dialog.selection != current_model:
-        self._params.put("ModelSelection", dialog.selection)
-        # Update button text or other UI elements here if needed
-
-    # Note: In a real implementation, you'd need to hook into the dialog's close event
-    # to call save_selection(). For now, this demonstrates the usage.
--- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class OSMLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -1,186 +0,0 @@
-import pyray as rl
-from dataclasses import dataclass
-from enum import IntEnum
-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.layouts.settings.software import SoftwareLayout
-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.widgets.scroller import Scroller
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets.network import NetworkUI
-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.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 selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
-
-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",
-    "TRIPS",
-    "VEHICLE",
-  ],
-  start=0,
-  )
-
-@dataclass
-class PanelInfo(OP.PanelInfo):
-  icon: str = ""
-
-
-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"), NetworkUI(wifi_manager), icon="icons/network.png"),
-      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
-      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), 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.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 _create_nav_button(self, panel_type: OP.PanelType, panel_info: PanelInfo) -> Widget:
-    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 - 20, rect.y, OP.SIDEBAR_WIDTH - 70, 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
-
-    return NavButton(self, panel_type, panel_info)
-
-  def _draw_sidebar(self, rect: rl.Rectangle):
-    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
-
-    # Close button
-    close_btn_rect = rl.Rectangle(
-      rect.x + (rect.width - OP.CLOSE_BTN_SIZE) / 2, rect.y + 60, OP.CLOSE_BTN_SIZE, OP.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 = self._create_nav_button(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,
-      rect.y + 300,  # 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
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class SteeringLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class SunnylinkLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/trips.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class TripsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class VehicleLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class VisualsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
--- a/selfdrive/ui/sunnypilot/widgets/init.py
+++ b/selfdrive/ui/sunnypilot/widgets/init.py
@@ -1,6 +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.
-"""
--- a/selfdrive/ui/sunnypilot/widgets/drive_stats.py
+++ b/selfdrive/ui/sunnypilot/widgets/drive_stats.py
@@ -1,145 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import json
-import pyray as rl
-from typing import Dict, Optional
-
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import gui_label
-from openpilot.tools.lib.api import CommaApi
-from openpilot.common.params import Params
-
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-style = styles.Default
-
-MILE_TO_KM = 1.609344
-
-class DriveStatsWidget(Widget):
-  """Widget for displaying driving statistics"""
-
-  BG_COLOR = style.BASE_BG_COLOR
-  TEXT_COLOR = rl.WHITE
-  SECONDARY_TEXT_COLOR = style.ITEM_DESC_TEXT_COLOR
-
-  def __init__(self):
-    super().__init__()
-    self.stats = {"all": {"routes": 0, "distance": 0, "minutes": 0},
-                  "week": {"routes": 0, "distance": 0, "minutes": 0}}
-    self.metric = Params().get_bool("IsMetric")
-    self.api_client = CommaApi()
-    self.last_fetch_time = 0
-    self.fetch_interval = 30  # 30 seconds between fetches
-
-    # Initial fetch
-    self._fetch_stats()
-
-  def _fetch_stats(self):
-    """Fetch driving statistics from the API"""
-    dongle_id = Params().get("DongleId")
-    if dongle_id:
-      url = f"v1.1/devices/{dongle_id}/stats"
-      try:
-        response = self.api_client.get(url)
-        self._handle_response(response.text, response.status_code)
-      except Exception as e:
-        print(f"Exception fetching drive stats for dongle id {dongle_id}: {e}")
-
-  def _handle_response(self, response_text, status_code):
-    """Handle API response for drive statistics"""
-    if status_code != 200:
-      print(f"Error fetching drive stats: {status_code}")
-      return
-
-    try:
-      response = json.loads(response_text)
-      self.stats = response
-    except json.JSONDecodeError:
-      print("Failed to parse drive stats response")
-
-  def _get_distance_unit(self):
-    """Get the distance unit based on metric setting"""
-    return "km" if self.metric else "mi"
-
-  def _render_stats_section(self, rect: rl.Rectangle, title: str, stats_data: Dict):
-    """Render a stats section (All Time or Past Week)"""
-    x, y = rect.x, rect.y
-    width = rect.width
-
-    # Title
-    gui_label(rl.Rectangle(x, y, width, 51), title, 51, font_weight=FontWeight.MEDIUM)
-    y += 80  # Move down after title
-
-    # Calculate values
-    routes = int(stats_data.get("routes", 0))
-    distance = int(stats_data.get("distance", 0) * (MILE_TO_KM if self.metric else 1))
-    hours = int(stats_data.get("minutes", 0) / 60)
-
-    # Layout for values and labels
-    column_width = width / 3
-
-    # Draw values
-    font_bold = gui_app.font(FontWeight.MEDIUM)
-    font_light = gui_app.font(FontWeight.LIGHT)
-
-    # Routes column
-    rl.draw_text_ex(font_bold, str(routes), rl.Vector2(x, y), 78, 0, self.TEXT_COLOR)
-    rl.draw_text_ex(font_light, "Drives", rl.Vector2(x, y + 85), 51, 0, self.SECONDARY_TEXT_COLOR)
-
-    # Distance column
-    rl.draw_text_ex(font_bold, str(distance), rl.Vector2(x + column_width, y), 78, 0, self.TEXT_COLOR)
-    rl.draw_text_ex(font_light, self._get_distance_unit(), rl.Vector2(x + column_width, y + 85), 51, 0, self.SECONDARY_TEXT_COLOR)
-
-    # Hours column
-    rl.draw_text_ex(font_bold, str(hours), rl.Vector2(x + column_width * 2, y), 78, 0, self.TEXT_COLOR)
-    rl.draw_text_ex(font_light, "Hours", rl.Vector2(x + column_width * 2, y + 85), 51, 0, self.SECONDARY_TEXT_COLOR)
-
-    # Return the height of this section
-    return 160  # Approximate height of the section
-
-  def _render(self, rect):
-    """Main render method"""
-    # Check if we need to update stats
-    current_time = rl.get_time()
-    if current_time - self.last_fetch_time >= self.fetch_interval:
-      self._fetch_stats()
-      self.last_fetch_time = current_time
-
-    # Check if metric setting has changed
-    current_metric = Params().get_bool("IsMetric")
-    if self.metric != current_metric:
-      self.metric = current_metric
-
-    # Draw background
-    rl.draw_rectangle_rounded(rect, 0.02, 10, self.BG_COLOR)
-
-    # Content margins
-    content_rect = rl.Rectangle(
-      rect.x + 50,  # left margin
-      rect.y + 50,  # top margin
-      rect.width - 100,  # width with margins
-      rect.height - 110   # height with margins
-    )
-
-    # Render all time stats
-    all_time_rect = rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, 0)
-    all_time_height = self._render_stats_section(all_time_rect, "ALL TIME", self.stats.get("all", {}))
-
-    # Space between sections
-    spacing = 200
-
-    # Render past week stats
-    week_rect = rl.Rectangle(
-      content_rect.x, 
-      content_rect.y + all_time_height + spacing, 
-      content_rect.width, 
-      0
-    )
-    self._render_stats_section(week_rect, "PAST WEEK", self.stats.get("week", {}))
--- a/sunnypilot/navd/README.md
+++ b/sunnypilot/navd/README.md
@@ -0,0 +1,6 @@
+# Navigation
+
+Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
+
+- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.
+- `navigationd`: Navigation service which uses mapbox integration to generate a route and keep it up to date. This service runs at three hz, using keep time to ensure the while loop only updates three times a second rather than every time sm updates, which in this case would be twenty hz (LLK).
--- a/sunnypilot/navd/init.py
+++ b/sunnypilot/navd/init.py
--- a/sunnypilot/navd/constants.py
+++ b/sunnypilot/navd/constants.py
@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+
+class NAV_CV:
+  """ These distances are expected in meters format and convert to desired format """
+  SHORT_DISTANCE_METERS = 200.0
+  QUARTER_MILE = 402.336
+  POINT_ONE_MILE = 160.9344
+  METERS_TO_KILO = 1000  # divide n by this
+  METERS_TO_MILE = 1609.344  # divide n by this
+  METERS_TO_FEET = 3.280839895  # multiply n by this
--- a/sunnypilot/navd/helpers.py
+++ b/sunnypilot/navd/helpers.py
@@ -72,6 +72,15 @@ class Coordinate:
    return x * EARTH_MEAN_RADIUS


