sunnylink desc

# Conflicts:
#	README.md
#	common/api.py
#	docs/CARS.md
#	opendbc_repo
#	panda
#	selfdrive/ui/mici/layouts/offroad_alerts.py
#	system/ui/README.md
#	system/version.py

.github/workflows/ci_weekly_report.yaml

@@ -38,7 +38,7 @@ jobs:
   report:
     needs: [ci_matrix_run]
     runs-on: ubuntu-latest
-    if: always()
+    if: always() && github.repository == 'commaai/openpilot'
     steps:
       - name: Get job results
         uses: actions/github-script@v7

.github/workflows/mici_raylib_ui_preview.yaml

@@ -0,0 +1,151 @@
+name: "mici raylib ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create mici raylib UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
+  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
+  # All report files are pushed here
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_ui_raylib
+          ref: ${{ env.MASTER_BRANCH_NAME }}
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          git checkout --orphan=new_master_ui_mici_raylib
+          git rm -rf *
+          git branch -D ${{ env.MASTER_BRANCH_NAME }}
+          git branch -m ${{ env.MASTER_BRANCH_NAME }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for commit ${{ env.SHA }}"
+          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diff
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          # Find the video file from PR
+          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
+          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
+
+          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
+          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
+
+          # Run report
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+          diff_exit_code=0
+          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+          # Copy diff report files
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
+
+          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
+          if [ $diff_exit_code -eq 0 ]; then
+            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
+          else
+            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
+          fi
+          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff report to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
+          git add diff_pr_${{ github.event.number }}.html
+          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment Video on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
+            ## mici raylib UI Preview
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_video_mici_raylib
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

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

@@ -200,37 +200,28 @@ jobs:
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
           rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
             --exclude='.sconsign.dblite' \
             --exclude='*.a' \
             --exclude='*.o' \
             --exclude='*.os' \
             --exclude='*.pyc' \
             --exclude='moc_*' \
-            --exclude='*.cc' \
+            --exclude='__pycache__' \
             --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
             --exclude='**/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
+            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
+            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
+            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
+            --exclude='third_party/*x86*' \
+            --exclude='third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/

.github/workflows/tests.yaml

@@ -297,3 +297,29 @@ jobs:
         with:
           name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
+
+  create_mici_raylib_ui_report:
+    name: Create mici raylib UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create mici raylib UI Report
+        run: >
+          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                          source selfdrive/test/setup_xvfb.sh &&
+                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
+      - name: Upload Raylib UI Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/diff/report

RELEASES.md

@@ -1,3 +1,6 @@
+Version 0.10.3 (2025-12-10)
+========================
+
 Version 0.10.2 (2025-11-19)
 ========================
 * comma four support

cereal/custom.capnp

@@ -192,6 +192,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
+  accelPersonality @8 :AccelerationPersonality;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -203,7 +204,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
-
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+  }
   struct SmartCruiseControl {
     vision @0 :Vision;
     map @1 :Map;

common/api/__init__.py

@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
 
 
-def get_key_pair():
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
   return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
-       # name : jwt signature algorithm
-KEYS = {"id_rsa" : "RS256",
-        "id_ecdsa" : "ES256"}
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
 
 
 class BaseApi:
@@ -62,7 +62,7 @@ class BaseApi:
     return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
-  def get_key_pair():
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
     for key in KEYS:
       if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
         with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "The Cool People (Default)"
+#define DEFAULT_MODEL "Dark Souls 2 (Default)"

common/params_keys.h

@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
@@ -132,6 +133,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
+    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},

common/tests/test_file_helpers.py

@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 
 
 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
       assert f.read() == "test"
     os.remove(path)
 
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)

common/utils.py

@@ -32,8 +32,8 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                        overwrite: bool = False):
+def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                 overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)
 

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.2"
+#define COMMA_VERSION "0.10.3"

docs/CARS.md

@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |

docs/how-to/turn-the-speed-blue.md

@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
 tools/replay/replay --demo
 
 # in terminal 2
-selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
 
 Now let’s update the speed display color in the UI.
 
-Search for the function responsible for rendering UI text:
+Search for the function responsible for rendering the current speed:
 ```bash
-git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
+git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
-```cpp
-void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
+```python
+def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+  """Draw the current vehicle speed and unit."""
+  speed_text = str(round(self.speed))
+  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
 ```
 
-Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
 
 ```diff
-- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
++ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
 ```
 