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

--- a/sunnypilot/navd/navigation_desires/init.py
+++ b/sunnypilot/navd/navigation_desires/init.py
--- a/sunnypilot/navd/navigation_desires/navigation_desires.py
+++ b/sunnypilot/navd/navigation_desires/navigation_desires.py
@@ -0,0 +1,42 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import cereal.messaging as messaging
+from cereal import car, log
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+
+class NavigationDesires:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['navigationd'])
+    self.desire = log.Desire.none
+    self._turn_speed_limit = 20 * CV.MPH_TO_MS
+    self._params = Params()
+    self.param_counter = -1
+    self.nav_allowed: bool = False
+
+  def update_params(self):
+    self.param_counter += 1
+    if self.param_counter % 60 == 0:  # every 3 seconds at 20hz
+      self.nav_allowed = self._params.get("NavDesiresAllowed", return_default=True)
+
+  def update(self, CS: car.CarState, lateral_active: bool) -> log.Desire:
+    self.update_params()
+    self.sm.update(0)
+    nav_msg = self.sm['navigationd']
+    self.desire = log.Desire.none
+    if self.nav_allowed and nav_msg.valid and lateral_active:
+      upcoming = nav_msg.upcomingTurn
+      if upcoming == 'slightLeft' and not CS.rightBlinker and not CS.leftBlindspot and CS.steeringPressed and CS.steeringTorque > 0:
+        self.desire = log.Desire.keepLeft
+      elif upcoming == 'slightRight' and not CS.leftBlinker and not CS.rightBlindspot and CS.steeringPressed and CS.steeringTorque < 0:
+        self.desire = log.Desire.keepRight
+      elif upcoming == 'left' and not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
+        self.desire = log.Desire.turnLeft
+      elif upcoming == 'right' and not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
+        self.desire = log.Desire.turnRight
+    return self.desire
--- a/sunnypilot/navd/navigation_desires/tests/init.py
+++ b/sunnypilot/navd/navigation_desires/tests/init.py
--- a/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
+++ b/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
@@ -0,0 +1,96 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+import types
+
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
+
+
+def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False, steeringPressed=False, steeringTorque=0):
+  return types.SimpleNamespace(
+    vEgo=vEgo, leftBlinker=leftBlinker, rightBlinker=rightBlinker,
+    leftBlindspot=leftBlindspot, rightBlindspot=rightBlindspot,
+    steeringPressed=steeringPressed, steeringTorque=steeringTorque
+  )
+
+NAVIGATION_PARAMS: list[tuple] = [
+  ('slightLeft', make_car(steeringPressed=True, steeringTorque=1), log.Desire.keepLeft),
+  ('slightRight', make_car(steeringPressed=True, steeringTorque=-1), log.Desire.keepRight),
+  ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
+  ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False), log.Desire.turnLeft),
+  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
+  ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False), log.Desire.turnRight),
+  ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
+]
+
+INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
+  (make_car(vEgo=6, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
+  (make_car(vEgo=5, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
+  (make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
+  (make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
+  (make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),
+]
+
+def make_nav_msg(valid=False, upcoming='none'):
+  return types.SimpleNamespace(valid=valid, upcomingTurn=upcoming)
+
+def params_setter(allowed: bool):
+  params = Params()
+  params.put("NavDesiresAllowed", allowed)
+
+@pytest.fixture
+def mock_submaster(mocker):
+  mock_sm = mocker.patch('cereal.messaging.SubMaster')
+  mock_sm_instance = mocker.Mock()
+  mock_sm.return_value = mock_sm_instance
+  mock_sm_instance.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=False))
+  params_setter(True)
+  return mock_sm_instance
+
+@pytest.mark.parametrize("upcoming, carstate, expected", NAVIGATION_PARAMS)
+def test_navigation_desires_update(mock_submaster, mocker, upcoming, carstate, expected):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  nav_desires.update(carstate, True)
+  assert nav_desires.desire == expected
+
+@pytest.mark.parametrize("msg_valid,lateral_active", [(False, True), (True, False)])
+def test_invalid_or_inactive(mock_submaster, mocker, msg_valid, lateral_active):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=msg_valid, upcoming='slightLeft'))
+  nav_desires.update(make_car(), lateral_active)
+  assert nav_desires.desire == log.Desire.none
+
+def test_update(mock_submaster, mocker):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
+  nav_desires = NavigationDesires()
+
+  assert nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True) == log.Desire.turnLeft
+
+  params_setter(False)
+  nav_desires.param_counter = 59
+  nav_desires.update(make_car(leftBlinker=True), True)
+  assert nav_desires.desire == log.Desire.none
+
+@pytest.mark.parametrize("carstate, upcoming, current_desire, expected", INTEGRATION_PARAMS)
+def test_desire_helper(mock_submaster, mocker, carstate, upcoming, current_desire, expected):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  dh = DesireHelper()
+  dh.desire = current_desire
+
+  if current_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
+    dh.lane_change_state = log.LaneChangeState.laneChangeStarting
+    dh.lane_change_direction = log.LaneChangeDirection.left if current_desire == log.Desire.laneChangeLeft else log.LaneChangeDirection.right
+
+  dh.update(carstate, True, 1.0)
+  assert dh.desire == expected
--- a/sunnypilot/navd/navigation_helpers/init.py
+++ b/sunnypilot/navd/navigation_helpers/init.py
--- a/sunnypilot/navd/navigation_helpers/mapbox_integration.py
+++ b/sunnypilot/navd/navigation_helpers/mapbox_integration.py
@@ -0,0 +1,113 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import requests
+from urllib.parse import quote
+
+from openpilot.common.params import Params
+
+
+class MapboxIntegration:
+  def __init__(self):
+    self.params = Params()
+
+  def get_public_token(self) -> str:
+    token: str = self.params.get('MapboxToken', return_default=True)
+    return token
+
+  def set_destination(self, postvars, current_lon, current_lat, bearing=None) -> tuple[dict, bool]:
+    if 'latitude' in postvars and 'longitude' in postvars:
+      self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+      return postvars, True
+
+    addr = postvars['place_name']
+    if not addr:
+      return postvars, False
+
+    token = self.get_public_token()
+    url = f'https://api.mapbox.com/geocoding/v5/mapbox.places/{quote(addr)}.json?access_token={token}&limit=1&proximity={current_lon},{current_lat}'
+    try:
+      response = requests.get(url, timeout=5)
+      if response.status_code == 200:
+        features = response.json()['features']
+        if features:
+          longitude, latitude = features[0]['geometry']['coordinates']
+          postvars.update({'latitude': latitude, 'longitude': longitude, 'name': addr})
+          self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+          return postvars, True
+    except requests.RequestException:
+      pass  # Broad exception to handle network errors like no internet without crashing navd process.
+    return postvars, False
+
+  def nav_confirmed(self, postvars, start_lon, start_lat, bearing=None) -> None:
+    if not postvars:
+      return
+
+    latitude = float(postvars['latitude'])
+    longitude = float(postvars['longitude'])
+
+    data: dict = {'navData': {'current': {'latitude': latitude, 'longitude': longitude}, 'route': {}}}
+
+    token = self.get_public_token()
+    route_data = self.generate_route(start_lon, start_lat, longitude, latitude, token, bearing)
+    if route_data:
+      data['navData']['route'] = route_data
+    self.params.put('MapboxSettings', data)
+
+  @staticmethod
+  def generate_route(start_lon, start_lat, end_lon, end_lat, token, bearing=None) -> dict | None:
+    if not token:
+      return None
+
+    params = {
+      'access_token': token,
+      'geometries': 'geojson',
+      'steps': 'true',
+      'overview': 'full',
+      'annotations': 'maxspeed',
+      'alternatives': 'false',
+      'banner_instructions': 'true',
+    }
+    if bearing is not None:
+      params['bearings'] = f'{int((bearing + 360) % 360):.0f},90;'
+
+    try:
+      response = requests.get(f'https://api.mapbox.com/directions/v5/mapbox/driving/{start_lon},{start_lat};{end_lon},{end_lat}', params=params, timeout=5)
+      data = response.json() if response.status_code == 200 else {}
+    except requests.RequestException:
+      return None
+
+    routes = data['routes'] if data else None
+    legs = routes[0]['legs'] if routes else None
+
+    if data.get('code') != 'Ok' or not routes or not legs:
+      return None
+
+    route = routes[0]
+    leg = legs[0]
+
+    steps = [
+      {
+        'maneuver': step['maneuver']['type'],
+        'instruction': step['maneuver']['instruction'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'location': {'longitude': step['maneuver']['location'][0], 'latitude': step['maneuver']['location'][1]},
+        'modifier': step['maneuver'].get('modifier', 'none'),
+        'bannerInstructions': step['bannerInstructions'],
+      }
+      for step in leg['steps']
+    ]
+
+    maxspeed = [{'speed': item['speed'], 'unit': item['unit']} for item in leg['annotation']['maxspeed'] if 'speed' in item]
+
+    return {
+      'steps': steps,
+      'totalDistance': route['distance'],
+      'totalDuration': route['duration'],
+      'geometry': [{'longitude': coord[0], 'latitude': coord[1]} for coord in route['geometry']['coordinates']],
+      'maxspeed': maxspeed,
+    }
--- a/sunnypilot/navd/navigation_helpers/nav_instructions.py
+++ b/sunnypilot/navd/navigation_helpers/nav_instructions.py
@@ -0,0 +1,152 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from numpy import interp
+
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.navd.helpers import Coordinate, bearing_between_two_points, distance_along_geometry, string_to_direction
+
+
+class NavigationInstructions:
+  def __init__(self):
+    self.coord = Coordinate(0, 0)
+    self.params = Params()
+
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+    self.closest_idx: float = 0
+
+  def get_route_progress(self, current_lat, current_lon) -> dict | None:
+    route = self.get_current_route()
+    if not route or not route['geometry'] or not route['steps']:
+      return None
+
+    self.coord.latitude = current_lat
+    self.coord.longitude = current_lon
+
+    # Find the closest point on the route relative to self
+    self.closest_idx, min_distance = min(((idx, self.coord.distance_to(coord)) for idx, coord in enumerate(route['geometry'])), key=lambda x: x[1])
+    closest_cumulative = distance_along_geometry(route['geometry'], self.coord)
+
+    # Find the current step index, which is the HIGHEST idx where the step location cumulative less/equal closest cumulative
+    current_step_idx = max((idx for idx, step in enumerate(route['steps']) if step['cumulative_distance'] <= closest_cumulative), default=-1)
+    current_step = route['steps'][current_step_idx if current_step_idx >= 0 else 0]
+
+    # The next turn is the next step relative to our cumulative index
+    next_turn_idx = current_step_idx + 1
+    next_turn = route['steps'][next_turn_idx] if 0 <= next_turn_idx < len(route['steps']) else None
+
+    current_maxspeed = current_step['maxspeed']
+
+    distance_to_end_of_step = max(0, current_step['distance'] - (closest_cumulative - current_step['cumulative_distance']))
+
+    all_maneuvers: list = []
+    max_maneuvers = 3
+    for idx in range(current_step_idx, min(current_step_idx + max_maneuvers, len(route['steps']))):
+      step = route['steps'][idx]
+      if idx == current_step_idx:
+        distance = distance_to_end_of_step
+      else:
+        distance = step['cumulative_distance'] - closest_cumulative
+      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
+
+    return {
+      'distance_from_route': min_distance,
+      'current_step': current_step,
+      'next_turn': next_turn,
+      'current_maxspeed': current_maxspeed,
+      'all_maneuvers': all_maneuvers,
+      'current_step_idx': current_step_idx,
+      'distance_to_end_of_step': distance_to_end_of_step,
+    }
+
+  def get_current_route(self):
+    if self._route_loaded and self._cached_route is not None:
+      return self._cached_route
+    if self._no_route:
+      return None
+
+    param_value = self.params.get('MapboxSettings')
+    route = param_value['navData']['route'] if param_value else None
+    if not route:
+      self._no_route = True
+      return None
+
+    geometry = [Coordinate(coord['latitude'], coord['longitude']) for coord in route['geometry']]
+    cumulative_distances = [0.0]
+    cumulative_distances.extend(cumulative_distances[-1] + geometry[step - 1].distance_to(geometry[step]) for step in range(1, len(geometry)))
+    maxspeed = [(speed['speed'], speed['unit']) for speed in route['maxspeed']]
+    steps = []
+    for step in route['steps']:
+      location = Coordinate(step['location']['latitude'], step['location']['longitude'])
+      closest_idx = min(range(len(geometry)), key=lambda i: location.distance_to(geometry[i]))
+      steps.append({
+        'bannerInstructions': step['bannerInstructions'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'maneuver': step['maneuver'],
+        'location': location,
+        'cumulative_distance': cumulative_distances[closest_idx],
+        'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
+        'modifier': string_to_direction(step['modifier']),
+        'instruction': step['instruction'],
+      })
+    self._cached_route = {
+      'bearings': [bearing_between_two_points(geometry[i], geometry[i+2]) for i in range(len(geometry)-2)],
+      'steps': steps,
+      'total_distance': route['totalDistance'],
+      'total_duration': route['totalDuration'],
+      'geometry': geometry,
+      'cumulative_distances': cumulative_distances,
+      'maxspeed': maxspeed,
+    }
+    self._route_loaded = True
+    return self._cached_route
+
+  def clear_route_cache(self):
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+  def route_bearing_misalign(self, route, bearing, v_ego) -> bool:
+    route_bearing_misalign:bool = False
+
+    if v_ego < 5.0:
+      route_bearing_misalign = False
+    elif 0 < self.closest_idx < len(route['geometry']) -1:
+      route_bearing = route['bearings'][self.closest_idx -1]
+      current_bearing_normalized = (bearing + 360) % 360
+      bearing_difference = abs(current_bearing_normalized - route_bearing)
+
+      if min(bearing_difference, 360 - bearing_difference) > 95:
+        route_bearing_misalign = True  # flag for recompute/cancellation
+    return route_bearing_misalign
+
+  def get_upcoming_turn_from_progress(self, progress, current_lat, current_lon, v_ego: float) -> str:
+    if progress and progress['next_turn']:
+      speed_breakpoints: list = [0, 5, 10, 15, 20, 25, 30, 35, 40]
+      distance_breakpoints: list = [20, 25, 30, 45, 60, 75, 90, 105, 120]
+      distance_interp = interp(v_ego, speed_breakpoints, distance_breakpoints)
+
+      self.coord.latitude = current_lat
+      self.coord.longitude = current_lon
+      distance = self.coord.distance_to(progress['next_turn']['location'])
+
+      if distance <= distance_interp:
+        modifier = progress['next_turn']['modifier']
+        return str(modifier)
+    return 'none'
+
+  @staticmethod
+  def arrived_at_destination(progress, v_ego) -> bool:
+    if v_ego < 1.0:
+      maneuvers = progress['all_maneuvers'][0]
+      if maneuvers['type'] == 'arrive' or maneuvers['instruction'].startswith('Your destination'):
+        return True
+    return False
--- a/sunnypilot/navd/navigation_helpers/tests/init.py
+++ b/sunnypilot/navd/navigation_helpers/tests/init.py
--- a/sunnypilot/navd/navigation_helpers/tests/test_mapbox.py
+++ b/sunnypilot/navd/navigation_helpers/tests/test_mapbox.py
@@ -0,0 +1,98 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+
+from openpilot.common.constants import CV
+
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class TestMapbox:
+  @classmethod
+  def setup_class(cls):
+    cls.mapbox = MapboxIntegration()
+    cls.nav = NavigationInstructions()
+
+    token = os.environ.get('MAPBOX_TOKEN_CI')
+    if token:
+      cls.mapbox.params.put('MapboxToken', token)
+
+    # route setup
+    cls.current_lon, cls.current_lat = -119.17557, 34.23305
+    cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
+    cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
+    cls.postvars, cls.valid_addr = cls.mapbox.set_destination(cls.postvars, cls.current_lon, cls.current_lat)
+    cls.route = cls.nav.get_current_route()
+    cls.progress = cls.nav.get_route_progress(cls.current_lat, cls.current_lon)
+
+  def test_set_destination(self):
+    assert self.valid_addr
+    settings = self.mapbox.params.get('MapboxSettings')
+    assert settings is not None
+    dest_lat = settings['navData']['current']['latitude']
+    dest_lon = settings['navData']['current']['longitude']
+    assert dest_lat == self.postvars["latitude"] and dest_lon == self.postvars["longitude"]
+
+  def test_get_route(self):
+    assert self.route is not None
+    assert 'steps' in self.route
+    assert 'geometry' in self.route
+    assert 'maxspeed' in self.route
+    assert 'total_distance' in self.route
+    assert 'total_duration' in self.route
+    assert len(self.route['steps']) > 0
+    assert len(self.route['geometry']) > 0
+    assert len(self.route['maxspeed']) > 0
+
+    if self.route and 'steps' in self.route:
+      for step in self.route['steps']:
+        assert 'modifier' in step
+
+  def test_upcoming_turn_detection(self):
+    upcoming = self.nav.get_upcoming_turn_from_progress(self.progress, self.current_lat, self.current_lon, v_ego=40.0)
+    assert isinstance(upcoming, str)
+    assert upcoming == 'none'
+
+    if self.route['steps']:
+      turn_lat = self.route['steps'][1]['location'].latitude
+      turn_lon = self.route['steps'][1]['location'].longitude
+      close_lat = turn_lat - 0.000175  # slightly before the turn
+      if self.progress and self.progress.get('next_turn'):
+        expected_turn = self.progress['next_turn']['modifier']
+        upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon, v_ego=0.0)
+        if expected_turn:
+          assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
+
+  def test_route_progress_tracking(self):
+    assert self.progress is not None
+    assert 'distance_from_route' in self.progress
+    assert 'next_turn' in self.progress
+    assert 'current_maxspeed' in self.progress
+    assert 'all_maneuvers' in self.progress
+    assert 'distance_to_end_of_step' in self.progress
+    assert self.progress['distance_from_route'] >= 0
+    assert isinstance(self.progress['all_maneuvers'], list)
+
+  def test_speed_limit_handling(self):
+    speed_limit_metric = self.progress['current_maxspeed'][0]
+    speed_limit_imperial = (round(speed_limit_metric * CV.KPH_TO_MPH))
+    assert isinstance(speed_limit_metric, int)
+    assert isinstance(speed_limit_imperial, int)
+
+  def test_arrival_detection(self):
+    is_arrived = self.nav.arrived_at_destination(self.progress, 2.0)
+    assert isinstance(is_arrived, bool)
+    assert not is_arrived
+
+  def test_bearing_misalign(self):
+    lat = self.route['steps'][1]['location'].latitude
+    lon = self.route['steps'][1]['location'].longitude
+    self.nav.get_route_progress(lat, lon)
+    route_bearing_misaligned = self.nav.route_bearing_misalign(self.route, 45, 5.0)
+    # based on math: closest index: 7, normalized bearing: 45 route bearing: 180.5486953778888, expected differential: 135.54869538
+    assert route_bearing_misaligned
--- a/sunnypilot/navd/navigationd.py
+++ b/sunnypilot/navd/navigationd.py
@@ -0,0 +1,167 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from math import degrees
+from numpy import interp
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.sunnypilot.navd.constants import NAV_CV
+from openpilot.sunnypilot.navd.helpers import Coordinate, parse_banner_instructions
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class Navigationd:
+  def __init__(self):
+    self.params = Params()
+    self.mapbox = MapboxIntegration()
+    self.nav_instructions = NavigationInstructions()
+
+    self.sm = messaging.SubMaster(['carControlSP', 'liveLocationKalman'])
+    self.pm = messaging.PubMaster(['navigationd'])
+    self.rk = Ratekeeper(3) # 3 Hz
+
+    self.route = None
+    self.destination: str | None = None
+    self.new_destination: str = ''
+
+    self.allow_navigation: bool = False
+    self.recompute_allowed: bool = False
+    self.allow_recompute: bool = False
+    self.reroute_counter: int = 0
+    self.cancel_route_counter: int = 0
+
+    self.frame: int = -1
+    self.last_position: Coordinate | None = None
+    self.last_bearing: float | None = None
+    self.valid: bool = False
+
+  def _update_params(self):
+    if self.last_position is not None:
+      self.frame += 1
+      if self.frame % 15 == 0:
+        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
+        self.new_destination = self.params.get('MapboxRoute')
+        self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
+
+      self.allow_recompute: bool = (self.new_destination != self.destination and self.new_destination != '') or (
+        self.recompute_allowed and self.reroute_counter > 9 and self.route)
+
+      if self.allow_recompute:
+        postvars = {'place_name': self.new_destination}
+        postvars, valid_addr = self.mapbox.set_destination(postvars, self.last_position.longitude, self.last_position.latitude, self.last_bearing)
+
+        if valid_addr:
+          self.destination = self.new_destination
+          self.nav_instructions.clear_route_cache()
+          self.route = self.nav_instructions.get_current_route()
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+      if self.cancel_route_counter == 30:
+        self.cancel_route_counter = 0
+        self.params.put_nonblocking("MapboxRoute", "")
+        self.nav_instructions.clear_route_cache()
+        self.route = None
+
+      self.valid = self.route is not None
+
+  def _update_navigation(self) -> tuple[str, dict | None, dict]:
+    banner_instructions: str = ''
+    nav_data: dict = {}
+    if self.allow_navigation and self.route and self.last_position is not None:
+      if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
+        v_ego = float(max(self.sm['carControlSP'].speed, 0.0))
+        nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude,
+                                                                                          self.last_position.longitude, v_ego)
+        speed_limit, _ = progress['current_maxspeed']
+        nav_data['current_speed_limit'] = speed_limit
+        arrived = self.nav_instructions.arrived_at_destination(progress, v_ego)
+
+        if progress['current_step']:
+          if parsed := parse_banner_instructions(progress['current_step']['bannerInstructions'], progress['distance_to_end_of_step']):
+            banner_instructions = parsed['maneuverPrimaryText']
+
+        nav_data['distance_from_route'] = progress['distance_from_route']
+        speed_breakpoints: list = [0.0, 5.0, 10.0, 20.0, 40.0]
+        distance_list: list = [100.0, 125.0, 150.0, 200.0, 250.0]
+        large_distance: bool = progress['distance_from_route'] > float(interp(v_ego, speed_breakpoints, distance_list))
+
+        route_bearing_misalign: bool = self.nav_instructions.route_bearing_misalign(self.route, self.last_bearing, v_ego)
+
+        if large_distance and not arrived:
+          self.cancel_route_counter = self.cancel_route_counter + 1 if progress['distance_from_route'] > NAV_CV.QUARTER_MILE else 0
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        elif arrived:
+          self.cancel_route_counter += 1
+          self.recompute_allowed = False
+        elif route_bearing_misalign:
+          self.cancel_route_counter += 1
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        else:
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+        # Don't recompute in last segment to prevent reroute loops
+        if progress['current_step_idx'] == len(self.route['steps']) - 1:
+          self.recompute_allowed = False
+          self.allow_navigation = False
+    else:
+      banner_instructions = ''
+      progress = None
+      nav_data = {}
+
+    return banner_instructions, progress, nav_data
+
+  def _build_navigation_message(self, banner_instructions: str, progress: dict | None, nav_data: dict, valid: bool):
+    msg = messaging.new_message('navigationd')
+    msg.valid = valid
+    msg.navigationd.upcomingTurn = nav_data.get('upcoming_turn', 'none')
+    msg.navigationd.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
+    msg.navigationd.bannerInstructions = banner_instructions
+    msg.navigationd.distanceFromRoute = nav_data.get('distance_from_route', 0.0)
+    msg.navigationd.valid = self.valid
+
+    all_maneuvers = (
+      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
+                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
+      if progress
+      else []
+    )
+    msg.navigationd.allManeuvers = all_maneuvers
+    return msg
+
+  def run(self):
+    cloudlog.warning('navigationd init')
+
+    while True:
+      self.sm.update(0)
+      location = self.sm['liveLocationKalman']
+      localizer_valid = location.positionGeodetic.valid if location else False
+
+      if localizer_valid:
+        self.last_bearing = degrees(location.calibratedOrientationNED.value[2])
+        self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+
+      self._update_params()
+      banner_instructions, progress, nav_data = self._update_navigation()
+
+      msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)
+
+      self.pm.send('navigationd', msg)
+      self.rk.keep_time()
+
+
+def main():
+  nav = Navigationd()
+  nav.run()
--- a/sunnypilot/navd/tests/init.py
+++ b/sunnypilot/navd/tests/init.py
--- a/sunnypilot/navd/tests/test_navigationd.py
+++ b/sunnypilot/navd/tests/test_navigationd.py
@@ -0,0 +1,67 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import platform
+import pytest
+
+import cereal.messaging as messaging
+
+from openpilot.sunnypilot.navd.navigationd import Navigationd
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class TestNavigationd:
+  is_darwin = platform.system() == "Darwin"
+
+  @pytest.fixture(autouse=True)
+  def setup_method(self, mocker):
+    if self.is_darwin:
+      mocker.patch('cereal.messaging.SubMaster')
+      mocker.patch('cereal.messaging.PubMaster')
+
+  def test_update_params(self):
+    nav = Navigationd()
+    nav.last_position = None
+    nav._update_params()
+    assert nav.frame == -1
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav._update_params()
+    assert nav.frame == 0  # frame only updates when last position is set
+
+  def test_update_navigation_no_position(self):
+    nav = Navigationd()
+    nav.last_position = None
+    banner, progress, nav_data = nav._update_navigation()
+    assert banner == ''
+    assert progress is None
+    assert nav_data == {}
+
+  def test_update_navigation(self):
+    nav = Navigationd()
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav.route = {'580 Winchester dr, oxnard, CA': True}
+    banner, progress, nav_data = nav._update_navigation()
+    assert isinstance(banner, str)
+    assert not progress  # no route was actually set
+    assert isinstance(nav_data, dict)
+
+  def test_build_navigation_message(self):
+    if self.is_darwin:
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+      assert msg.navigationd.bannerInstructions == ''
+      assert msg.navigationd.valid is False
+    else:
+      sm = messaging.SubMaster(['navigationd'])
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+
+      nav.pm.send('navigationd', msg)
+      sm.update()
+      received_msg = sm['navigationd']
+
+      assert received_msg.bannerInstructions == msg.navigationd.bannerInstructions
+      assert received_msg.valid == msg.navigationd.valid
--- a/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
+++ b/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
--- a/sunnypilot/selfdrive/assets/offroad/icon_home.png
+++ b/sunnypilot/selfdrive/assets/offroad/icon_home.png
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -72,6 +72,8 @@ class ControlsExt:

    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement

+    CC_SP.speed = sm['carState'].vEgo
+
    return CC_SP

  @staticmethod
--- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -7,11 +7,17 @@ See the LICENSE.md file in the root directory for more details.

 from parameterized import parameterized

+import cereal.messaging
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
  AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY

+class MockSubMaster:
+  def __init__(self, services):
+    pass
+
+
 AUTO_LANE_CHANGE_TIMER_COMBOS = [
  (AutoLaneChangeMode.NUDGELESS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]),
  (AutoLaneChangeMode.HALF_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.HALF_SECOND]),
@@ -23,6 +29,7 @@ AUTO_LANE_CHANGE_TIMER_COMBOS = [

 class TestAutoLaneChangeController:
  def setup_method(self):
+    cereal.messaging.SubMaster = MockSubMaster
    self.DH = DesireHelper()
    self.alc = AutoLaneChangeController(self.DH)

--- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -1,14 +1,29 @@
 import pytest
+
+import cereal.messaging
 from cereal import log, custom
 from openpilot.common.params import Params

 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode

 TurnDirection = custom.ModelDataV2SP.TurnDirection


+class MockSubMaster:
+  def __init__(self, services): pass
+
+  def update(self, timeout): pass
+
+  def __getitem__(self, key):
+    return type('nav_msg', (), {'valid': False})()
+
+
+@pytest.fixture(autouse=True)
+def mock_submaster():
+  cereal.messaging.SubMaster = MockSubMaster
+
+
@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
  (True, False, 5, False, False, TurnDirection.turnLeft),
  (False, True, 6, False, False, TurnDirection.turnRight),
@@ -107,7 +122,6 @@ def set_lane_turn_params():
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
  for _ in range(10):
    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  assert dh.desire == expected_desire
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -180,6 +180,9 @@ procs += [
  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),

+  # navigationd
+  PythonProcess("navigationd", "sunnypilot.navd.navigationd", only_onroad),
+
  # locationd
  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -8,6 +8,8 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.text import wrap_text
 from openpilot.system.ui.widgets import Widget