-This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
-
 ---
 
-## 4. Rebuild the UI
+## 4. Re-run the UI
 
-After making changes, rebuild Openpilot so your new UI is compiled:
+After making changes, re-run the UI to see your new UI:
 ```bash
-scons -j$(nproc) && selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 

pyproject.toml

@@ -85,6 +85,7 @@ docs = [
 ]
 
 testing = [
+  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",
@@ -115,7 +116,7 @@ dev = [
   "pyautogui",
   "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
+  "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
   "tabulate",
@@ -125,7 +126,7 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0",
+  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]
 
 [project.urls]
@@ -226,7 +227,7 @@ lint.select = [
   "TRY203", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
   "TID251",
-  "PLR1704",
+  "PLE", "PLR1704",
 ]
 lint.ignore = [
   "E741",

scripts/usbgpu/benchmark.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../../tinygrad_repo
+
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+
+#export DEBUG=2
+export PYTHONPATH=.
+export AM_RESET=1
+export AMD=1
+export AMD_IFACE=USB
+export AMD_LLVM=1
+
+python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
+  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
+printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
+printf "${GREEN}=============${NC}\n"
+
+printf "\n\n"
+printf "${GREEN}Transfer speeds:${NC}\n"
+printf "${GREEN}================${NC}\n"
+python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds

selfdrive/assets/sounds/make_beeps.py

@@ -0,0 +1,19 @@
+import numpy as np
+from scipy.io import wavfile
+
+
+sr = 48000
+max_int16 = 2**15 - 1
+
+def harmonic_beep(freq, duration_seconds):
+    n_total = int(sr * duration_seconds)
+
+    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
+    x = np.arange(n_total)
+    exp_scale = np.exp(-x/5.5e3)
+    return max_int16 * signal * exp_scale
+
+engage_beep = harmonic_beep(1661.219, 0.5)
+wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
+disengage_beep = harmonic_beep(1318.51, 0.5)
+wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))

selfdrive/car/CARS_template.md

@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |

selfdrive/car/car_specific.py

@@ -26,6 +26,18 @@ class MockCarState:
     return CS, CS_SP
 
 
+BRAND_EXTRA_GEARS = {
+  'ford': [GearShifter.low, GearShifter.manumatic],
+  'nissan': [GearShifter.brake],
+  'chrysler': [GearShifter.low],
+  'honda': [GearShifter.sport],
+  'toyota': [GearShifter.sport],
+  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
+  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+  'hyundai': [GearShifter.sport, GearShifter.manumatic]
+}
+
+
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -36,17 +48,13 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
+    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
+
     if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.brand == 'ford':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
-
-    elif self.CP.brand == 'nissan':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
-
     elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -57,7 +65,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
@@ -79,7 +87,7 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.cruiseState.standstill and not CS.brakePressed:
@@ -94,9 +102,7 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                   GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -107,8 +113,7 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -121,15 +126,14 @@ class CarSpecificEvents:
       #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
 
     else:
-      events = self.create_common_events(CS, CS_prev)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
                            allow_button_cancel=True):
     events = Events()
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -22,15 +22,17 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
+
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 0
+VERSION = 1
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
@@ -38,13 +40,13 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.previous_measurement = 0.0
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
@@ -76,17 +78,15 @@ class LatControlTorque(LatControl):
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
-      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
-      self.previous_measurement = measurement
-
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,15 +94,10 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # Lateral acceleration torque controller extension updates

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -10,6 +10,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
+
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -228,6 +230,7 @@ class LongitudinalMpc:
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
     self.source = SOURCES[2]
+    self.accel_controller = AccelPersonalityController()
 
   def reset(self):
     # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -332,6 +335,13 @@ class LongitudinalMpc:
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
+
+    if self.accel_controller.is_enabled():
+      min_accel = self.accel_controller.get_min_accel(v_ego)
+    else:
+      min_accel = CRUISE_MIN_ACCEL
+    a_cruise_min = min_accel
+
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
 
@@ -350,7 +360,7 @@ class LongitudinalMpc:
 
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
       # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),

selfdrive/controls/lib/longitudinal_planner.py

@@ -124,7 +124,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+      if self.accel_controller.is_enabled():
+        max_accel = self.accel_controller.get_max_accel(v_ego)
+        accel_clip = [ACCEL_MIN, max_accel]
+      else:
+        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
     else:

selfdrive/locationd/helpers.py

@@ -172,7 +172,7 @@ class PoseCalibrator:
     ned_from_calib_euler = self._ned_from_calib(pose.orientation)
     angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
     acceleration_calib = self._transform_calib_from_device(pose.acceleration)
-    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
+    velocity_calib = self._transform_calib_from_device(pose.velocity)
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 

selfdrive/modeld/tests/test_modeld.py

@@ -1,102 +0,0 @@
-import numpy as np
-import random
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-
-CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
-IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
-IMG_BYTES = IMG.flatten().tobytes()
-
-
-class TestModeld:
-
-  def setup_method(self):
-    self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
-
-    managed_processes['modeld'].start()
-    self.pm.wait_for_readers_to_update("roadCameraState", 10)
-
-  def teardown_method(self):
-    managed_processes['modeld'].stop()
-    del self.vipc_server
-
-  def _send_frames(self, frame_id, cams=None):
-    if cams is None:
-      cams = ('roadCameraState', 'wideRoadCameraState')
-
-    cs = None
-    for cam in cams:
-      msg = messaging.new_message(cam)
-      cs = getattr(msg, cam)
-      cs.frameId = frame_id
-      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
-      cam_meta = meta_from_camera_state(cam)
-
-      self.pm.send(msg.which(), msg)
-      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
-                            cs.timestampSof, cs.timestampEof)
-    return cs
-
-  def _wait(self):
-    self.sm.update(5000)
-    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
-      self.sm.update(1000)
-
-  def test_modeld(self):
-    for n in range(1, 500):
-      cs = self._send_frames(n)
-      self._wait()
-
-      mdl = self.sm['modelV2']
-      assert mdl.frameId == n
-      assert mdl.frameIdExtra == n
-      assert mdl.timestampEof == cs.timestampEof
-      assert mdl.frameAge == 0
-      assert mdl.frameDropPerc == 0
-
-      odo = self.sm['cameraOdometry']
-      assert odo.frameId == n
-      assert odo.timestampEof == cs.timestampEof
-
-  def test_dropped_frames(self):
-    """
-      modeld should only run on consecutive road frames
-    """
-    frame_id = -1
-    road_frames = list()
-    for n in range(1, 50):
-      if (random.random() < 0.1) and n > 3:
-        cams = random.choice([(), ('wideRoadCameraState', )])
-        self._send_frames(n, cams)
-      else:
-        self._send_frames(n)
-        road_frames.append(n)
-      self._wait()
-
-      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
-        frame_id = road_frames[-1]
-
-      mdl = self.sm['modelV2']
-      odo = self.sm['cameraOdometry']
-      assert mdl.frameId == frame_id
-      assert mdl.frameIdExtra == frame_id
-      assert odo.frameId == frame_id
-      if n != frame_id:
-        assert not self.sm.updated['modelV2']
-        assert not self.sm.updated['cameraOdometry']

selfdrive/monitoring/dmonitoringd.py

@@ -40,8 +40,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():

selfdrive/monitoring/helpers.py

@@ -40,6 +40,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._PHONE_THRESH2 = 15.0
     self._PHONE_MAX_OFFSET = 0.06
     self._PHONE_MIN_OFFSET = 0.025
+    self._PHONE_DATA_AVG = 0.05
+    self._PHONE_DATA_VAR = 3*0.005
+    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -47,9 +50,11 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
@@ -70,6 +75,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
     self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -78,30 +86,33 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 class DistractedType:
+
   NOT_DISTRACTED = 0
   DISTRACTED_POSE = 1 << 0
   DISTRACTED_BLINK = 1 << 1
   DISTRACTED_PHONE = 1 << 2
 
 class DriverPose:
-  def __init__(self, max_trackable):
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverPhone:
-  def __init__(self, max_trackable):
+class DriverProb:
+  def __init__(self, raw_priors, max_trackable):
     self.prob = 0.
-    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
 class DriverBlink:
@@ -140,9 +151,11 @@ class DriverMonitoring:
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    self.wheelpos_learner = RunningStatFilter()
-    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
-    self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
+    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
 
     self.always_on = always_on
@@ -234,8 +247,11 @@ class DriverMonitoring:
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
-       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
+
+    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
+    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
+
+    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
     if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
@@ -256,9 +272,12 @@ class DriverMonitoring:
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos_learner.push_and_update(rhd_pred)
-    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
-      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+
+    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+
+    if self.wheelpos.prob_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b508f43fb0481bce0859c9b6ab4f45ee690b8dab
+e0ad86508edb61b3eaa1b84662c515d2c3368295

selfdrive/test/test_onroad.py

@@ -206,8 +206,9 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    # skip first few frames -- connecting to vipc
-    ts = self.ts['uiDebug']['drawTimeMillis'][15:]
+    # other processes preempt ui while starting up
+    offset = int(20 * LOG_OFFSET)
+    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"

selfdrive/ui/layouts/settings/firehose.py

@@ -1,19 +1,11 @@
 import pyray as rl
-import time
-import threading
 
-from openpilot.common.api import api_get
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -32,50 +24,17 @@ INSTRUCTIONS = tr_noop(
 )
 
 
-class FirehoseLayout(Widget):
-  PARAM_KEY = "ApiCache_FirehoseStats"
-  GREEN = rl.Color(46, 204, 113, 255)
-  RED = rl.Color(231, 76, 60, 255)
-  GRAY = rl.Color(68, 68, 68, 255)
-  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
-  UPDATE_INTERVAL = 30  # seconds
-
+class FirehoseLayout(FirehoseLayoutBase):
   def __init__(self):
     super().__init__()
-    self.params = Params()
-    self.segment_count = self._get_segment_count()
-    self.scroll_panel = GuiScrollPanel()
-    self._content_height = 0
-
-    self.running = True
-    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
-    self.update_thread.start()
-    self.last_update_time = 0
-
-  def show_event(self):
-    self.scroll_panel.set_offset(0)
-
-  def _get_segment_count(self) -> int:
-    stats = self.params.get(self.PARAM_KEY)
-    if not stats:
-      return 0
-    try:
-      return int(stats.get("firehose", 0))
-    except Exception:
-      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
-      return 0
-
-  def __del__(self):
-    self.running = False
-    if self.update_thread and self.update_thread.is_alive():
-      self.update_thread.join(timeout=1.0)
+    self._scroll_panel = GuiScrollPanel()
 
   def _render(self, rect: rl.Rectangle):
     # Calculate content dimensions
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
 
     # Handle scrolling and render with clipping
-    scroll_offset = self.scroll_panel.update(rect, content_rect)
+    scroll_offset = self._scroll_panel.update(rect, content_rect)
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._content_height = self._render_content(rect, scroll_offset)
     rl.end_scissor_mode()
@@ -107,9 +66,9 @@ class FirehoseLayout(Widget):
     y += 20 + 20
 
     # Contribution count (if available)
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
       y += 20 + 20
 
@@ -121,7 +80,7 @@ class FirehoseLayout(Widget):
     y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
 
     # bottom margin + remove effect of scroll offset
-    return int(round(y - self.scroll_panel.offset + 40))
+    return int(round(y - self._scroll_panel.offset + 40))
 
   def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
     wrapped = wrap_text(font, text, font_size, width)
@@ -129,32 +88,3 @@ class FirehoseLayout(Widget):
       rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
       y += font_size * FONT_SCALE
     return round(y)
-
-  def _get_status(self) -> tuple[str, rl.Color]:
-    network_type = ui_state.sm["deviceState"].networkType
-    network_metered = ui_state.sm["deviceState"].networkMetered
-
-    if not network_metered and network_type != 0:  # Not metered and connected
-      return tr("ACTIVE"), self.GREEN
-    else:
-      return tr("INACTIVE: connect to an unmetered network"), self.RED
-
-  def _fetch_firehose_stats(self):
-    try:
-      dongle_id = self.params.get("DongleId")