+from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
+
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
@@ -26,7 +28,7 @@ def clamp(value, min_value, max_value):
 class Spinner(Widget):
  def __init__(self):
    super().__init__()
-    self._comma_texture = gui_app.texture("../../sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
    self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
    self._rotation = 0.0
    self._progress: int | None = None
--- a/system/ui/sunnypilot/lib/application.py
+++ b/system/ui/sunnypilot/lib/application.py
@@ -0,0 +1,24 @@
+from openpilot.system.ui.lib.application import GuiApplication
+from importlib.resources import as_file, files
+
+ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
+
+
+class GuiApplicationSP(GuiApplication):
+
+  def __init__(self, width: int, height: int):
+    super().__init__(width, height)
+
+  def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
+    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+    if cache_key in self._textures:
+      return self._textures[cache_key]
+
+    with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
+      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+      texture_obj = self._load_texture_from_image(image_obj)
+    self._textures[cache_key] = texture_obj
+    return texture_obj
+
+
+gui_app_sp = GuiApplicationSP(2160, 1080)
--- a/system/ui/sunnypilot/lib/list_view.py
+++ b/system/ui/sunnypilot/lib/list_view.py
@@ -1,223 +0,0 @@
-import pyray as rl
-
-from openpilot.system.ui.widgets.list_view import ToggleAction, ButtonAction, DualButtonAction, TextAction, MultipleButtonAction, ListItem, ItemAction
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.system.ui.sunnypilot.lib.toggle import ToggleSP
-from openpilot.system.ui.sunnypilot.lib.option_control import OptionControlSP
-from openpilot.system.ui.widgets.list_view import _resolve_value
-
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-style = styles.Default
-
-
-class ToggleActionSP(ToggleAction):
-  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True, param: str | None = None):
-    ToggleAction.__init__(self, initial_state, width, enabled)
-    self.toggle = ToggleSP(initial_state=initial_state, param=param)
-
-class ListItemSP(ListItem):
-  def __init__(self, title: str = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
-               description_visible: bool = False, callback: Callable | None = None,
-               action_item: ItemAction | None = None):
-    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
-
-  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
-    if not self.action_item:
-      return rl.Rectangle(0, 0, 0, 0)
-
-    right_width = self.action_item.rect.width
-    if right_width == 0:  # Full width action (like DualButtonAction)
-      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
-                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
-
-    action_width = self.action_item.rect.width
-    if isinstance(self.action_item, ToggleAction):
-      action_x = item_rect.x
-    else:
-      action_x = item_rect.x + item_rect.width - action_width
-    action_y = item_rect.y
-    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
-
-  def _render(self, _):
-    content_x = self._rect.x + style.ITEM_PADDING
-    text_x = content_x
-    left_action_item = isinstance(self.action_item, ToggleAction)
-
-    if left_action_item:
-      left_rect = rl.Rectangle(
-        content_x,
-        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
-        style.TOGGLE_WIDTH,
-        style.TOGGLE_HEIGHT
-      )
-      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING
-
-      # Draw title
-      if self.title:
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
-
-      # Render toggle and handle callback
-      if self.action_item.render(left_rect) and self.action_item.enabled:
-        if self.callback:
-          self.callback()
-
-    else:
-      if self.title:
-        # Draw main text
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
-
-        # Draw right item if present
-        if self.action_item:
-          right_rect = self.get_right_item_rect(self._rect)
-          right_rect.y = self._rect.y
-          if self.action_item.render(right_rect) and self.action_item.enabled:
-            # Right item was clicked/activated
-            if self.callback:
-              self.callback()
-
-    # Draw description if visible
-    if self.description_visible:
-      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
-      description_height = self._html_renderer.get_total_height(content_width)
-      description_rect = rl.Rectangle(
-        self._rect.x + style.ITEM_PADDING,
-        self._rect.y + style.ITEM_DESC_V_OFFSET,
-        content_width,
-        description_height
-      )
-      self._html_renderer.render(description_rect)
-
-class MultipleButtonActionSP(MultipleButtonAction):
-  def __init__(self, param: str | None, buttons: list[str], button_width: int, selected_index: int = 0, callback: Callable = None):
-    MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
-    self.param_key = param
-    self.params = Params()
-    if self.param_key:
-      self.selected_button = int(self.params.get(self.param_key, return_default = True))
-
-  def _render(self, rect: rl.Rectangle) -> bool:
-    spacing = 20
-    button_y = rect.y + (rect.height - style.BUTTON_HEIGHT) / 2
-    clicked = -1
-
-    for i, _text in enumerate(self.buttons):
-      button_x = rect.x + i * (self.button_width + spacing)
-      button_rect = rl.Rectangle(button_x, button_y, self.button_width, style.BUTTON_HEIGHT)
-
-      # Check button state
-      mouse_pos = rl.get_mouse_position()
-      is_hovered = rl.check_collision_point_rec(mouse_pos, button_rect)
-      is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
-      is_selected = i == self.selected_button
-
-      # Button colors
-      if is_selected:
-        bg_color = style.ON_BG_COLOR
-        if is_pressed:
-          bg_color = style.ON_HOVER_BG_COLOR
-      elif is_pressed:
-        bg_color = style.OFF_HOVER_BG_COLOR
-      else:
-        bg_color = style.OFF_BG_COLOR
-
-      # Draw button
-      rl.draw_rectangle_rounded(button_rect, 1.0, 20, bg_color)
-
-      # Draw text
-      text = _resolve_value(_text, "")
-      text_size = measure_text_cached(self._font, text, 40)
-      text_x = button_x + (self.button_width - text_size.x) / 2
-      text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2
-      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, style.ITEM_TEXT_COLOR)
-
-      # Handle click
-      if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed:
-        clicked = i
-
-    if clicked >= 0:
-      self.selected_button = clicked
-      if self.param_key:
-        self.params.put(self.param_key, self.selected_button)
-      if self.callback:
-        self.callback(clicked)
-      return True
-    return False
-
-
-class OptionControlActionSP(ItemAction):
-  def __init__(self, param: str, min_value: int, max_value: int,
-               value_change_step: int = 1, enabled: bool | Callable[[], bool] = True,
-               on_value_changed: Callable[[int], None] | None = None,
-               value_map: dict[int, tuple[int, str]] | None = None,
-               label_width: int = style.BUTTON_WIDTH,
-               use_float_scaling: bool = False,
-               label_callback: Callable[[int], str] | None = None):
-    # Initialize with zero width - the component will size itself
-    super().__init__()
-
-    # Create the option control
-    self.option_control = OptionControlSP(
-      param, min_value, max_value, value_change_step,
-      enabled, on_value_changed, value_map, label_width, use_float_scaling,
-      label_callback
-    )
-
-  def _render(self, rect: rl.Rectangle) -> bool | int | None:
-    # Ensure the touch validity callback is passed to the option control
-    if hasattr(self, '_touch_valid_callback') and self._touch_valid_callback:
-      self.option_control.set_touch_valid_callback(self._touch_valid_callback)
-
-    # Pass the enabled state to the option control
-    self.option_control.set_enabled(self.enabled)
-
-    # Render the control and return whether a value change occurred
-    return self.option_control.render(rect)
-
-def toggle_item_sp(title: str, description: str | Callable[[], str] | None = None, initial_state: bool = False,
-                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItem:
-  action = ToggleActionSP(initial_state=initial_state, enabled=enabled, param=param)
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
-
-
-def button_item_sp(title: str, button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
-                callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = ButtonAction(text=button_text, enabled=enabled)
-  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
-
-
-def text_item_sp(title: str, value: str | Callable[[], str], description: str | Callable[[], str] | None = None,
-              callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = TextAction(text=value, color=rl.Color(170, 170, 170, 255), enabled=enabled)
-  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
-
-
-def dual_button_item_sp(left_text: str, right_text: str, left_callback: Callable = None, right_callback: Callable = None,
-                     description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled)
-  return ListItemSP(title="", description=description, action_item=action)
-
-def multiple_button_item_sp(title: str, description: str| Callable[[], str], buttons: list[str], selected_index: int = 0,
-                         button_width: int = style.BUTTON_WIDTH, callback: Callable = None, icon: str = "",
-                         param: str | None = None) -> ListItem:
-  action = MultipleButtonActionSP(param, buttons, button_width, selected_index, callback=callback)
-  return ListItemSP(title=title, description=description, icon=icon, action_item=action)
-
-def option_item_sp(title: str, param: str,
-                   min_value: int, max_value: int, description: str | Callable[[], str] | None = None,
-                   value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None,
-                   enabled: bool | Callable[[], bool] = True,
-                   icon: str = "", label_width: int = style.BUTTON_WIDTH, value_map: dict[int, tuple[int, str]] | None = None,
-                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None) -> ListItem:
-  action = OptionControlActionSP(
-      param, min_value, max_value, value_change_step,
-      enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
-  )
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
--- a/system/ui/sunnypilot/lib/option_control.py
+++ b/system/ui/sunnypilot/lib/option_control.py
@@ -1,233 +0,0 @@
-import pyray as rl
-from collections.abc import Callable
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-
-style = styles.Default
-
-# Dimensions and styling constants
-BUTTON_WIDTH = 80
-BUTTON_HEIGHT = 80
-LABEL_WIDTH = 200
-BUTTON_SPACING = 25
-VALUE_FONT_SIZE = 50
-BUTTON_FONT_SIZE = 60
-BUTTON_CORNER_RADIUS = 20
-CONTAINER_PADDING = 20
-INNER_PADDING = 10
-TOP_PADDING = 25
-
-class OptionControlSP(Widget):
-    def __init__(self, param: str, min_value: int, max_value: int,
-                 value_change_step: int = 1, enabled: bool | Callable[[], bool] = True,
-                 on_value_changed: Callable[[int], None] | None = None,
-                 value_map: dict[int, tuple[int, str]] | None = None,
-                 label_width: int = LABEL_WIDTH,
-                 use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None):
-
-        super().__init__()
-        self.params = Params()
-        self.param_key = param
-        self.min_value = min_value
-        self.max_value = max_value
-        self.value_change_step = value_change_step
-        self._enabled = enabled
-        self.on_value_changed = on_value_changed
-        self.value_map = value_map
-        self.label_width = label_width
-        self.use_float_scaling = use_float_scaling
-        self.current_value = min_value
-        self.label_callback = label_callback
-        if self.value_map:
-            for key in self.value_map:
-                if self.value_map[key][0] == self.params.get(self.param_key, return_default = True):
-                    self.current_value = int(key)
-                    break
-        else:
-            self.current_value = int(self.params.get(self.param_key, return_default = True))
-
-        # Initialize font and button styles
-        self._font = gui_app.font(FontWeight.MEDIUM)
-
-        # Layout rectangles for components
-        self.minus_btn_rect = rl.Rectangle(0, 0, BUTTON_WIDTH, BUTTON_HEIGHT)
-        self.label_rect = rl.Rectangle(0, 0, self.label_width, BUTTON_HEIGHT)
-        self.plus_btn_rect = rl.Rectangle(0, 0, BUTTON_WIDTH, BUTTON_HEIGHT)
-        self.container_rect = rl.Rectangle(0, 0, 0, 0)
-
-    def set_enabled(self, enabled: bool | Callable[[], bool]):
-        """Set whether the control is enabled"""
-        self._enabled = enabled
-
-    def get_value(self) -> int:
-        """Get the current value of the control"""
-        return self.current_value
-
-    def set_value(self, value: int):
-        """Set the control to a specific value"""
-        if self.min_value <= value <= self.max_value:
-            self.current_value = value
-            if self.value_map:
-                self.params.put(self.param_key, self.value_map[value][0])
-            else:
-                self.params.put(self.param_key, value)
-            if self.on_value_changed:
-                self.on_value_changed(value)
-
-    def _update_layout_rects(self):
-        """Update the layout rectangles when the widget rect changes"""
-        # Calculate total control width
-        control_width = (BUTTON_WIDTH * 2) + self.label_width + (BUTTON_SPACING * 2)
-        total_width = control_width + (CONTAINER_PADDING * 2)
-
-        # Update the widget's width to match the control
-        self._rect.width = total_width
-
-        # Position the control in the parent rectangle
-        start_x = self._rect.x + self._rect.width - control_width - (CONTAINER_PADDING * 2)
-
-        # Set container rectangle
-        self.container_rect = rl.Rectangle(
-            start_x,
-            self._rect.y + TOP_PADDING,
-            total_width,
-            BUTTON_HEIGHT + (CONTAINER_PADDING * 2)
-        )
-
-        # Set component rectangles
-        component_y = self._rect.y + TOP_PADDING + CONTAINER_PADDING
-        start_x = self.container_rect.x + CONTAINER_PADDING
-
-        # Minus button
-        self.minus_btn_rect = rl.Rectangle(
-            start_x,
-            component_y,
-            BUTTON_WIDTH,
-            BUTTON_HEIGHT
-        )
-
-        # Value label
-        label_x = start_x + BUTTON_WIDTH + BUTTON_SPACING
-        self.label_rect = rl.Rectangle(
-            label_x,
-            component_y,
-            self.label_width,
-            BUTTON_HEIGHT
-        )
-
-        # Plus button
-        plus_x = label_x + self.label_width + BUTTON_SPACING
-        self.plus_btn_rect = rl.Rectangle(
-            plus_x,
-            component_y,
-            BUTTON_WIDTH,
-            BUTTON_HEIGHT
-        )
-
-    def is_enabled(self) -> bool:
-        """Check if the control is enabled"""
-        return self._enabled() if callable(self._enabled) else self._enabled
-
-    def get_displayed_value(self) -> str:
-        """Get the displayed value, handling value mapping if present"""
-        value = self.current_value
-
-        if callable(self.label_callback):
-            return self.label_callback(value)
-
-        if self.value_map:
-            # Use the value map to get the display string
-            if value in self.value_map:
-                return self.value_map[value][1]  # Return the display string
-
-        # If using float scaling, format as float
-        if self.use_float_scaling:
-            return f"{value / 100.0:.2f}"
-
-        return str(value)
-
-    def _render(self, rect: rl.Rectangle) -> bool:
-        """Render the widget and handle input"""
-        if self._rect.width == 0 or self._rect.height == 0:
-            return False
-
-        # Ensure layout rectangles are updated
-        if self.container_rect.width == 0:
-            self._update_layout_rects()
-
-        # Get enabled state
-        enabled = self.is_enabled()
-
-        # Draw container background
-        rl.draw_rectangle_rounded(self.container_rect, 1, BUTTON_CORNER_RADIUS, style.OPTIONCONTROL_CONTAINER_BG)
-
-        # Determine button states
-        minus_enabled = enabled and self.current_value > self.min_value
-        plus_enabled = enabled and self.current_value < self.max_value
-
-        # Render buttons and label
-        minus_pressed = self._render_button(self.minus_btn_rect, "-", minus_enabled)
-        self._render_value_label()
-        plus_pressed = self._render_button(self.plus_btn_rect, "+", plus_enabled)
-
-        # Handle button presses
-        value_changed = False
-        if minus_pressed and minus_enabled:
-            self.current_value -= self.value_change_step
-            self.current_value = max(self.min_value, self.current_value)
-            value_changed = True
-        elif plus_pressed and plus_enabled:
-            self.current_value += self.value_change_step
-            self.current_value = min(self.max_value, self.current_value)
-            value_changed = True
-
-        # Call the value changed callback
-        if value_changed:
-            self.set_value(self.current_value)
-
-        return value_changed
-
-    def _render_button(self, rect: rl.Rectangle, text: str, enabled: bool) -> bool:
-        """Render a button and return True if it was clicked"""
-        mouse_pos = rl.get_mouse_position()
-        is_hovered = rl.check_collision_point_rec(mouse_pos, rect) and self._touch_valid()
-        is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
-        was_clicked = is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT)
-
-        # Determine button colors based on state
-        if not enabled:
-            bg_color = style.OPTIONCONTROL_BTN_DISABLED
-            text_color = style.OPTIONCONTROL_TEXT_DISABLED
-        elif is_pressed:
-            bg_color = style.OPTIONCONTROL_BTN_PRESSED
-            text_color = style.OPTIONCONTROL_TEXT_PRESSED
-        else:
-            bg_color = style.OPTIONCONTROL_BTN_ENABLED
-            text_color = style.OPTIONCONTROL_TEXT_ENABLED
-
-        # Draw button background
-        rl.draw_rectangle_rounded(rect, 1, BUTTON_CORNER_RADIUS, bg_color)
-
-        # Draw button text
-        text_size = measure_text_cached(self._font, text, BUTTON_FONT_SIZE)
-        text_x = rect.x + (rect.width - text_size.x) / 2
-        text_y = rect.y + (rect.height - text_size.y) / 2
-        rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), BUTTON_FONT_SIZE, 0, text_color)
-
-        return was_clicked and enabled
-
-    def _render_value_label(self):
-        """Render the current value label"""
-        text = self.get_displayed_value()
-        text_color = style.OPTIONCONTROL_TEXT_ENABLED if self.is_enabled() else style.OPTIONCONTROL_TEXT_DISABLED
-
-        # Calculate text position centered in the label area
-        text_size = measure_text_cached(self._font, text, VALUE_FONT_SIZE)
-        text_x = self.label_rect.x + (self.label_rect.width - text_size.x) / 2
-        text_y = self.label_rect.y + (self.label_rect.height - text_size.y) / 2
-
-        # Draw the text
-        rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), VALUE_FONT_SIZE, 0, text_color)
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -1,49 +0,0 @@
-import pyray as rl
-from dataclasses import dataclass
-
-@dataclass
-class Default:
-  # 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 = 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
-  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
-  ITEM_TEXT_COLOR = rl.WHITE
-  ITEM_DISABLED_TEXT_COLOR = rl.Color(88, 88, 88, 255)
-  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
-
-  # Widget/Control Base Dimensions
-  ITEM_BASE_HEIGHT = 170
-  ITEM_PADDING = 20
-  ITEM_TEXT_FONT_SIZE = 50
-  ITEM_DESC_FONT_SIZE = 40
-  ITEM_DESC_V_OFFSET = 150
-
-  # Button Control
-  BUTTON_WIDTH = 250
-  BUTTON_HEIGHT = 100
-
-  # Toggle Control
-  TOGGLE_HEIGHT = 100
-  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
-  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
-
-  TOGGLE_ON_COLOR = ON_BG_COLOR
-  TOGGLE_OFF_COLOR = OFF_BG_COLOR
-  TOGGLE_KNOB_COLOR = rl.WHITE
-  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
-  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
-  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey
-
-  # Option Control
-  OPTIONCONTROL_CONTAINER_BG = OFF_BG_COLOR
-  OPTIONCONTROL_BTN_ENABLED = rl.Color(88, 88, 88, 255)
-  OPTIONCONTROL_BTN_PRESSED = ON_BG_COLOR
-  OPTIONCONTROL_BTN_DISABLED = DISABLED_OFF_BG_COLOR
-
-  OPTIONCONTROL_TEXT_ENABLED = rl.WHITE
-  OPTIONCONTROL_TEXT_PRESSED = rl.WHITE
-  OPTIONCONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR
--- a/system/ui/sunnypilot/lib/toggle.py
+++ b/system/ui/sunnypilot/lib/toggle.py
@@ -1,100 +0,0 @@
-import pyray as rl
-from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import MousePos
-from openpilot.system.ui.widgets.toggle import Toggle
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-
-style = styles.Default
-
-class ToggleSP(Toggle):
-  def __init__(self, initial_state=False, param: str | None = None):
-    self.param_key = param
-    self.params = Params()
-    if self.param_key:
-        initial_state = self.params.get_bool(self.param_key)
-    Toggle.__init__(self, initial_state)
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-      super()._handle_mouse_release(mouse_pos)
-      if self._enabled and self.param_key:
-        self.params.put_bool(self.param_key, self._state)
-
-  def _render(self, rect: rl.Rectangle):
-    self.update()
-    if self._enabled:
-      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
-      knob_color = style.TOGGLE_KNOB_COLOR
-    else:
-      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
-      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
-
-    # Draw background
-    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
-
-    # Draw outline first
-    outline_color = style.TOGGLE_ON_COLOR
-    if not self._enabled:
-        # Use a more subtle color for disabled state
-        outline_color = rl.Color(outline_color.r // 2, outline_color.g // 2, outline_color.b // 2, 255)
-
-    # Draw outline by drawing a slightly larger rounded rectangle behind the background
-    outline_rect = rl.Rectangle(bg_rect.x - 2, bg_rect.y - 2, bg_rect.width + 4, bg_rect.height + 4)
-    rl.draw_rectangle_rounded(outline_rect, 1.0, 10, outline_color)
-
-    # Draw actual background
-    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
-
-    # Draw knob to sit inside the background
-    knob_padding = 5
-    knob_radius = style.TOGGLE_BG_HEIGHT / 2 - knob_padding
-
-    left_edge = bg_rect.x + knob_padding
-    right_edge = bg_rect.x + bg_rect.width - knob_padding
-
-    knob_travel_distance = right_edge - left_edge - 2 * knob_radius
-    min_knob_x = left_edge + knob_radius
-    knob_x = min_knob_x + knob_travel_distance * self._progress
-    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
-
-    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, knob_color)
-
-    symbol_size = knob_radius / 2
-
-    if self._state and (self._enabled or self._progress > 0.5):
-        # Draw checkmark when toggle is ON
-        start_x = knob_x - symbol_size * 0.8
-        start_y = knob_y
-        mid_x = knob_x - symbol_size * 0.1
-        mid_y = knob_y + symbol_size * 0.6
-        end_x = knob_x + symbol_size * 0.8
-        end_y = knob_y - symbol_size * 0.5
-
-        rl.draw_line_ex(
-            rl.Vector2(int(start_x), int(start_y)),
-            rl.Vector2(int(mid_x), int(mid_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(mid_x), int(mid_y)),
-            rl.Vector2(int(end_x), int(end_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-    else:
-        # Draw X when toggle is OFF
-        x_size_factor = 0.65
-        x_offset = symbol_size * x_size_factor
-
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x - x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x + x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x + x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x - x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )
--- a/system/ui/widgets/tree_option_dialog.py
+++ b/system/ui/widgets/tree_option_dialog.py
@@ -1,369 +0,0 @@
-#  /**
-#   * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#   *
-#   * This file is part of sunnypilot and is licensed under the MIT License.
-#   * See the LICENSE.md file in the root directory for more details.
-#   */
-
-import pyray as rl
-from dataclasses import dataclass
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.common.params import Params
-
-# Constants
-MARGIN = 50
-TITLE_FONT_SIZE = 70
-ITEM_HEIGHT = 135
-BUTTON_SPACING = 50
-BUTTON_HEIGHT = 160
-ITEM_SPACING = 5
-STAR_ICON_SIZE = 100
-FOLDER_ICON_SIZE = 40
-INDENT_SIZE = 50
-
-
-@dataclass
-class TreeNode:
-  """Represents a single item in the tree"""
-  display_name: str
-  ref: str  # Unique identifier for the item
-  index: int = 0