-      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
-        return
-      identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
-      if response.status_code == 200:
-        data = response.json()
-        self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, data)
-    except Exception as e:
-      cloudlog.error(f"Failed to fetch firehose stats: {e}")
-
-  def _update_loop(self):
-    while self.running:
-      if not ui_state.started:
-        self._fetch_firehose_stats()
-      time.sleep(self.UPDATE_INTERVAL)

selfdrive/ui/layouts/settings/software.py

@@ -17,6 +17,13 @@ if gui_app.sunnypilot_ui():
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
 
+# Mapping updater internal states to translated display strings
+STATE_TO_DISPLAY_TEXT = {
+  "checking...": tr("checking..."),
+  "downloading...": tr("downloading..."),
+  "finalizing update...": tr("finalizing update..."),
+}
+
 
 def time_ago(date: datetime.datetime | None) -> str:
   if not date:
@@ -103,7 +110,9 @@ class SoftwareLayout(Widget):
       # Updater responded
       self._waiting_for_updater = False
       self._download_btn.action_item.set_enabled(False)
-      self._download_btn.action_item.set_value(updater_state)
+      # Use the mapping, with a fallback to the original state string
+      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
+      self._download_btn.action_item.set_value(display_text)
     else:
       if failed_count > 0:
         self._download_btn.action_item.set_value(tr("failed to check for update"))

selfdrive/ui/lib/prime_state.py

@@ -67,8 +67,10 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
-      self._fetch_prime_status()
+      if not ui_state.started and device._awake:
+        self._fetch_prime_status()
 
       for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
         if not self._running:

selfdrive/ui/mici/layouts/home.py

@@ -3,18 +3,16 @@ import time
 from cereal import log
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel
+from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version
+from openpilot.system.version import training_version, RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
 
-RELEASE_BRANCH = "release3"
-
 NetworkType = log.DeviceState.NetworkType
 
 NETWORK_TYPES = {
@@ -115,7 +113,7 @@ class MiciHomeLayout(Widget):
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
+    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
     self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
 
   def show_event(self):
@@ -187,27 +185,22 @@ class MiciHomeLayout(Widget):
 
     if self._version_text is not None:
       # release branch
-      if self._version_text[0] == RELEASE_BRANCH:
-        version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
-        self._large_version_label.set_text(self._version_text[0])
-        self._large_version_label.set_position(version_pos.x, version_pos.y)
-        self._large_version_label.render()
+      release_branch = self._version_text[1] in RELEASE_BRANCHES
+      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+      self._version_label.set_text(self._version_text[0])
+      self._version_label.set_position(version_pos.x, version_pos.y)
+      self._version_label.render()
 
-      else:
-        version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
-        self._version_label.set_text(self._version_text[0])
-        self._version_label.set_position(version_pos.x, version_pos.y)
-        self._version_label.render()
+      self._date_label.set_text(" " + self._version_text[3])
+      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.render()
 
-        self._date_label.set_text(" " + self._version_text[3])
-        self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
-        self._date_label.render()
-
-        self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
-        self._branch_label.set_text(" " + self._version_text[1])
-        self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
-        self._branch_label.render()
+      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
+      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+      self._branch_label.render()
 
+      if not release_branch:
         # 2nd line
         self._version_commit_label.set_text(self._version_text[2])
         self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)

selfdrive/ui/mici/layouts/offroad_alerts.py

@@ -5,6 +5,7 @@ from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -220,6 +221,7 @@ class MiciOffroadAlerts(Widget):
     update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
     self.sorted_alerts.append(update_alert_data)
     update_alert_item = AlertItem(update_alert_data)
+    update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
     self.alert_items.append(update_alert_item)
     self._scroller.add_widget(update_alert_item)
 
@@ -244,18 +246,18 @@ class MiciOffroadAlerts(Widget):
 
     if update_alert_data:
       if update_available:
-        # Default text
-        update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
+        version_string = ""
 
         # Get new version description and parse version and date
         new_desc = self.params.get("UpdaterNewDescription") or ""
         if new_desc:
-          # Parse description (format: "version / branch / commit / date")
+          # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
           if len(parts) > 3:
             version, date = parts[0], parts[3]
-            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
+            version_string = f"\nsunnypilot {version}, {date}\n"
 
+        update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
         update_alert_data.visible = True
         active_count += 1
       else:

selfdrive/ui/mici/layouts/onboarding.py

@@ -1,6 +1,7 @@
 from enum import IntEnum
 from collections.abc import Callable
 
+import weakref
 import pyray as rl
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
@@ -92,11 +93,10 @@ class TrainingGuideDMTutorial(Widget):
     super().__init__()
     self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._original_continue_callback = continue_callback
-
     # Wrap the continue callback to restore settings
     def wrapped_continue_callback():
-      self._restore_settings()
+      device.set_offroad_brightness(None)
+      device.reset_interactive_timeout()
       continue_callback()
 
     self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
@@ -114,10 +114,6 @@ class TrainingGuideDMTutorial(Widget):
     device.set_offroad_brightness(100)
     device.reset_interactive_timeout(300)  # 5 minutes
 
-  def _restore_settings(self):
-    device.set_offroad_brightness(None)
-    device.reset_interactive_timeout()
-
   def _update_state(self):
     super()._update_state()
     if device.awake:
@@ -150,7 +146,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
     super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
     self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
+    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
                                   FontWeight.ROMAN)
 
   def show_event(self):
@@ -214,11 +210,17 @@ class TrainingGuide(Widget):
     self._completed_callback = completed_callback
     self._step = 0
 
+    self_ref = weakref.ref(self)
+
+    def on_continue():
+      if obj := self_ref():
+        obj._advance_step()
+
     self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=self._advance_step),
-      TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
-      TrainingGuideDMTutorial(continue_callback=self._advance_step),
-      TrainingGuideRecordFront(continue_callback=self._advance_step),
+      TrainingGuideAttentionNotice(continue_callback=on_continue),
+      TrainingGuidePreDMTutorial(continue_callback=on_continue),
+      TrainingGuideDMTutorial(continue_callback=on_continue),
+      TrainingGuideRecordFront(continue_callback=on_continue),
     ]
 
   def _advance_step(self):

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

@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
     content_height += self._fcc_logo.height + 20
 
     scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
-    scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
+    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
 
     fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
 

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

@@ -6,14 +6,13 @@ from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import NavWidget
-
+from openpilot.system.ui.widgets import Widget, NavWidget
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -34,9 +33,7 @@ FAQ_ITEMS = [
 ]
 
 
-class FirehoseLayoutMici(NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
+class FirehoseLayoutBase(Widget):
   PARAM_KEY = "ApiCache_FirehoseStats"
   GREEN = rl.Color(46, 204, 113, 255)
   RED = rl.Color(231, 76, 60, 255)
@@ -44,12 +41,10 @@ class FirehoseLayoutMici(NavWidget):
   LIGHT_GRAY = rl.Color(228, 228, 228, 255)
   UPDATE_INTERVAL = 30  # seconds
 
-  def __init__(self, back_callback):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
-
-    self.params = Params()
-    self.segment_count = self._get_segment_count()
+    self._params = Params()
+    self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
     self._content_height = 0
@@ -71,7 +66,7 @@ class FirehoseLayoutMici(NavWidget):
     self._scroll_panel.set_offset(0)
 
   def _get_segment_count(self) -> int:
-    stats = self.params.get(self.PARAM_KEY)
+    stats = self._params.get(self.PARAM_KEY)
     if not stats:
       return 0
     try:
@@ -83,7 +78,7 @@ class FirehoseLayoutMici(NavWidget):
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = self._scroll_panel.update(rect, content_height)
+    scroll_offset = round(self._scroll_panel.update(rect, content_height))
 
     # start drawing with offset
     x = int(rect.x + 40)
@@ -111,9 +106,9 @@ class FirehoseLayoutMici(NavWidget):
     y += 20
 
     # Contribution count (if available)
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
       y += 20
 
@@ -165,9 +160,9 @@ class FirehoseLayoutMici(NavWidget):
     y += int(len(status_lines) * 48 * FONT_SCALE) + 20
 
     # Contribution count
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
       y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
 
@@ -204,20 +199,28 @@ class FirehoseLayoutMici(NavWidget):
 
   def _fetch_firehose_stats(self):
     try:
-      dongle_id = self.params.get("DongleId")
+      dongle_id = self._params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
-        self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, data)
+        self._segment_count = data.get("firehose", 0)
+        self._params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
     while self._running:
-      if not ui_state.started:
+      if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
       time.sleep(self.UPDATE_INTERVAL)
+
+
+class FirehoseLayout(FirehoseLayoutBase, NavWidget):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.1
+
+  def __init__(self, back_callback):
+    super().__init__()
+    self.set_back_callback(back_callback)

selfdrive/ui/mici/layouts/settings/network/__init__.py

@@ -0,0 +1,182 @@
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkPanelType(IntEnum):
+  NONE = 0
+  WIFI = 1
+
+
+class NetworkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+
+    self._current_panel = NetworkPanelType.WIFI
+    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    _tethering_icon = "icons_mici/settings/network/tethering.png"
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.set_modal_overlay(dlg)
+
+    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** IP Address ********
+    self._ip_address_btn = BigButton("IP Address", "Not connected")
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    wifi_button = BigButton("wi-fi")
+    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller = Scroller([
+      wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+      self._ip_address_btn,
+    ], snap_items=False)
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+    # Set up back navigation
+    self.set_back_callback(back_callback)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._current_panel = NetworkPanelType.NONE
+    self._wifi_ui.show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_ui.hide_event()
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.set_modal_overlay(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update IP address
+    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
+
+  def _switch_to_panel(self, panel_type: NetworkPanelType):
+    self._current_panel = panel_type
+
+  def _render(self, rect: rl.Rectangle):
+    self._wifi_manager.process_callbacks()
+
+    if self._current_panel == NetworkPanelType.WIFI:
+      self._wifi_ui.render(rect)
+    else:
+      self._scroller.render(rect)

selfdrive/ui/mici/layouts/settings/network/wifi_ui.py

@@ -1,28 +1,20 @@
 import math
 import numpy as np
 import pyray as rl
-from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
 
 
 def normalize_ssid(ssid: str) -> str:
   return ssid.replace("’", "'")  # for iPhone hotspots
 
 
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
-
-
 class LoadingAnimation(Widget):
   def _render(self, _):
     cx = int(self._rect.x + 70)
@@ -91,11 +83,13 @@ class WifiIcon(Widget):
 
 class WifiItem(BigDialogOptionButton):
   LEFT_MARGIN = 20
+  HEIGHT = 54
+  SELECTED_HEIGHT = 74
 
   def __init__(self, network: Network):
     super().__init__(network.ssid)
 
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
 
     self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
 
@@ -103,6 +97,10 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon = WifiIcon()
     self._wifi_icon.set_current_network(network)
 
+  def set_selected(self, selected: bool):
+    super().set_selected(selected)
+    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
+
   def set_current_network(self, network: Network):
     self._network = network
     self._wifi_icon.set_current_network(network)
@@ -117,7 +115,7 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon.render(rl.Rectangle(
       self._rect.x + self.LEFT_MARGIN,
       self._rect.y,
-      self._rect.height,
+      self.SELECTED_HEIGHT,
       self._rect.height
     ))
 
@@ -126,7 +124,7 @@ class WifiItem(BigDialogOptionButton):
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(70)
+      self._label.set_font_size(54)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -215,7 +213,7 @@ class NetworkInfoPage(NavWidget):
     self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
 
     self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
     self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                   alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
@@ -225,6 +223,10 @@ class NetworkInfoPage(NavWidget):
     self._network: Network | None = None
     self._connecting: Callable[[], str | None] | None = None
 
+  def show_event(self):
+    super().show_event()
+    self._title.reset_scroll()
+
   def update_networks(self, networks: dict[str, Network]):
     # update current network from latest scan results
     for ssid, network in networks.items():
@@ -392,7 +394,7 @@ class WifiUIMici(BigMultiOptionDialog):
           self._network_info_page.set_current_network(_network)
           self._should_open_network_info_page = True
 
-        network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
+        network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
 
       self.add_button(network_button)
 
@@ -443,116 +445,3 @@ class WifiUIMici(BigMultiOptionDialog):
 
     if not self._networks:
       self._loading_animation.render(self._rect)
-
-
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    _tethering_icon = "icons_mici/settings/network/tethering.png"
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
-
-    # Main scroller ----------------------------------
-    self._scroller = Scroller([
-      wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      self._ip_address_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-  def show_event(self):
-    super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
-    else:
-      self._scroller.render(rect)

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

@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
 from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
 
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
       PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -89,10 +89,6 @@ ALERT_CRITICAL_REBOOT = Alert(
 class AlertRenderer(Widget):
   def __init__(self):
     super().__init__()
-    self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
-    self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
-    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
-    self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -204,11 +200,11 @@ class AlertRenderer(Widget):
     text_x = self._rect.x + ALERT_MARGIN
     text_width = self._rect.width - ALERT_MARGIN
     if icon_side == 'left':
-      text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
+      text_x = self._rect.x + self._txt_turn_signal_right.width
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
     elif icon_side == 'right':
       text_x = self._rect.x + ALERT_MARGIN
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
 
     text_rect = rl.Rectangle(
       text_x,

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -1,6 +1,7 @@
+import time
 import numpy as np
 import pyray as rl
-from cereal import car, log
+from cereal import messaging, car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView):
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo

selfdrive/ui/mici/onroad/cameraview.py

@@ -107,7 +107,6 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
-    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -197,7 +196,10 @@ class CameraView(Widget):
     # Clean up shader
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
+      self.shader.id = 0
 
+    self.frame = None
+    self.available_streams.clear()
     self.client = None
 
   def __del__(self):
@@ -234,6 +236,9 @@ class CameraView(Widget):
     if buffer:
       self._texture_needs_update = True
       self.frame = buffer
+    elif not self.client.is_connected():
+      # ensure we clear the displayed frame when the connection is lost
+      self.frame = None
 
     if not self.frame:
       self._draw_placeholder(rect)

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -15,20 +15,27 @@ EventName = log.OnroadEvent.EventName
 EVENT_TO_INT = EventName.schema.enumerants
 
 
+class DriverCameraView(CameraView):
+  def _calc_frame_matrix(self, rect: rl.Rectangle):
+    base = super()._calc_frame_matrix(rect)
+    driver_view_ratio = 1.5
+    base[0, 0] *= driver_view_ratio
+    base[1, 1] *= driver_view_ratio
+    return base
+
+
 class DriverCameraDialog(NavWidget):
   def __init__(self, no_escape=False):
     super().__init__()
-    self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-    self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
-    self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
+    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
-    self._pm = messaging.PubMaster(['selfdriveState'])
+    self._pm: messaging.PubMaster | None = None
     if not no_escape:
       # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
-    self.set_back_callback(self._dismiss)
+      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
     self.set_back_enabled(not no_escape)
 
     # Load eye icons
@@ -40,26 +47,24 @@ class DriverCameraDialog(NavWidget):
 
     self._load_eye_textures()
 
-  def stop_dmonitoringmodeld(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.set_modal_overlay(None)
-
   def show_event(self):
     super().show_event()
     ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.reset_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
+    self._pm = messaging.PubMaster(['selfdriveState'])
 
   def hide_event(self):
     super().hide_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     device.reset_interactive_timeout()
 
   def _handle_mouse_release(self, _):
     ui_state.params.remove("DriverTooDistracted")
 
-  def _dismiss(self):
-    self.stop_dmonitoringmodeld()
+  def __del__(self):
+    self.close()
 
   def close(self):
     if self._camera_view:
@@ -103,6 +108,9 @@ class DriverCameraDialog(NavWidget):
 
   def _publish_alert_sound(self, dm_state):
     """Publish selfdriveState with only alertSound field set"""
+    if self._pm is None:
+      return
+
     msg = messaging.new_message('selfdriveState')
     if dm_state is not None and len(dm_state.events):
       event_name = EVENT_TO_INT[dm_state.events[0].name]
@@ -221,13 +229,6 @@ class DriverCameraDialog(NavWidget):
     glasses_prob = driver_data.sunglassesProb
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
-  def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
-    base = self._original_calc_frame_matrix(rect)
-    driver_view_ratio = 1.5
-    base[0, 0] *= driver_view_ratio
-    base[1, 1] *= driver_view_ratio
-    return base
-
 
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View (mici)")

selfdrive/ui/mici/onroad/driver_state.py

@@ -3,6 +3,7 @@ from collections.abc import Callable
 import numpy as np
 import math
 from cereal import log
+from openpilot.system.hardware import PC
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
@@ -217,7 +218,10 @@ class DriverStateRenderer(Widget):
     rotation = math.degrees(math.atan2(pitch, yaw))
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
-    self._rotation_filter.update(self._rotation_filter.x + angle_diff)
+    if PC and self._confirm_mode:
+      self._rotation_filter.x += 2
+    else:
+      self._rotation_filter.update(self._rotation_filter.x + angle_diff)
 
     if not self.should_draw:
       self._fade_filter.update(0.0)

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -30,20 +30,8 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
-  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
-  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
-  engaged: rl.Color = rl.Color(128, 216, 166, 255)
-  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
-  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
-  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
-  grey: rl.Color = rl.Color(166, 166, 166, 255)
-  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
-  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
-  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
-  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
-  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  WHITE = rl.WHITE
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
 
 
 FONT_SIZES = FontSizes()
@@ -236,16 +224,18 @@ class HudRenderer(Widget):
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
-    x = rect.x
-    y = rect.y
-
     alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
                                                 self._can_draw_top_icons and self._engaged)
+    if alpha < 1e-2:
+      return
+
+    x = rect.x
+    y = rect.y
 
     # draw drop shadow
     circle_radius = 162 // 2
     rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
-                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
+                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
     max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
@@ -279,9 +269,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)

selfdrive/ui/mici/onroad/torque_bar.py

@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,
 
   pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
 
+  # Rotate to start from middle of cap for proper triangulation
+  pts = np.roll(pts, cap_segs, axis=0)
+
   if DEBUG:
     n = len(pts)
     idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec

selfdrive/ui/mici/widgets/dialog.py

@@ -282,7 +282,8 @@ class BigDialogOptionButton(Widget):
     self._selected = False
 
     self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                               scroll=True)
 
   def set_selected(self, selected: bool):
     self._selected = selected

selfdrive/ui/onroad/cameraview.py

@@ -68,7 +68,6 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
-    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -337,12 +336,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-      self._clear_textures()
-      if not TICI:
-        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    self._clear_textures()
+    if not TICI:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:

selfdrive/ui/onroad/hud_renderer.py

@@ -35,20 +35,20 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
-  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
-  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
-  engaged: rl.Color = rl.Color(128, 216, 166, 255)
-  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
-  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
-  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
-  grey: rl.Color = rl.Color(166, 166, 166, 255)
-  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
-  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
-  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
-  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
-  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  WHITE = rl.WHITE
+  DISENGAGED = rl.Color(145, 155, 149, 255)
+  OVERRIDE = rl.Color(145, 155, 149, 255)  # Added
+  ENGAGED = rl.Color(128, 216, 166, 255)
+  DISENGAGED_BG = rl.Color(0, 0, 0, 153)
+  OVERRIDE_BG = rl.Color(145, 155, 149, 204)
+  ENGAGED_BG = rl.Color(128, 216, 166, 204)
+  GREY = rl.Color(166, 166, 166, 255)
+  DARK_GREY = rl.Color(114, 114, 114, 255)
+  BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+  BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
+  HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
+  HEADER_GRADIENT_END = rl.BLANK
 
 
 UI_CONFIG = UIConfig()
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
       int(rect.y),
       int(rect.width),
       UI_CONFIG.header_height,
-      COLORS.header_gradient_start,
-      COLORS.header_gradient_end,
+      COLORS.HEADER_GRADIENT_START,
+      COLORS.HEADER_GRADIENT_END,
     )
 
     if self.is_cruise_available:
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
     y = rect.y + 45
 
     set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
-    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
-    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
 
-    max_color = COLORS.grey
-    set_speed_color = COLORS.dark_grey
+    max_color = COLORS.GREY
+    set_speed_color = COLORS.DARK_GREY
     if self.is_cruise_set:
-      set_speed_color = COLORS.white
+      set_speed_color = COLORS.WHITE
       if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.engaged
+        max_color = COLORS.ENGAGED
       elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.disengaged
+        max_color = COLORS.DISENGAGED
       elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.override
+        max_color = COLORS.OVERRIDE
 
     max_text = tr("MAX")
     max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)

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

@@ -0,0 +1,106 @@
+"""
+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 datetime
+import os
+from pathlib import Path
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import button_item
+
+from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
+
+
+class DeveloperLayoutSP(DeveloperLayout):
+  def __init__(self):
+    super().__init__()
+    self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
+    self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
+    self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
+    self._initialize_items()
+
+    for item in self.items:
+      self._scroller.add_widget(item)
+
+  def _initialize_items(self):
+    self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
+                                                 tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
+                                                    "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
+
+    self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
+                                                      param="EnableGithubRunner")
+
+    self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
+                                                  tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " +
+                                                     "and even make some edits on some files from your browser. " +
+                                                     "Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty")
+
+    self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
+
+    self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
+
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
+
+  @staticmethod
+  def _on_prebuilt_toggled(state):
+    if state:
+      Path(PREBUILT_PATH).touch(exist_ok=True)
+    else:
+      os.remove(PREBUILT_PATH)
+    ui_state.params.put_bool("QuickBootToggle", state)
+
+  def _on_delete_confirm(self, result):
+    if result == DialogResult.CONFIRM:
+      if os.path.exists(self.error_log_path):
+        os.remove(self.error_log_path)
+
+  def _on_error_log_closed(self, result, log_exists):
+    if result == DialogResult.CONFIRM and log_exists:
+      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
+      gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
+
+  def _on_error_log_clicked(self):
+    text = ""
+    if os.path.exists(self.error_log_path):
+      text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