-
-
-@dataclass
-class TreeFolder:
-  """Represents a folder containing tree nodes"""
-  folder: str  # Folder name, empty string for top-level items
-  items: list[TreeNode]
-
-
-class TreeItemWidget(Widget):
-  """Widget representing a single tree item (folder or node)"""
-
-  def __init__(self, text: str, ref: str = "", is_folder: bool = False,
-               indent_level: int = 0, click_callback=None, favorite_callback=None,
-               is_favorite: bool = False, star_icon=None, folder_icon=None):
-    super().__init__()
-    self.text = text
-    self.ref = ref
-    self.is_folder = is_folder
-    self.indent_level = indent_level
-    self.is_expanded = False
-    self.is_selected = False
-    self.is_favorite = is_favorite
-    self._click_callback = click_callback
-    self._favorite_callback = favorite_callback
-    self.star_icon = star_icon
-    self.folder_icon = folder_icon
-    self.children: list[TreeItemWidget] = []
-
-    # Fixed height for tree items
-    self._rect = rl.Rectangle(0, 0, 0, ITEM_HEIGHT)
-
-  def add_child(self, child):
-    self.children.append(child)
-
-  def toggle_expand(self):
-    if self.is_folder:
-      self.is_expanded = not self.is_expanded
-
-  def _render(self, _):
-    # Background color based on selection state
-    bg_color = rl.Color(70, 91, 234, 255) if self.is_selected else rl.Color(79, 79, 79, 255)
-
-    # Draw background with rounded corners
-    rl.draw_rectangle_rounded(self._rect, 0.07, 10, bg_color)
-
-    # Calculate text position with indent
-    text_x = self._rect.x + self.indent_level * INDENT_SIZE + 20
-    text_y = self._rect.y + (self._rect.height - TITLE_FONT_SIZE) / 2
-    text_width = self._rect.width - self.indent_level * INDENT_SIZE - 40
-
-    # Draw folder icon if folder
-    if self.is_folder and self.folder_icon:
-      icon_x = text_x
-      icon_y = self._rect.y + (self._rect.height - FOLDER_ICON_SIZE) / 2
-      rl.draw_texture_ex(self.folder_icon, rl.Vector2(icon_x, icon_y), 0,
-                         FOLDER_ICON_SIZE / self.folder_icon.width, rl.WHITE)
-      text_x += FOLDER_ICON_SIZE + 10
-      text_width -= FOLDER_ICON_SIZE + 10
-
-    # Draw text
-    text_rect = rl.Rectangle(text_x, text_y, text_width - STAR_ICON_SIZE - 20, TITLE_FONT_SIZE)
-    gui_label(text_rect, self.text, 55, font_weight=FontWeight.LIGHT,
-              color=rl.WHITE)
-
-    # Draw star icon for non-folder items (on the right)
-    if not self.is_folder and self.star_icon:
-      star_x = self._rect.x + self._rect.width - STAR_ICON_SIZE - 20
-      star_y = self._rect.y + (self._rect.height - STAR_ICON_SIZE) / 2
-      star_rect = rl.Rectangle(star_x, star_y, STAR_ICON_SIZE, STAR_ICON_SIZE)
-
-      # Check if star icon is clicked
-      for mouse_event in gui_app.mouse_events:
-        if mouse_event.left_released and rl.check_collision_point_rec(mouse_event.pos, star_rect):
-          if self._favorite_callback:
-            self._favorite_callback(self)
-          return
-
-      # Draw star icon (filled if favorite, empty otherwise)
-      icon_scale = STAR_ICON_SIZE / self.star_icon.width
-      rl.draw_texture_ex(self.star_icon, rl.Vector2(star_x, star_y), 0, icon_scale,
-                        rl.WHITE if self.is_favorite else rl.Color(255, 255, 255, 100))
-
-  def _handle_mouse_release(self, mouse_pos):
-    """Handle click on the item"""
-    if self._click_callback:
-      self._click_callback(self)
-    return True
-
-
-class TreeOptionDialog(Widget):
-  """Dialog for selecting an item from a hierarchical tree structure with favorites support"""
-
-  def __init__(self, title: str, items: list[TreeFolder], current: str = "", fav_param: str = ""):
-    super().__init__()
-    self.title = title
-    self.items = items
-    self.current = current
-    self.selection = current
-    self.fav_param = fav_param
-    self.params = Params()
-
-    # Load favorites from params
-    self.favorites: set[str] = set()
-    if fav_param:
-      fav_str = self.params.get(fav_param)
-      if fav_str:
-        self.favorites = set(fav for fav in fav_str.split(';') if fav)
-
-    # Load icons
-    self.star_filled_icon = None
-    self.star_empty_icon = None
-    self.folder_icon = None
-
-    try:
-      self.star_filled_icon = rl.load_texture("../../sunnypilot/selfdrive/assets/icons/star-filled.png")
-      self.star_empty_icon = rl.load_texture("../../sunnypilot/selfdrive/assets/icons/star-empty.png")
-      self.folder_icon = rl.load_texture("../assets/icons/menu.png")
-    except:
-      # Icons are optional
-      pass
-
-    # Build tree structure
-    self.tree_items: list[TreeItemWidget] = []
-    self.ref_to_item: dict[str, TreeItemWidget] = {}  # Map ref to item for quick lookup
-    self._build_tree()
-
-    # Create scroller with all visible items
-    self.scroller = Scroller(self._get_visible_items(), spacing=ITEM_SPACING, pad_end=True)
-
-    # Buttons
-    self.cancel_button = Button("Cancel", click_callback=lambda: gui_app.set_modal_overlay(None))
-    self.select_button = Button("Select", click_callback=self._on_select, button_style=ButtonStyle.PRIMARY)
-
-  def _build_tree(self):
-    """Build the tree structure from the input items"""
-    folders: dict[str, TreeItemWidget] = {}
-
-    # Create favorites folder
-    favorites_folder = TreeItemWidget(
-      "Favorites", "", is_folder=True, indent_level=0,
-      click_callback=self._on_item_clicked,
-      folder_icon=self.folder_icon
-    )
-    folders["__favorites__"] = favorites_folder
-    self.tree_items.append(favorites_folder)
-
-    # First pass: create all folders and items
-    for tree_folder in self.items:
-      folder_name = tree_folder.folder
-
-      if not folder_name:
-        # Top-level items (no folder)
-        for node in tree_folder.items:
-          item = self._create_item_widget(node, indent_level=0)
-          self.tree_items.append(item)
-          self.ref_to_item[node.ref] = item
-      else:
-        # Items in a folder
-        if folder_name not in folders:
-          folder_widget = TreeItemWidget(
-            folder_name, "", is_folder=True, indent_level=0,
-            click_callback=self._on_item_clicked,
-            folder_icon=self.folder_icon
-          )
-          folders[folder_name] = folder_widget
-          # Insert after favorites folder
-          self.tree_items.insert(1, folder_widget)
-
-        folder_widget = folders[folder_name]
-        for node in tree_folder.items:
-          item = self._create_item_widget(node, indent_level=1)
-          folder_widget.add_child(item)
-          self.ref_to_item[node.ref] = item
-
-          # Auto-expand folder if it contains the current selection
-          if node.ref == self.current:
-            folder_widget.is_expanded = True
-
-    # Second pass: populate favorites folder
-    for fav_ref in self.favorites:
-      if fav_ref in self.ref_to_item:
-        original_item = self.ref_to_item[fav_ref]
-        # Create a duplicate item for the favorites folder
-        fav_item = self._create_item_widget(
-          TreeNode(original_item.text, fav_ref, 0),
-          indent_level=1
-        )
-        favorites_folder.add_child(fav_item)
-
-        # Auto-expand favorites if it contains the current selection
-        if fav_ref == self.current:
-          favorites_folder.is_expanded = True
-
-  def _create_item_widget(self, node: TreeNode, indent_level: int) -> TreeItemWidget:
-    """Create a tree item widget from a TreeNode"""
-    is_fav = node.ref in self.favorites
-    star_icon = self.star_filled_icon if is_fav else self.star_empty_icon
-
-    item = TreeItemWidget(
-      node.display_name, node.ref, is_folder=False, indent_level=indent_level,
-      click_callback=self._on_item_clicked,
-      favorite_callback=self._on_favorite_toggled,
-      is_favorite=is_fav,
-      star_icon=star_icon
-    )
-
-    if node.ref == self.current:
-      item.is_selected = True
-
-    return item
-
-  def _get_visible_items(self) -> list[TreeItemWidget]:
-    """Get all currently visible items in the tree (respecting expand/collapse state)"""
-    visible = []
-    for item in self.tree_items:
-      visible.append(item)
-      if item.is_folder and item.is_expanded:
-        visible.extend(item.children)
-    return visible
-
-  def _on_item_clicked(self, item: TreeItemWidget):
-    """Handle click on a tree item"""
-    if item.is_folder:
-      # Toggle folder expansion
-      item.toggle_expand()
-      # Rebuild scroller with new visible items
-      visible_items = self._get_visible_items()
-      self.scroller._items = visible_items
-      for widget in visible_items:
-        widget.set_touch_valid_callback(self.scroller.scroll_panel.is_touch_valid)
-    else:
-      # Select the item
-      # Deselect all items first
-      for ref_item in self.ref_to_item.values():
-        ref_item.is_selected = False
-      # Also deselect favorite duplicates
-      for tree_item in self.tree_items:
-        if tree_item.is_folder:
-          for child in tree_item.children:
-            child.is_selected = False
-
-      # Select the clicked item
-      item.is_selected = True
-      self.selection = item.ref
-
-  def _on_favorite_toggled(self, item: TreeItemWidget):
-    """Handle toggling favorite status of an item"""
-    if item.ref in self.favorites:
-      # Remove from favorites
-      self.favorites.discard(item.ref)
-
-      # Update all instances of this item (original + duplicate in favorites)
-      if item.ref in self.ref_to_item:
-        self.ref_to_item[item.ref].is_favorite = False
-        self.ref_to_item[item.ref].star_icon = self.star_empty_icon
-
-      # Remove from favorites folder
-      favorites_folder = self.tree_items[0]
-      favorites_folder.children = [c for c in favorites_folder.children if c.ref != item.ref]
-    else:
-      # Add to favorites
-      self.favorites.add(item.ref)
-
-      # Update all instances of this item
-      if item.ref in self.ref_to_item:
-        self.ref_to_item[item.ref].is_favorite = True
-        self.ref_to_item[item.ref].star_icon = self.star_filled_icon
-
-      # Add to favorites folder
-      favorites_folder = self.tree_items[0]
-      fav_item = self._create_item_widget(
-        TreeNode(item.text, item.ref, 0),
-        indent_level=1
-      )
-      # Insert at the beginning of favorites
-      favorites_folder.children.insert(0, fav_item)
-
-    # Save favorites to params
-    if self.fav_param:
-      self.params.put(self.fav_param, ';'.join(self.favorites))
-
-    # Rebuild scroller with new visible items
-    visible_items = self._get_visible_items()
-    self.scroller._items = visible_items
-    for widget in visible_items:
-      widget.set_touch_valid_callback(self.scroller.scroll_panel.is_touch_valid)
-
-  def _on_select(self):
-    """Handle select button click"""
-    gui_app.set_modal_overlay(None)
-
-  def _render(self, rect):
-    dialog_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN,
-                               rect.width - 2 * MARGIN, rect.height - 2 * MARGIN)
-    rl.draw_rectangle_rounded(dialog_rect, 0.02, 20, rl.Color(27, 27, 27, 255))
-
-    content_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y + MARGIN,
-                                dialog_rect.width - 2 * MARGIN, dialog_rect.height - 2 * MARGIN)
-
-    # Title
-    gui_label(rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, TITLE_FONT_SIZE),
-             self.title, 70, font_weight=FontWeight.MEDIUM)
-
-    # Tree area
-    tree_y = content_rect.y + TITLE_FONT_SIZE + 25
-    tree_h = content_rect.height - TITLE_FONT_SIZE - BUTTON_HEIGHT - 60
-    tree_rect = rl.Rectangle(content_rect.x, tree_y, content_rect.width, tree_h)
-
-    # Update all visible items with correct width
-    for item in self._get_visible_items():
-      item.set_rect(rl.Rectangle(0, 0, tree_rect.width, ITEM_HEIGHT))
-
-    self.scroller.render(tree_rect)
-
-    # Buttons
-    button_y = content_rect.y + content_rect.height - BUTTON_HEIGHT
-    button_w = (content_rect.width - BUTTON_SPACING) / 2
-
-    cancel_rect = rl.Rectangle(content_rect.x, button_y, button_w, BUTTON_HEIGHT)
-    self.cancel_button.render(cancel_rect)
-
-    select_rect = rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT)
-    self.select_button.set_enabled(self.selection != self.current)
-    self.select_button.render(select_rect)
-
-    return -1
-
-  def show_event(self):
-    """Reset scroll position when dialog is shown"""
-    self.scroller.show_event()
-
-  def hide_event(self):
-    """Clean up when dialog is hidden"""
-    self.scroller.hide_event()
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -1,5 +1,6 @@
 import os
 import requests
+from requests.adapters import HTTPAdapter, Retry
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')