+      try:
+        with open(self.error_log_path) as file:
+          text += file.read()
+      except Exception:
+        pass
+    dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
+    gui_app.set_modal_overlay(dialog)
+
+  def _update_state(self):
+    disable_updates = ui_state.params.get_bool("DisableUpdates")
+    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
+
+    if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
+      ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
+      self.prebuilt_toggle.action_item.set_state(prebuilt_file)
+
+    self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
+    self.prebuilt_toggle.action_item.set_enabled(disable_updates)
+
+    if disable_updates:
+      self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
+                                              "removes the prebuilt file so compilation of locally edited cpp files can be made."))
+    else:
+      self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
+
+    self.enable_copyparty_toggle.set_visible(show_advanced)
+    self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
+    self.error_log_btn.set_visible(not self._is_release_branch)

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

@@ -21,7 +21,8 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR
 
 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
 from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 
@@ -29,11 +30,6 @@ if gui_app.sunnypilot_ui():
   from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
 
 
-class ModelAction(ButtonActionSP):
-  def get_width_hint(self):
-    return super().get_width_hint() + 1
-
-
 class ModelsLayout(Widget):
   def __init__(self):
     super().__init__()
@@ -55,7 +51,7 @@ class ModelsLayout(Widget):
     self.current_model_item = ListItemSP(
       title=tr("Current Model"),
       description="",
-      action_item=ModelAction(tr("SELECT")),
+      action_item=NoElideButtonAction(tr("SELECT")),
       callback=self._handle_current_model_clicked
     )
 
@@ -70,7 +66,7 @@ class ModelsLayout(Widget):
     self.clear_cache_item = ListItemSP(
       title=tr("Clear Model Cache"),
       description="",
-      action_item=ModelAction(tr("CLEAR")),
+      action_item=NoElideButtonAction(tr("CLEAR")),
       callback=self._clear_cache
     )
 

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

@@ -4,27 +4,229 @@ 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 datetime
+import os
+import platform
+import requests
+import shutil
+import threading
+from pathlib import Path
+from time import monotonic
+
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.selfdrive.ui.layouts.settings.software import time_ago
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+
+MAP_PATH = Path(Paths.mapd_root()) / "offline"
 
 
 class OSMLayout(Widget):
   def __init__(self):
     super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._current_percent = 0
+    self._last_map_size_update = 0
+    self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
+    self._initialize_items()
+    self._update_map_size()
+    self._progress.set_visible(False)
+    self._state_btn.set_visible(False)
+    self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
+    self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
+    self._progress = progress_item(tr("Downloading Map"))
+    self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
+    self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
+    self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
 
-    ]
-    return items
+    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
 
-  def _render(self, rect):
-    self._scroller.render(rect)
+  def _show_confirm(self, msg, confirm_text, func):
+    gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
+
+  def calculate_size(self):
+    total_size = 0
+    directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
+    while directories_to_scan:
+      try:
+        for entry in os.scandir(directories_to_scan.pop()):
+          if entry.is_file():
+            total_size += entry.stat().st_size
+          elif entry.is_dir():
+            directories_to_scan.append(entry.path)
+      except OSError:
+        pass
+    self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
+
+  def _update_map_size(self):
+    threading.Thread(target=self.calculate_size, daemon=True).start()
+
+  def _do_delete_maps(self):
+    if MAP_PATH.exists():
+      shutil.rmtree(MAP_PATH)
+
+    for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
+      ui_state.params.remove(param)
+
+    self._delete_maps_btn.action_item.set_enabled(True)
+    self._delete_maps_btn.action_item.set_text(tr("DELETE"))
+    self._update_map_size()
+
+  def _on_confirm_delete_maps(self):
+    self._delete_maps_btn.action_item.set_enabled(False)
+    self._delete_maps_btn.action_item.set_text("DELETING...")
+    threading.Thread(target=self._do_delete_maps).start()
+
+  def _delete_maps(self):
+    self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
+                       tr("Yes, delete all maps"), self._on_confirm_delete_maps)
+
+  def _update_db(self):
+    self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
+                       lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
+
+  def _select_region(self, region_type):
+    is_country = region_type == "Country"
+    btn = self._country_btn if is_country else self._state_btn
+    btn.action_item.set_enabled(False)
+    btn.action_item.set_text(tr("FETCHING..."))
+    threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
+
+  def _handle_region_selection(self, region_type, locations, key, res, ref):
+    if res != DialogResult.CONFIRM or not ref:
+      if region_type == "State" and res == DialogResult.CANCEL:
+        if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
+          ui_state.params.remove("OsmLocationName")
+          ui_state.params.remove("OsmLocationTitle")
+          ui_state.params.remove("OsmLocal")
+          self._update_labels()
+      return
+
+    if region_type == "Country":
+      ui_state.params.put_bool("OsmLocal", True)
+      ui_state.params.remove("OsmStateName")
+      ui_state.params.remove("OsmStateTitle")
+
+    ui_state.params.put(f"{key}Name", ref)
+    name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
+    ui_state.params.put(f"{key}Title", name)
+
+    if ref == "US" and region_type == "Country":
+      self._select_region("State")
+    else:
+      self._update_db()
+
+  def _do_select_region(self, region_type, btn):
+    base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
+    url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
+    try:
+      data = requests.get(url, timeout=10).json()
+      locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
+    except Exception:
+      locations = []
+
+    if region_type == "State":
+      locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
+
+    btn.action_item.set_enabled(True)
+    btn.action_item.set_text(tr("SELECT"))
+
+    key = "OsmLocation" if region_type == "Country" else "OsmState"
+    current = ui_state.params.get(f"{key}Name") or ""
+
+    dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
+    dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
+    gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
+
+  def _update_labels(self):
+    downloading = bool(self._mem_params.get("OSMDownloadLocations"))
+    self._country_btn.set_enabled(not downloading)
+    self._state_btn.set_enabled(not downloading)
+    self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
+    self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
+
+    self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
+    self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
+
+    pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
+    if downloading or pending:
+      if downloading:
+        device.reset_interactive_timeout()
+        self._update_map_size()
+      self._progress.set_visible(True)
+      progress = ui_state.params.get("OSMDownloadProgress")
+      total = progress.get('total_files', 0) if progress else 0
+      done = progress.get('downloaded_files', 0) if progress else 0
+      failed = total > 0 and not downloading and done < total
+
+      if total > 0:
+        progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
+      else:
+        progress_perc = 0.0
+
+      if failed:
+        text = "0% - Downloading Maps"
+        btn_text = tr("Error: Invalid download. Retry.")
+        self._current_percent = 0.0
+      elif total > 0 and downloading:
+        self._current_percent = progress_perc
+        perc_int = int(progress_perc)
+        text = f"{perc_int}% - Downloading Maps"
+        btn_text = f"{done}/{total} ({perc_int}%)"
+      else:
+        self._current_percent = 0.0
+        text = "0% - Downloading Maps"
+        btn_text = tr("Downloading Maps...")
+
+      self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
+      self._update_btn.action_item.set_enabled(not downloading)  # TODO-SP: introduce CANCEL database download with mapd
+      self._update_btn.action_item.set_value(btn_text)
+      self._country_btn.action_item.set_enabled(not downloading)
+      self._state_btn.action_item.set_enabled(not downloading)
+      self._delete_maps_btn.action_item.set_enabled(not downloading)
+    else:
+      self._progress.set_visible(False)
+      self._update_btn.action_item.set_enabled(True)
+      self._country_btn.action_item.set_enabled(True)
+      self._state_btn.action_item.set_enabled(True)
+      self._delete_maps_btn.action_item.set_enabled(True)
+
+      ts = ui_state.params.get("OsmDownloadedDate")
+      dt: datetime.datetime | None = None
+
+      if ts:
+        try:
+          ts_f = float(ts)
+          if ts_f > 0:
+            dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
+        except (ValueError, TypeError):
+          dt = None
+
+      formatted = time_ago(dt)
+      self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
 
   def show_event(self):
     self._scroller.show_event()
+
+  def _update_state(self):
+    now = monotonic()
+    if now - self._last_map_size_update >= 1.0:
+      self._last_map_size_update = now
+      self._update_labels()
+
+  def _render(self, rect):
+    self._scroller.render(rect)

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

@@ -9,7 +9,6 @@ from enum import IntEnum
 
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
@@ -31,6 +30,7 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import Steering
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
 
 # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
 
@@ -125,7 +125,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
       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"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
     }
 
   def _draw_sidebar(self, rect: rl.Rectangle):

selfdrive/ui/tests/.gitignore

@@ -2,3 +2,8 @@ test
 test_translations
 test_ui/report_1
 test_ui/raylib_report
+
+diff/*.mp4
+diff/*.html
+diff/.coverage
+diff/htmlcov/

selfdrive/ui/tests/diff/diff.py

@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import tempfile
+import base64
+import webbrowser
+import argparse
+from pathlib import Path
+from openpilot.common.basedir import BASEDIR
+
+DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+
+
+def extract_frames(video_path, output_dir):
+  output_pattern = str(output_dir / "frame_%04d.png")
+  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
+  subprocess.run(cmd, capture_output=True, check=True)
+  frames = sorted(output_dir.glob("frame_*.png"))
+  return frames
+
+
+def compare_frames(frame1_path, frame2_path):
+  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
+  return result.returncode == 0
+
+
+def frame_to_data_url(frame_path):
+  with open(frame_path, 'rb') as f:
+    data = f.read()
+  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
+
+
+def create_diff_video(video1, video2, output_path):
+  """Create a diff video using ffmpeg blend filter with difference mode."""
+  print("Creating diff video...")
+  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_differences(video1, video2):
+  with tempfile.TemporaryDirectory() as tmpdir:
+    tmpdir = Path(tmpdir)
+
+    print(f"Extracting frames from {video1}...")
+    frames1_dir = tmpdir / "frames1"
+    frames1_dir.mkdir()
+    frames1 = extract_frames(video1, frames1_dir)
+
+    print(f"Extracting frames from {video2}...")
+    frames2_dir = tmpdir / "frames2"
+    frames2_dir.mkdir()
+    frames2 = extract_frames(video2, frames2_dir)
+
+    if len(frames1) != len(frames2):
+      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
+      min_frames = min(len(frames1), len(frames2))
+      frames1 = frames1[:min_frames]
+      frames2 = frames2[:min_frames]
+
+    print(f"Comparing {len(frames1)} frames...")
+    different_frames = []
+    frame_data = []
+
+    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
+      is_different = not compare_frames(f1, f2)
+      if is_different:
+        different_frames.append(i)
+
+      if i < 10 or i >= len(frames1) - 10 or is_different:
+        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
+
+    return different_frames, frame_data, len(frames1)
+
+
+def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
+  chunks = []
+  if different_frames:
+    current_chunk = [different_frames[0]]
+    for i in range(1, len(different_frames)):
+      if different_frames[i] == different_frames[i - 1] + 1:
+        current_chunk.append(different_frames[i])
+      else:
+        chunks.append(current_chunk)
+        current_chunk = [different_frames[i]]
+    chunks.append(current_chunk)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if len(different_frames) == 0
+    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
+  )
+
+  html = f"""<h2>UI Diff</h2>
+<table>
+<tr>
+<td width='33%'>
+  <p><strong>Video 1</strong></p>
+  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Video 2</strong></p>
+  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Pixel Diff</strong></p>
+  <video id='diffVideo' width='100%' autoplay muted loop>
+    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+</tr>
+</table>
+<script>
+function syncVideos() {{
+  const video1 = document.getElementById('video1');
+  const video2 = document.getElementById('video2');
+  const diffVideo = document.getElementById('diffVideo');
+  video1.currentTime = video2.currentTime = diffVideo.currentTime;
+}}
+video1.addEventListener('timeupdate', () => {{
+  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
+    video2.currentTime = video1.currentTime;
+  }}
+  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video1.currentTime;
+  }}
+}});
+video2.addEventListener('timeupdate', () => {{
+  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = video2.currentTime;