 # TODO: this should be merged into common.api
@@ -11,6 +12,9 @@ class CommaApi:
    if token:
      self.session.headers['Authorization'] = 'JWT ' + token

+    retries = Retry(total=5, backoff_factor=1, status_forcelist=[500, 502, 503, 504])
+    self.session.mount('https://', HTTPAdapter(max_retries=retries))
+
  def request(self, method, endpoint, **kwargs):
    with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
      resp_json = resp.json()
Author	SHA1	Message	Date
James Vecellio-Grant	9c3a73b4cf	Merge branch 'navigationd-service' into nav-desires	2025-11-16 15:42:20 -08:00
discountchubbs	b48214acd2	formatting i guess	2025-11-16 15:31:34 -08:00
James Vecellio-Grant	8adbd56acd	Merge branch 'navigationd-service' into nav-desires	2025-11-16 15:25:42 -08:00
discountchubbs	65db08f4d1	walrus it up	2025-11-16 15:24:43 -08:00
discountchubbs	a1e305333f	Bring up to date with nav-commacon	2025-11-16 15:20:44 -08:00
James Vecellio-Grant	c14b81585e	Merge branch 'navigationd-init' into navigationd-service	2025-11-16 15:12:32 -08:00
discountchubbs	f3d8b24bf4	bearing	2025-11-16 15:10:42 -08:00
discountchubbs	880ed98ffc	Merge remote-tracking branch 'origin/master' into navigationd-init	2025-11-16 15:00:46 -08:00
Jason Wen	f1025f6ee9	Sync: `commaai/openpilot:master` into `sunnypilot/openpilot:master` (#1470 )	2025-11-16 03:16:58 -05:00
Jason Wen	08e85808c5	Merge branch 'upstream/openpilot/master' into sync-20251114 # Conflicts: # .github/workflows/ci_weekly_run.yaml # .github/workflows/raylib_ui_preview.yaml # .github/workflows/tests.yaml # .gitmodules # README.md # SConstruct # common/api.py # common/params_keys.h # docs/CARS.md # msgq_repo # opendbc_repo # panda # selfdrive/car/tests/test_car_interfaces.py # selfdrive/controls/controlsd.py # selfdrive/controls/lib/latcontrol.py # selfdrive/controls/lib/latcontrol_angle.py # selfdrive/controls/lib/latcontrol_pid.py # selfdrive/controls/lib/latcontrol_torque.py # selfdrive/controls/tests/test_latcontrol.py # selfdrive/monitoring/helpers.py # selfdrive/ui/SConscript # selfdrive/ui/main.cc # selfdrive/ui/qt/body.h # selfdrive/ui/qt/home.cc # selfdrive/ui/qt/home.h # selfdrive/ui/qt/network/networking.cc # selfdrive/ui/qt/network/networking.h # selfdrive/ui/qt/network/wifi_manager.cc # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/qt/offroad/experimental_mode.cc # selfdrive/ui/qt/offroad/firehose.cc # selfdrive/ui/qt/offroad/firehose.h # selfdrive/ui/qt/offroad/onboarding.cc # selfdrive/ui/qt/offroad/onboarding.h # selfdrive/ui/qt/offroad/settings.cc # selfdrive/ui/qt/offroad/settings.h # selfdrive/ui/qt/offroad/software_settings.cc # selfdrive/ui/qt/onroad/alerts.cc # selfdrive/ui/qt/onroad/annotated_camera.h # selfdrive/ui/qt/onroad/buttons.cc # selfdrive/ui/qt/onroad/buttons.h # selfdrive/ui/qt/onroad/driver_monitoring.cc # selfdrive/ui/qt/onroad/hud.cc # selfdrive/ui/qt/onroad/hud.h # selfdrive/ui/qt/onroad/model.cc # selfdrive/ui/qt/onroad/model.h # selfdrive/ui/qt/onroad/onroad_home.cc # selfdrive/ui/qt/onroad/onroad_home.h # selfdrive/ui/qt/request_repeater.h # selfdrive/ui/qt/sidebar.cc # selfdrive/ui/qt/sidebar.h # selfdrive/ui/qt/util.cc # selfdrive/ui/qt/widgets/cameraview.h # selfdrive/ui/qt/widgets/controls.cc # selfdrive/ui/qt/widgets/controls.h # selfdrive/ui/qt/widgets/input.cc # selfdrive/ui/qt/widgets/input.h # selfdrive/ui/qt/widgets/prime.cc # selfdrive/ui/qt/widgets/prime.h # selfdrive/ui/qt/widgets/ssh_keys.h # selfdrive/ui/qt/widgets/toggle.h # selfdrive/ui/qt/widgets/wifi.cc # selfdrive/ui/qt/widgets/wifi.h # selfdrive/ui/qt/window.cc # selfdrive/ui/qt/window.h # selfdrive/ui/tests/cycle_offroad_alerts.py # selfdrive/ui/tests/test_ui/run.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_nl.ts # selfdrive/ui/translations/main_pl.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # selfdrive/ui/ui.cc # selfdrive/ui/ui.h # system/manager/build.py # system/version.py	2025-11-16 02:50:28 -05:00
Jason Wen	cb03d08397	tools: add retry mechanism for API requests (#1480 )	2025-11-16 01:55:19 -05:00
James Vecellio-Grant	d106c192f2	Merge branch 'navigationd-service' into nav-desires	2025-11-10 18:49:22 -08:00
discountchubbs	98ffbe1308	more	2025-11-10 18:45:41 -08:00
discountchubbs	d09f74612f	Revert "more" This reverts commit `b69da9e5ea`.	2025-11-10 18:45:16 -08:00
discountchubbs	3af0d6e87f	more	2025-11-10 18:44:26 -08:00
discountchubbs	584269fced	Revert "more" This reverts commit `b69da9e5ea`.	2025-11-10 18:43:50 -08:00
James Vecellio-Grant	1dc5741e75	Merge branch 'navigationd-service' into nav-desires	2025-11-10 18:41:36 -08:00
discountchubbs	b69da9e5ea	more	2025-11-10 18:41:14 -08:00
discountchubbs	0ccd55a6b5	sm	2025-11-10 18:37:47 -08:00
James Vecellio-Grant	48dc9dbb69	Merge branch 'navigationd-service' into nav-desires	2025-11-10 12:41:03 -08:00
discountchubbs	56ca486fe9	more frames	2025-11-10 12:39:42 -08:00
discountchubbs	799e819e58	more desire changes	2025-11-10 11:57:55 -08:00
James Vecellio-Grant	aaac1c79d0	Merge branch 'navigationd-service' into nav-desires	2025-11-10 11:37:15 -08:00
discountchubbs	f46de2d0d5	adjust for gps bounce	2025-11-10 11:36:07 -08:00
James Vecellio-Grant	d7fa10a827	Merge branch 'navigationd-service' into nav-desires	2025-11-10 08:58:01 -08:00
James Vecellio-Grant	22b010f674	Merge branch 'navigationd-init' into navigationd-service	2025-11-10 08:57:44 -08:00
James Vecellio-Grant	dcaf84d04c	Merge branch 'master' into navigationd-init	2025-11-10 08:57:31 -08:00
discountchubbs	3a82a0797a	v_ego	2025-11-10 08:56:49 -08:00
discountchubbs	365e978b42	dynamic distance interpolation	2025-11-10 08:50:21 -08:00
James Vecellio-Grant	2d1f3833e4	Merge branch 'master' into navigationd-init	2025-11-08 10:10:13 -08:00
James Vecellio-Grant	ba176a6581	Merge branch 'navigationd-service' into nav-desires	2025-11-07 07:45:21 -08:00
James Vecellio-Grant	63e5d0a476	Merge branch 'navigationd-init' into navigationd-service	2025-11-07 07:45:11 -08:00
discountchubbs	e28dd1e1aa	30 meters before turn is more natural	2025-11-07 07:44:38 -08:00
discountchubbs	43b4e4e271	check packets in selfdrived	2025-11-06 12:17:52 -08:00
discountchubbs	864c811ef6	small clean	2025-11-05 19:05:29 -08:00
James Vecellio-Grant	906e9d7a80	Merge branch 'navigationd-service' into nav-desires	2025-11-05 18:51:41 -08:00
discountchubbs	cfb8f3ae24	main entry point for navigation updates	2025-11-05 18:49:32 -08:00
James Vecellio-Grant	0cc5e56192	Merge branch 'navigationd-init' into navigationd-service	2025-11-05 18:03:19 -08:00
discountchubbs	1a62ae821e	green means good	2025-11-05 18:02:38 -08:00
James Vecellio-Grant	b6dd2d14db	Merge branch 'navigationd-service' into nav-desires	2025-11-01 08:02:18 -07:00
James Vecellio-Grant	7d4e5bedaf	Merge branch 'navigationd-init' into navigationd-service	2025-11-01 08:02:08 -07:00
James Vecellio-Grant	1063114408	Merge branch 'master' into navigationd-init	2025-11-01 08:01:57 -07:00
discountchubbs	958b4df69f	give slightly more leniancy for offline routing	2025-11-01 08:01:30 -07:00
discountchubbs	72998034e6	copyright	2025-10-30 06:26:01 -07:00
discountchubbs	cefb344183	copyright	2025-10-30 06:22:34 -07:00
discountchubbs	d17e80ad94	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-29 19:41:29 -07:00
discountchubbs	c2b7087723	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-29 19:40:19 -07:00
James Vecellio-Grant	81b37712f1	Merge branch 'master' into navigationd-init	2025-10-29 19:39:41 -07:00
discountchubbs	18cd3633e5	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-29 19:37:41 -07:00
discountchubbs	9c6a4d4a57	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-29 19:37:10 -07:00
discountchubbs	1a4c48249b	fix: handle empty maxspeed list in nav_instructions	2025-10-29 19:36:39 -07:00
discountchubbs	5f5e3668eb	Add steering pressed and torque to desire for non blindspot cars, and a note!	2025-10-28 06:43:00 -07:00
discountchubbs	8c07958f6f	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-28 06:28:33 -07:00
discountchubbs	ca1ce9bcc9	Clear route cache more gracefully to allow we based route connection to happen quick ish	2025-10-28 06:27:51 -07:00
discountchubbs	29f15dc8ed	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-26 11:07:16 -07:00
discountchubbs	31a5a3b3c0	assertion comparison operators	2025-10-26 11:06:00 -07:00
discountchubbs	2a4b348497	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-26 08:44:38 -07:00
discountchubbs	3ef3aceb4b	Apply auto cancel route after 10 seconds off route.	2025-10-26 08:44:03 -07:00
James Vecellio-Grant	3d8763b3ce	Merge branch 'master' into navigationd-init	2025-10-25 21:14:39 -07:00
James Vecellio-Grant	b2427a5f20	Merge branch 'master' into navigationd-init	2025-10-25 16:27:44 -07:00
discountchubbs	ff4cc96a81	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-23 19:21:04 -07:00
discountchubbs	3b1ada64be	sync	2025-10-23 19:20:15 -07:00
discountchubbs	6a08186434	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-23 19:17:49 -07:00
discountchubbs	cf2b033c79	clean	2025-10-23 19:15:54 -07:00
discountchubbs	9fbef36c6b	desire handling	2025-10-23 19:12:34 -07:00
discountchubbs	7b28c2f59a	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-23 17:24:16 -07:00
discountchubbs	99d954de10	sync	2025-10-23 17:23:47 -07:00
discountchubbs	b28f33481c	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-23 17:21:56 -07:00
discountchubbs	589e33f665	sum red diff	2025-10-23 17:20:23 -07:00
discountchubbs	39342d7b5e	diff is red so == good?	2025-10-23 17:16:29 -07:00
discountchubbs	b763f7aac1	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-21 16:27:02 -07:00
discountchubbs	450fcd4d55	oopsie part two lol	2025-10-21 16:25:30 -07:00
James Vecellio	551b4dea31	oopsie	2025-10-21 16:20:20 -07:00
James Vecellio	bd269defb3	oopsie	2025-10-21 16:19:49 -07:00
James Vecellio-Grant	399ed08926	Merge branch 'master' into navigationd-init	2025-10-21 15:29:45 -07:00
James Vecellio-Grant	90f02040fe	Merge branch 'master' into navigationd-service	2025-10-21 15:29:42 -07:00
James Vecellio-Grant	8423ecedb1	Merge branch 'master' into nav-desires	2025-10-21 15:29:39 -07:00
discountchubbs	dd1479ed82	More macOS crap 🤠	2025-10-21 15:25:15 -07:00
discountchubbs	f82845ff42	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-21 12:05:13 -07:00
discountchubbs	efcc5ccd15	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-21 12:03:44 -07:00
James Vecellio-Grant	6aac50ab56	Merge branch 'master' into navigationd-init	2025-10-21 12:03:05 -07:00
discountchubbs	091bce4a3a	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-21 05:54:42 -07:00
discountchubbs	088f6aa407	sync	2025-10-21 05:53:12 -07:00
James Vecellio-Grant	211c8adcce	Merge branch 'master' into navigationd-init	2025-10-21 05:52:06 -07:00
discountchubbs	fe5366e5b2	rm unused import	2025-10-19 20:34:11 -07:00
discountchubbs	1ecb0b0f66	dumb	2025-10-19 20:16:36 -07:00
discountchubbs	51e455db79	stupid msgq always breaking macOS	2025-10-19 20:15:14 -07:00
discountchubbs	dc6672fa80	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-19 20:02:36 -07:00
discountchubbs	07b8e7783d	Do i really need a readme	2025-10-19 19:47:21 -07:00
discountchubbs	f17b0f200c	non blocking polling SOME attribute protection. kids crying, so need to stop for now!	2025-10-19 17:20:13 -07:00
discountchubbs	ad9bde8b1f	non blocking polling SOME attribute protection. kids crying, so need to stop for now!	2025-10-19 17:17:37 -07:00
discountchubbs	8cf9f9fe23	params! maybe these should be protected attributes, but thats a tomorrow problem	2025-10-19 17:03:04 -07:00
discountchubbs	713985d823	feat: navigationd desire loop Notes: Maybe I should add a param for this, so its not automatic when a route is set.	2025-10-19 09:38:29 -07:00
James Vecellio-Grant	088f9d0b59	Merge branch 'master' into navigationd-service	2025-10-18 18:22:34 -07:00
James Vecellio-Grant	53bf5b0d41	Merge branch 'master' into navigationd-init	2025-10-18 18:22:27 -07:00
discountchubbs	8c33592628	Revert "feat: navigationd" bc it was supposed to be a branch lol This reverts commit `3bbb33f6bd`.	2025-10-18 18:18:28 -07:00
James Vecellio	3bbb33f6bd	feat: navigationd I changed the reroute counter to 9 updates, which is every 3 seconds. compared to 3, which is one second.	2025-10-18 18:15:22 -07:00
discountchubbs	5bd9549bd1	some clean up for production	2025-10-16 15:43:34 -07:00
discountchubbs	3481702715	some suggestions applied	2025-10-16 06:55:15 -07:00
discountchubbs	c9781ee31d	feat: mapbox navigation helpers	2025-10-16 06:43:48 -07:00