+  }}
+  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video2.currentTime;
+  }}
+}});
+diffVideo.addEventListener('timeupdate', () => {{
+  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = diffVideo.currentTime;
+    video2.currentTime = diffVideo.currentTime;
+  }}
+}});
+</script>
+<hr>
+<p><strong>Results:</strong> {result_text}</p>
+"""
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  print("=" * 60)
+  print("VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1: {args.video1}")
+  print(f"Video 2: {args.video2}")
+  print(f"Output: {args.output}")
+  print()
+
+  # Create diff video
+  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
+  create_diff_video(args.video1, args.video2, diff_video_path)
+
+  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+
+  if different_frames is None:
+    sys.exit(1)
+
+  print()
+  print("Generating HTML report...")
+  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
+
+  with open(DIFF_OUT_DIR / args.output, 'w') as f:
+    f.write(html)
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
+
+  return 0 if len(different_frames) == 0 else 1
+
+
+if __name__ == "__main__":
+  sys.exit(main())

selfdrive/ui/tests/diff/replay.py

@@ -0,0 +1,128 @@
+#!/usr/bin/env python3
+import os
+import time
+import coverage
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+
+os.environ["RECORD"] = "1"
+if "RECORD_OUTPUT" not in os.environ:
+  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
+
+os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
+
+from openpilot.common.params import Params
+from openpilot.system.version import terms_version, training_version
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") == "1"
+
+
+@dataclass
+class DummyEvent:
+  click: bool = False
+  # TODO: add some kind of intensity
+  swipe_left: bool = False
+  swipe_right: bool = False
+  swipe_down: bool = False
+
+
+SCRIPT = [
+  (0, DummyEvent()),
+  (FPS * 1, DummyEvent(click=True)),
+  (FPS * 2, DummyEvent(click=True)),
+  (FPS * 3, DummyEvent()),
+]
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put("DongleId", "test123456789")
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  return None
+
+
+def inject_click(coords):
+  events = []
+  x, y = coords[0]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
+  for x, y in coords[1:]:
+    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
+  x, y = coords[-1]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
+
+  with gui_app._mouse._lock:
+    gui_app._mouse._events.extend(events)
+
+
+def handle_event(event: DummyEvent):
+  if event.click:
+    inject_click([(gui_app.width // 2, gui_app.height // 2)])
+  if event.swipe_left:
+    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width // 4, gui_app.height // 2),
+                  (0, gui_app.height // 2)])
+  if event.swipe_right:
+    inject_click([(gui_app.width // 4, gui_app.height // 2),
+                  (gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width, gui_app.height // 2)])
+  if event.swipe_down:
+    inject_click([(gui_app.width // 2, gui_app.height // 4),
+                  (gui_app.width // 2, gui_app.height * 3 // 4),
+                  (gui_app.width // 2, gui_app.height)])
+
+
+def run_replay():
+  setup_state()
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  if not HEADLESS:
+    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
+  gui_app.init_window("ui diff test", fps=FPS)
+  main_layout = MiciMainLayout()
+  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+  frame = 0
+  script_index = 0
+
+  for should_render in gui_app.render():
+    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
+      _, event = SCRIPT[script_index]
+      handle_event(event)
+      script_index += 1
+
+    ui_state.update()
+
+    if should_render:
+      main_layout.render()
+
+    frame += 1
+
+    if script_index >= len(SCRIPT):
+      break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
+  with cov.collect():
+    run_replay()
+  cov.stop()
+  cov.save()
+  cov.report()
+  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
+  print("HTML report: htmlcov/index.html")
+
+
+if __name__ == "__main__":
+  main()

selfdrive/ui/tests/profile_onroad.py

@@ -88,9 +88,9 @@ if __name__ == "__main__":
   print("Running...")
   patch_submaster(message_chunks)
 
-  W, H = 1928, 1208
+  W, H = 2048, 1216
   vipc = VisionIpcServer("camerad")
-  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208)
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
   yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()

selfdrive/ui/translations/app_ko.po

@@ -68,10 +68,10 @@ msgid ""
 "control alpha. Changing this setting will restart openpilot if the car is "
 "powered on."
 msgstr ""
-"<b>경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동"
-"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 종방향 제어 대신 "
-"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설"
-"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
+"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
+"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
+"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
+"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
 "원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
 
 #: selfdrive/ui/layouts/settings/device.py:148
@@ -130,7 +130,7 @@ msgstr "동의"
 #: selfdrive/ui/layouts/settings/toggles.py:70
 #, python-format
 msgid "Always-On Driver Monitoring"
-msgstr "항상 켜짐 운전자 모니터링"
+msgstr "운전자 모니터링 항상 켜짐"
 
 #: selfdrive/ui/layouts/settings/toggles.py:186
 #, python-format
@@ -138,7 +138,7 @@ msgid ""
 "An alpha version of openpilot longitudinal control can be tested, along with "
 "Experimental mode, on non-release branches."
 msgstr ""
-"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
+"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
 "할 수 있습니다."
 
 #: selfdrive/ui/layouts/settings/device.py:187
@@ -192,7 +192,7 @@ msgstr "확인"
 #: selfdrive/ui/widgets/exp_mode_button.py:50
 #, python-format
 msgid "CHILL MODE ON"
-msgstr "칠 모드 켜짐"
+msgstr "안정적 모드 켜짐"
 
 #: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
 #: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
@@ -283,7 +283,7 @@ msgstr "해제 후 재시작"
 #: selfdrive/ui/layouts/settings/device.py:103
 #, python-format
 msgid "Disengage to Reset Calibration"
-msgstr "해제 후 보정 재설정"
+msgstr "해제 후 캘리브레이션 재설정"
 
 #: selfdrive/ui/layouts/settings/toggles.py:32
 msgid "Display speed in km/h instead of mph."
@@ -372,7 +372,7 @@ msgstr "openpilot 사용"
 msgid ""
 "Enable the openpilot longitudinal control (alpha) toggle to allow "
 "Experimental mode."
-msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요."
+msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -415,7 +415,7 @@ msgid ""
 "Experimental mode is currently unavailable on this car since the car's stock "
 "ACC is used for longitudinal control."
 msgstr ""
-"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
+"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
 "니다."
 
 #: system/ui/widgets/network.py:373
@@ -430,11 +430,11 @@ msgstr "설정 완료"
 
 #: selfdrive/ui/layouts/settings/settings.py:66
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "파이어호스"
 
 #: selfdrive/ui/layouts/settings/firehose.py:18
 msgid "Firehose Mode"
-msgstr "Firehose 모드"
+msgstr "파이어호스 모드"
 
 #: selfdrive/ui/layouts/settings/firehose.py:25
 msgid ""
@@ -462,7 +462,7 @@ msgstr ""
 "최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
 "Wi‑Fi에 연결하세요.\n"
 "\n"
-"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니"
+"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
 "다.\n"
 "\n"
 "\n"
@@ -470,7 +470,7 @@ msgstr ""
 "\n"
 "어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
 "\n"
-"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택"
+"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
 "적으로 가져갑니다.\n"
 "\n"
 "좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
@@ -544,7 +544,7 @@ msgstr "LTE"
 #: selfdrive/ui/layouts/settings/developer.py:64
 #, python-format
 msgid "Longitudinal Maneuver Mode"
-msgstr "종방향 매뉴버 모드"
+msgstr "롱컨 기동 모드"
 
 #: selfdrive/ui/onroad/hud_renderer.py:148
 #, python-format
@@ -623,7 +623,7 @@ msgstr "미리보기"
 #: selfdrive/ui/widgets/prime.py:44
 #, python-format
 msgid "PRIME FEATURES:"
-msgstr "prime 기능:"
+msgstr "프라임 기능:"
 
 #: selfdrive/ui/layouts/settings/device.py:48
 #, python-format
@@ -646,7 +646,7 @@ msgid ""
 "Pair your device with comma connect (connect.comma.ai) and claim your comma "
 "prime offer."
 msgstr ""
-"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세"
+"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
 "요."
 
 #: selfdrive/ui/widgets/setup.py:91
@@ -748,7 +748,7 @@ msgstr "규제 정보"
 #: selfdrive/ui/layouts/settings/toggles.py:98
 #, python-format
 msgid "Relaxed"
-msgstr "편안함"
+msgstr "편안한"
 
 #: selfdrive/ui/widgets/prime.py:47
 #, python-format
@@ -773,7 +773,7 @@ msgstr "재설정"
 #: selfdrive/ui/layouts/settings/device.py:51
 #, python-format
 msgid "Reset Calibration"
-msgstr "보정 재설정"
+msgstr "캘리브레이션 재설정"
 
 #: selfdrive/ui/layouts/settings/device.py:65
 #, python-format
@@ -841,7 +841,7 @@ msgid ""
 "cycle through these personalities with your steering wheel distance button."
 msgstr ""
 "표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
-"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
+"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
 "링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
 
 #: selfdrive/ui/onroad/alert_renderer.py:59
@@ -892,7 +892,7 @@ msgstr "제거"
 
 #: selfdrive/ui/layouts/sidebar.py:117
 msgid "Unknown"
-msgstr "알 수 없음"
+msgstr "알수없음"
 
 #: selfdrive/ui/layouts/settings/software.py:48
 #, python-format
@@ -994,7 +994,7 @@ msgstr "카메라 시작 중"
 #: selfdrive/ui/widgets/prime.py:63
 #, python-format
 msgid "comma prime"
-msgstr "comma prime"
+msgstr "comma 프라임"
 
 #: system/ui/widgets/network.py:142
 #, python-format
@@ -1054,7 +1054,7 @@ msgstr "지금"
 #: selfdrive/ui/layouts/settings/developer.py:71
 #, python-format
 msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 종방향 제어(알파)"
+msgstr "openpilot 롱컨 제어(알파)"
 
 #: selfdrive/ui/onroad/alert_renderer.py:51
 #, python-format
@@ -1076,9 +1076,9 @@ msgid ""
 "some turns. The Experimental mode logo will also be shown in the top right "
 "corner."
 msgstr ""
-"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 "
+"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
 "아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
-"다:<br><h4>엔드투엔드 종방향 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
+"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
 "다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
 "판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
 "으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
@@ -1111,7 +1111,7 @@ msgstr ""
 #: selfdrive/ui/layouts/settings/toggles.py:183
 #, python-format
 msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다."
+msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
 
 #: selfdrive/ui/layouts/settings/device.py:26
 msgid ""
@@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전"
 #, python-format
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다."
+msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
 
 #: selfdrive/ui/widgets/prime.py:62
 #, python-format
@@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨"
 #: selfdrive/ui/widgets/setup.py:22
 #, python-format
 msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose 모드 🔥"
+msgstr "🔥 파이어호스 모드 🔥"

selfdrive/ui/translations/languages.json

@@ -5,6 +5,7 @@
   "Português": "pt-BR",
   "Español": "es",
   "Türkçe": "tr",
+  "Українська": "uk",
   "العربية": "ar",
   "ไทย": "th",
   "中文（繁體）": "zh-CHT",

sunnypilot/mapd/mapd_manager.py

@@ -64,12 +64,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
     "states": states or []
   }
 
-  osm_download_locations_dump = json.dumps({
-    "nations": nations,
-    "states": states or []
-  })
-
-  print(f"Downloading maps for {osm_download_locations_dump}")
+  print(f"Downloading maps for {json.dumps(osm_download_locations)}")
   mem_params.put("OSMDownloadLocations", osm_download_locations)
 
 
@@ -103,8 +98,6 @@ def filter_nations_and_states(nations: list[str], states: list[str] = None) -> t
 
 
 def update_osm_db() -> None:
-  # last_downloaded_date = params.get("OsmDownloadedDate", return_default=True)
-  # if params.get_bool("OsmDbUpdatesCheck") or time.monotonic() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
   if params.get_bool("OsmDbUpdatesCheck"):
     cleanup_old_osm_data(get_files_for_cleanup())
     country = params.get("OsmLocationName", return_default=True)

sunnypilot/modeld_v2/fill_model_msg.py

@@ -11,13 +11,12 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
   if not mlsim:
     if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
       return float(desired_curv[0, 0])
 
-  plan_output = output['plan'][0]
-  return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
+  return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
                                        ModelConstants.T_IDXS, vego, lat_action_t))
 
 

sunnypilot/modeld_v2/modeld.py

@@ -28,6 +28,7 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
+RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
 
 
 class FrameMeta:
@@ -156,11 +157,13 @@ class ModelState(ModelStateBase):
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
+    if 'planplus' in model_output:
+      plan = plan + RECOVERY_POWER*model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
+    desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
       if v_ego > self.MIN_LAT_CONTROL_SPEED:
         desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -108,6 +108,8 @@ class Parser:
       plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
       self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
                      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      if 'planplus' in outs:
+        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 12
+CURRENT_SELECTOR_VERSION = 13
 REQUIRED_MIN_SELECTOR_VERSION = 12
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
+6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -0,0 +1,112 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import custom
+import numpy as np
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+# Acceleration Profiles
+MAX_ACCEL_PROFILES = {
+  AccelPersonality.eco:    [2.0, 1.99, 1.88, 1.10, 0.500, 0.292, 0.15, 0.10],
+  AccelPersonality.normal: [1.0, 2.00, 1.94, 1.22, 0.635, 0.33, 0.22, 0.16],
+  AccelPersonality.sport:  [.5, 2.00, 2.00, 1.85, 0.800, 0.54, 0.32, 0.22],
+}
+MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
+# Braking Profiles
+MIN_ACCEL_PROFILES = {
+  AccelPersonality.eco:    [-0.14, -0.0006, -0.010, -0.30, -1.20],
+  AccelPersonality.normal: [-0.1, -0.0007, -0.012, -0.35, -1.20],
+  AccelPersonality.sport:  [-0.6, -0.0008, -0.014, -0.40, -1.20],
+}
+MIN_ACCEL_BREAKPOINTS = [0., 3., 11., 14., 50.]
+
+
+class AccelPersonalityController:
+
+  def __init__(self):
+    self.params = Params()
+    self.frame = 0
+    self.accel_personality = AccelPersonality.normal
+    self.param_keys = {
+      'personality': 'AccelPersonality',
+      'enabled': 'AccelPersonalityEnabled'
+    }
+    self._load_personality_from_params()
+
+  def _load_personality_from_params(self):
+    try:
+      saved = self.params.get(self.param_keys['personality'])
+      if saved is not None:
+        personality_value = int(saved)
+        if personality_value in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+          self.accel_personality = personality_value
+        else:
+          cloudlog.warning(f"Invalid personality value {personality_value}, using normal")
+          self.accel_personality = AccelPersonality.normal
+    except (ValueError, TypeError) as e:
+      cloudlog.warning(f"Failed to load personality from params: {e}")
+      self.accel_personality = AccelPersonality.normal
+
+  def _update_from_params(self):
+    if self.frame % int(1. / DT_MDL) != 0:
+      return
+    self._load_personality_from_params()
+
+  def get_accel_personality(self) -> int:
+    self._update_from_params()
+    return int(self.accel_personality)
+
+  def set_accel_personality(self, personality: int):
+    if personality not in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+      cloudlog.error(f"Invalid personality {personality}, ignoring")
+      return
+
+    self.accel_personality = personality
+    self.params.put(self.param_keys['personality'], str(personality))
+    cloudlog.info(f"Accel personality set to {personality}")
+
+  def cycle_accel_personality(self) -> int:
+    personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
+    current_idx = personalities.index(self.accel_personality)
+    next_personality = personalities[(current_idx + 1) % len(personalities)]
+    self.set_accel_personality(next_personality)
+    return int(next_personality)
+
+  def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
+    max_a = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
+    min_a = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.accel_personality])
+    return float(min_a), float(max_a)
+
+  def get_min_accel(self, v_ego: float) -> float:
+    return self.get_accel_limits(v_ego)[0]
+
+  def get_max_accel(self, v_ego: float) -> float:
+    return self.get_accel_limits(v_ego)[1]
+
+  def is_enabled(self) -> bool:
+    return bool(self.params.get_bool(self.param_keys['enabled']))
+
+  def set_enabled(self, enabled: bool):
+    self.params.put_bool(self.param_keys['enabled'], enabled)
+    cloudlog.info(f"Accel personality controller {'enabled' if enabled else 'disabled'}")
+
+  def toggle_enabled(self) -> bool:
+    current = self.is_enabled()
+    self.set_enabled(not current)
+    return not current
+
+  def reset(self):
+    self.accel_personality = AccelPersonality.normal
+    self.frame = 0
+
+  def update(self):
+    self.frame += 1
+    self._update_from_params()

sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py

@@ -0,0 +1,286 @@
+"""
+Copyright (c) 2021-, rav4kumar, 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 numpy as np
+from cereal import custom
+from sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import (
+  AccelPersonalityController,
+  MAX_ACCEL_PROFILES,
+  MIN_ACCEL_PROFILES,
+  MAX_ACCEL_BREAKPOINTS,
+  MIN_ACCEL_BREAKPOINTS,
+)
+
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+
+class TestAccelPersonalityController:
+
+  @pytest.fixture
+  def mock_params(self, mocker):
+    params = mocker.Mock()
+    params.get = mocker.Mock(return_value=None)
+    params.get_bool = mocker.Mock(return_value=False)
+    params.put = mocker.Mock()
+    params.put_bool = mocker.Mock()
+    return params
+
+  @pytest.fixture
+  def controller(self, mock_params, mocker):
+    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
+    ctrl = AccelPersonalityController()
+    ctrl.params = mock_params
+    return ctrl
+
+  def test_initialization_defaults(self, controller):
+    assert controller.frame == 0
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.param_keys == {
+      'personality': 'AccelPersonality',
+      'enabled': 'AccelPersonalityEnabled'
+    }
+
+  @pytest.mark.parametrize("personality,expected", [
+    (AccelPersonality.eco, AccelPersonality.eco),
+    (AccelPersonality.normal, AccelPersonality.normal),
+    (AccelPersonality.sport, AccelPersonality.sport),
+  ])
+  def test_load_personality_valid(self, mocker, personality, expected):
+    mock_params = mocker.Mock()
+    mock_params.get = mocker.Mock(return_value=str(personality).encode())
+    mock_params.get_bool = mocker.Mock(return_value=False)
+    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
+    controller = AccelPersonalityController()
+    assert controller.accel_personality == expected
+
+  def test_load_personality_invalid_value(self, mocker):
+    mock_params = mocker.Mock()
+    mock_params.get = mocker.Mock(return_value=b'999')
+    mock_params.get_bool = mocker.Mock(return_value=False)
+    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
+    controller = AccelPersonalityController()
+    assert controller.accel_personality == AccelPersonality.normal
+
+  def test_load_personality_parse_error(self, mocker):
+    mock_params = mocker.Mock()
+    mock_params.get = mocker.Mock(return_value=b'invalid_data')
+    mock_params.get_bool = mocker.Mock(return_value=False)
+    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
+    controller = AccelPersonalityController()
+    assert controller.accel_personality == AccelPersonality.normal
+
+  def test_load_personality_none(self, mocker):
+    mock_params = mocker.Mock()
+    mock_params.get = mocker.Mock(return_value=None)
+    mock_params.get_bool = mocker.Mock(return_value=False)
+    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
+    controller = AccelPersonalityController()
+    assert controller.accel_personality == AccelPersonality.normal
+
+  def test_get_accel_personality(self, controller):
+    controller.accel_personality = AccelPersonality.sport
+    result = controller.get_accel_personality()
+    assert result == AccelPersonality.sport
+    assert isinstance(result, int)
+
+  @pytest.mark.parametrize("personality", [
+    AccelPersonality.eco,
+    AccelPersonality.normal,
+    AccelPersonality.sport,
+  ])
+  def test_set_accel_personality_valid(self, controller, mock_params, personality):
+    controller.set_accel_personality(personality)
+    assert controller.accel_personality == personality
+    mock_params.put.assert_called_once_with('AccelPersonality', str(personality))
+
+  def test_set_accel_personality_invalid(self, controller, mock_params):
+    original = controller.accel_personality
+    controller.set_accel_personality(999)
+    assert controller.accel_personality == original
+    mock_params.put.assert_not_called()
+
+  def test_cycle_accel_personality_full_cycle(self, controller):
+    controller.accel_personality = AccelPersonality.eco
+
+    result = controller.cycle_accel_personality()
+    assert result == AccelPersonality.normal
+    assert controller.accel_personality == AccelPersonality.normal
+
+    result = controller.cycle_accel_personality()
+    assert result == AccelPersonality.sport
+    assert controller.accel_personality == AccelPersonality.sport
+
+    result = controller.cycle_accel_personality()
+    assert result == AccelPersonality.eco
+    assert controller.accel_personality == AccelPersonality.eco
+
+  def test_cycle_accel_personality_return_type(self, controller):
+    result = controller.cycle_accel_personality()
+    assert isinstance(result, int)
+
+  @pytest.mark.parametrize("personality", [
+    AccelPersonality.eco,
+    AccelPersonality.normal,
+    AccelPersonality.sport,
+  ])
+  def test_get_accel_limits_at_zero_speed(self, controller, personality):
+    controller.accel_personality = personality
+    min_a, max_a = controller.get_accel_limits(0.0)
+
+    expected_max = MAX_ACCEL_PROFILES[personality][0]
+    expected_min = MIN_ACCEL_PROFILES[personality][0]
+
+    assert abs(max_a - expected_max) < 1e-6
+    assert abs(min_a - expected_min) < 1e-6
+
+  @pytest.mark.parametrize("v_ego,personality", [
+    (0.0, AccelPersonality.eco),
+    (10.0, AccelPersonality.normal),
+    (25.0, AccelPersonality.sport),
+    (50.0, AccelPersonality.eco),
+    (4.0, AccelPersonality.normal),
+    (30.0, AccelPersonality.sport),
+  ])
+  def test_get_accel_limits_interpolation(self, controller, v_ego, personality):
+    controller.accel_personality = personality
+    min_a, max_a = controller.get_accel_limits(v_ego)
+
+    expected_max = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[personality])
+    expected_min = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[personality])
+
+    assert abs(max_a - expected_max) < 1e-6
+    assert abs(min_a - expected_min) < 1e-6
+
+  def test_get_accel_limits_return_types(self, controller):
+    min_a, max_a = controller.get_accel_limits(10.0)
+    assert isinstance(min_a, float)
+    assert isinstance(max_a, float)
+
+  def test_get_min_accel(self, controller):
+    controller.accel_personality = AccelPersonality.sport
+    v_ego = 15.0
+    min_a = controller.get_min_accel(v_ego)
+    expected = controller.get_accel_limits(v_ego)[0]
+    assert min_a == expected
+    assert isinstance(min_a, float)
+
+  def test_get_max_accel(self, controller):
+    controller.accel_personality = AccelPersonality.eco
+    v_ego = 20.0
+    max_a = controller.get_max_accel(v_ego)
+    expected = controller.get_accel_limits(v_ego)[1]
+    assert max_a == expected
+    assert isinstance(max_a, float)
+
+  def test_is_enabled_true(self, controller, mock_params):
+    mock_params.get_bool.return_value = True
+    assert controller.is_enabled() is True
+
+  def test_is_enabled_false(self, controller, mock_params):
+    mock_params.get_bool.return_value = False
+    assert controller.is_enabled() is False
+
+  def test_is_enabled_calls_params(self, controller, mock_params):
+    controller.is_enabled()
+    mock_params.get_bool.assert_called_once_with('AccelPersonalityEnabled')
+
+  @pytest.mark.parametrize("enabled", [True, False])
+  def test_set_enabled(self, controller, mock_params, enabled):
+    controller.set_enabled(enabled)
+    mock_params.put_bool.assert_called_once_with('AccelPersonalityEnabled', enabled)
+
+  def test_toggle_enabled_from_false(self, controller, mock_params):
+    mock_params.get_bool.return_value = False
+    result = controller.toggle_enabled()
+    assert result is True
+    mock_params.put_bool.assert_called_once_with('AccelPersonalityEnabled', True)
+
+  def test_toggle_enabled_from_true(self, controller, mock_params):
+    mock_params.get_bool.return_value = True
+    result = controller.toggle_enabled()
+    assert result is False
+    mock_params.put_bool.assert_called_once_with('AccelPersonalityEnabled', False)
+
+  def test_reset(self, controller):
+    controller.accel_personality = AccelPersonality.sport
+    controller.frame = 100
+    controller.reset()
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.frame == 0
+
+  def test_update_increments_frame(self, controller):
+    initial_frame = controller.frame
+    controller.update()
+    assert controller.frame == initial_frame + 1
+
+  def test_update_multiple_calls(self, controller):
+    for i in range(1, 11):
+      controller.update()
+      assert controller.frame == i
+
+  @pytest.mark.parametrize("v_ego", [0, 5, 10, 15, 20, 25, 30, 40, 50, 55])
+  @pytest.mark.parametrize("personality", [
+    AccelPersonality.eco,
+    AccelPersonality.normal,
+    AccelPersonality.sport,
+  ])
+  def test_accel_limits_physical_constraints(self, controller, v_ego, personality):
+    controller.accel_personality = personality
+    min_a, max_a = controller.get_accel_limits(v_ego)
+    assert min_a < 0
+    assert max_a > 0
+    assert min_a < max_a
+
+  def test_max_accel_decreases_with_speed(self, controller):
+    test_speeds = [0, 10, 20, 30, 40, 50]
+    for personality in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+      controller.accel_personality = personality
+      max_accels = [controller.get_max_accel(v) for v in test_speeds]
+      assert max_accels[-1] < max_accels[0]
+
+  @pytest.mark.parametrize("v_ego", [5, 10, 15, 20, 25])
+  def test_acceleration_personality_ordering(self, controller, v_ego):
+    controller.accel_personality = AccelPersonality.eco
+    _, eco_max = controller.get_accel_limits(v_ego)
+
+    controller.accel_personality = AccelPersonality.normal
+    _, normal_max = controller.get_accel_limits(v_ego)
+
+    controller.accel_personality = AccelPersonality.sport
+    _, sport_max = controller.get_accel_limits(v_ego)
+
+    assert sport_max >= normal_max
+    assert normal_max >= eco_max
+
+  @pytest.mark.parametrize("v_ego", [5, 10, 15, 20])
+  def test_braking_personality_ordering(self, controller, v_ego):
+    controller.accel_personality = AccelPersonality.eco
+    eco_min, _ = controller.get_accel_limits(v_ego)
+
+    controller.accel_personality = AccelPersonality.sport
+    sport_min, _ = controller.get_accel_limits(v_ego)
+
+    assert sport_min <= eco_min
+
+  def test_accel_limits_at_max_speed(self, controller):
+    max_speed = MAX_ACCEL_BREAKPOINTS[-1]
+    min_a, max_a = controller.get_accel_limits(max_speed)
+    assert isinstance(min_a, float)
+    assert isinstance(max_a, float)
+
+  def test_accel_limits_beyond_max_speed(self, controller):
+    beyond_max = MAX_ACCEL_BREAKPOINTS[-1] + 10
+    min_a, max_a = controller.get_accel_limits(beyond_max)
+    assert isinstance(min_a, float)
+    assert isinstance(max_a, float)
+
+  def test_accel_limits_very_low_speed(self, controller):
+    min_a, max_a = controller.get_accel_limits(0.5)
+    assert isinstance(min_a, float)
+    assert isinstance(max_a, float)
+    assert min_a >= -2.0

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -15,9 +15,8 @@ LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
 # from selfdrive/controls/lib/latcontrol_torque.py
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
@@ -64,7 +63,7 @@ class LatControlTorqueExtBase:
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
+    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -17,6 +17,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
@@ -26,6 +27,7 @@ class LongitudinalPlannerSP:
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.accel_controller = AccelPersonalityController()
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
     self.sla = SpeedLimitAssist(CP, CP_SP)
@@ -81,6 +83,7 @@ class LongitudinalPlannerSP:
     self.events_sp.clear()
     self.dec.update(sm)
     self.e2e_alerts_helper.update(sm, self.events_sp)
+    self.accel_controller.update()
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')

sunnypilot/sunnylink/api.py

@@ -2,9 +2,10 @@ import json
 import os
 import random
 import time
-from datetime import datetime, timedelta
-
 import jwt
+from typing import cast
+from datetime import datetime, timedelta, UTC
+
 from openpilot.common.api.base import BaseApi
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
@@ -92,7 +93,8 @@ class SunnylinkApi(BaseApi):
 
       backoff = 1
       while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
         try:
           if verbose or time.monotonic() - start_time < timeout / 2:
             self._status_update("Registering device to sunnylink...")

sunnypilot/sunnylink/params_metadata.json

@@ -1,4 +1,26 @@
 {
+  "AccelPersonality": {
+    "title": "Acceleration Personality",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Sport"
+      },
+      {
+        "value": 1,
+        "label": "Normal"
+      },
+      {
+        "value": 2,
+        "label": "Eco"
+      }
+    ]
+  },
+  "AccelPersonalityEnabled": {
+    "title": "Enable Acceleration Personality",
+    "description": "Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive)."
+  },
   "AccessToken": {
     "title": "AccessTokenIsNice",
     "description": ""
@@ -258,11 +280,11 @@
     "description": ""
   },
   "EnableCopyparty": {
-    "title": "Enable Copyparty",
+    "title": "copyparty Service",
     "description": ""
   },
   "EnableGithubRunner": {
-    "title": "Enable GitHub Runner",
+    "title": "GitHub Runner Service",
     "description": ""
   },
   "EnableSunnylinkUploader": {
@@ -458,6 +480,10 @@
     "title": "Language",
     "description": ""
   },
+  "LastAgnosPowerMonitorShutdown": {
+    "title": "Last AGNOS Power Monitor Shutdown",
+    "description": ""
+  },
   "LastAthenaPingTime": {
     "title": "Last Athena Ping Time",
     "description": ""

sunnypilot/sunnylink/statsd.py

@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 from openpilot.system.statsd import METRIC_TYPE, StatLogSP
@@ -242,7 +242,7 @@ def stats_main(end_event):
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:

system/athena/athenad.py

@@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.api import Api
+from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
@@ -554,11 +554,8 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
 
 @dispatcher.add_method
 def getPublicKey() -> str | None:
-  if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
-    return None
-
-  with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
-    return f.read()
+  _, _, public_key = get_key_pair()
+  return public_key
 
 
 @dispatcher.add_method

system/athena/registration.py

@@ -2,6 +2,7 @@
 import time
 import json
 import jwt
+from typing import cast
 from pathlib import Path
 
 from datetime import datetime, timedelta, UTC
@@ -69,7 +70,9 @@ def register(show_spinner=False) -> str | None:
     start_time = time.monotonic()
     while True:
       try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
+        cloudlog.info("getting pilotauth")
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                        imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)

system/camerad/cameras/spectra.cc

@@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new OX03C10) &&
-      !init_sensor_lambda(new OS04C10)) {
+  if (!init_sensor_lambda(new OS04C10) &&
+      !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
     return false;

system/camerad/sensors/os04c10.cc

@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -51,7 +52,7 @@ OS04C10::OS04C10() {
   probe_expected_data = 0x5304;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c;
+  frame_data_type = CSI_RAW12;
   mclk_frequency = 24000000; // Hz
 
   // TODO: this was set from logs. actually calculate it out

system/camerad/sensors/os04c10_registers.h

@@ -4,10 +4,10 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
-  {0x0103, 0x01},
+  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  {0x0103, 0x01}, // software reset
 
-  // PLL
+  // PLL + clocks
   {0x0301, 0xe4},
   {0x0303, 0x01},
   {0x0305, 0xb6},
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3106, 0x21},
   {0x3107, 0xa1},
 
-  // ?
+  // Analog/timing fine-tuning block
   {0x3624, 0x00},
   {0x3625, 0x4c},
   {0x3660, 0x04},
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3f00, 0x0b},
   {0x3f06, 0x04},
 
-  // BLC
+  // BLC - black level correction
   {0x400a, 0x01},
   {0x400b, 0x50},
   {0x400e, 0x08},
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5180, 0x70},
   {0x5181, 0x10},
 
-  // DPC
+  // DPC - defective pixel correction
   {0x520a, 0x03},
   {0x520b, 0x06},
   {0x520c, 0x0c},
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4008, 0x01},
   {0x4009, 0x06},
 
-  // FSIN
+  // FSIN - frame sync
   {0x3002, 0x22},
   {0x3663, 0x22},
   {0x368a, 0x04},
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // initialize exposure
   {0x3503, 0x88},
 
-  // long
+  // long exposure
   {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
   {0x3508, 0x00}, {0x3509, 0x80},
   {0x350a, 0x04}, {0x350b, 0x00},
 
-  // short
+  // short exposure
   {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
   {0x350c, 0x00}, {0x350d, 0x80},
   {0x350e, 0x04}, {0x350f, 0x00},
 
-  // wb
+  // white balance
   // b
   {0x5100, 0x06}, {0x5101, 0x7e},
   {0x5140, 0x06}, {0x5141, 0x7e},
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
 };
 
 const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x3c8c, 0x40},
   {0x3714, 0x24},
   {0x37c2, 0x04},

system/camerad/sensors/ox03c10.cc

@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -40,8 +41,8 @@ OX03C10::OX03C10() {
   probe_expected_data = 0x5803;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
-  mclk_frequency = 24000000; //Hz
+  frame_data_type = CSI_RAW12;
+  mclk_frequency = 24000000; // Hz
 
   readout_time_ns = 14697000;
 

system/hardware/tici/hardware.h

@@ -7,7 +7,6 @@
 #include <string>
 #include <algorithm>  // for std::clamp
 
-#include "common/params.h"
 #include "common/util.h"
 #include "system/hardware/base.h"
 

system/loggerd/tests/test_loggerd.py

@@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
@@ -221,13 +222,16 @@ class TestLoggerd:
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    for fn in ["console-ramoops", "pmsg-ramoops-0"]:
-      path = Path(os.path.join("/sys/fs/pstore/", fn))
-      if path.is_file():
-        with open(path, "rb") as f:
-          expected_val = f.read()
-        bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
-        assert expected_val == bootlog_val
+    if TICI:
+      for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+        path = Path(os.path.join("/sys/fs/pstore/", fn))
+        if path.is_file():
+          with open(path, "rb") as f:
+            expected_val = f.read()
+          bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+          assert expected_val == bootlog_val
+    else:
+      assert len(boot.pstore.entries) == 0
 
     # next one should increment by one
     bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)

system/manager/build.py

@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2280
+TOTAL_SCONS_NODES = 2705
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:

system/manager/manager.py

@@ -9,6 +9,7 @@ import traceback
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
+from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
@@ -168,7 +169,7 @@ def manager_thread() -> None:
     # kick AGNOS power monitoring watchdog
     try:
       if sm.all_checks(['deviceState']):
-        with open("/var/tmp/power_watchdog", "w") as f:
+        with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
           f.write(str(time.monotonic()))
     except Exception:
       pass

system/manager/process.py

@@ -67,6 +67,7 @@ class ManagerProcess(ABC):
   enabled = True
   name = ""
   shutting_down = False
+  restart_if_crash = False
 
   @abstractmethod
   def prepare(self) -> None:
@@ -167,13 +168,14 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
     self.name = name
     self.module = module
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
     self.launcher = launcher
+    self.restart_if_crash = restart_if_crash
 
   def prepare(self) -> None:
     if self.enabled:
@@ -252,6 +254,9 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   running = []
   for p in procs:
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
+      if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
+        cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
+        p.restart()
       running.append(p)
     else:
       p.stop(block=False)

system/manager/process_config.py

@@ -126,7 +126,7 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "selfdrive.ui.ui", always_run),
+  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
   PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),

system/statsd.py

@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
@@ -218,7 +218,7 @@ def main() -> NoReturn:
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:

system/ui/README.md

@@ -10,6 +10,7 @@ Quick start:
 * set `BURN_IN=1` to get a burn-in heatmap version of the UI
 * set `GRID=50` to show a 50-pixel alignment grid overlay
 * set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
+* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
 * set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart

system/ui/lib/application.py

@@ -7,11 +7,13 @@ import sys
 import pyray as rl
 import threading
 import platform
+import subprocess
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
 from dataclasses import dataclass
 from enum import StrEnum
+from pathlib import Path
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
@@ -38,6 +40,8 @@ SCALE = float(os.getenv("SCALE", "1.0"))
 GRID_SIZE = int(os.getenv("GRID", "0"))
 PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
+RECORD = os.getenv("RECORD") == "1"
+RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
 
 GL_VERSION = """
 #version 300 es
@@ -200,10 +204,15 @@ class GuiApplication(GuiApplicationExt):
     else:
       self._scale = SCALE
 
+    # Scale, then ensure dimensions are even
     self._scaled_width = int(self._width * self._scale)
     self._scaled_height = int(self._height * self._scale)
+    self._scaled_width += self._scaled_width % 2
+    self._scaled_height += self._scaled_height % 2
+
     self._render_texture: rl.RenderTexture | None = None
     self._burn_in_shader: rl.Shader | None = None
+    self._ffmpeg_proc: subprocess.Popen | None = None
     self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
@@ -264,12 +273,33 @@ class GuiApplication(GuiApplicationExt):
       rl.set_config_flags(flags)
 
       rl.init_window(self._scaled_width, self._scaled_height, title)
-      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
+
+      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       if needs_render_texture:
         self._render_texture = rl.load_render_texture(self._width, self._height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+
+      if RECORD:
+        ffmpeg_args = [
+          'ffmpeg',
+          '-v', 'warning',          # Reduce ffmpeg log spam
+          '-stats',                 # Show encoding progress
+          '-f', 'rawvideo',         # Input format
+          '-pix_fmt', 'rgba',       # Input pixel format
+          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-r', str(fps),           # Input frame rate
+          '-i', 'pipe:0',           # Input from stdin
+          '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert rgba to yuv420p
+          '-c:v', 'libx264',        # Video codec
+          '-preset', 'ultrafast',   # Encoding speed
+          '-y',                     # Overwrite existing file
+          '-f', 'mp4',              # Output format
+          RECORD_OUTPUT,            # Output file path
+        ]
+        self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
+
       rl.set_target_fps(fps)
 
       self._target_fps = fps
@@ -314,6 +344,9 @@ class GuiApplication(GuiApplicationExt):
 
   def set_modal_overlay(self, overlay, callback: Callable | None = None):
     if self._modal_overlay.overlay is not None:
+      if hasattr(self._modal_overlay.overlay, 'hide_event'):
+        self._modal_overlay.overlay.hide_event()
+
       if self._modal_overlay.callback is not None:
         self._modal_overlay.callback(-1)
 
@@ -377,6 +410,16 @@ class GuiApplication(GuiApplicationExt):
     rl.unload_image(image)
     return texture
 
+  def close_ffmpeg(self):
+    if self._ffmpeg_proc is not None:
+      self._ffmpeg_proc.stdin.flush()
+      self._ffmpeg_proc.stdin.close()
+      try:
+        self._ffmpeg_proc.wait(timeout=5)
+      except subprocess.TimeoutExpired:
+        self._ffmpeg_proc.terminate()
+        self._ffmpeg_proc.wait()
+
   def close(self):
     if not rl.is_window_ready():
       return
@@ -400,6 +443,8 @@ class GuiApplication(GuiApplicationExt):
     if not PC:
       self._mouse.stop()
 
+    self.close_ffmpeg()
+
     rl.close_window()
 
   @property
@@ -477,6 +522,15 @@ class GuiApplication(GuiApplicationExt):
           self._draw_grid()
 
         rl.end_drawing()
+
+        if RECORD:
+          image = rl.load_image_from_texture(self._render_texture.texture)
+          data_size = image.width * image.height * 4
+          data = bytes(rl.ffi.buffer(image.data, data_size))
+          self._ffmpeg_proc.stdin.write(data)
+          self._ffmpeg_proc.stdin.flush()
+          rl.unload_image(image)
+
         self._monitor_fps()
         self._frame += 1
 
@@ -514,6 +568,8 @@ class GuiApplication(GuiApplicationExt):
         # Clear the overlay and execute the callback
         original_modal = self._modal_overlay
         self._modal_overlay = ModalOverlay()
+        if hasattr(original_modal.overlay, 'hide_event'):
+          original_modal.overlay.hide_event()
         if original_modal.callback is not None:
           original_modal.callback(result)
       return True
@@ -602,6 +658,7 @@ class GuiApplication(GuiApplicationExt):
     # Strict mode: terminate UI if FPS drops too much
     if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
       cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
+      self.close_ffmpeg()
       os._exit(1)
 
   def _draw_touch_points(self):

system/ui/lib/egl.py

@@ -128,8 +128,12 @@ def init_egl() -> bool:
 def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
   assert _egl.initialized, "EGL not initialized"
 
-  # Duplicate fd since EGL needs it
-  dup_fd = os.dup(fd)
+  try:
+    # Duplicate fd since EGL needs it
+    dup_fd = os.dup(fd)
+  except OSError as e:
+    cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
+    return None
 
   # Create image attributes for EGL
   img_attrs = [

system/ui/lib/scroll_panel2.py

@@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, MouseEvent
 from openpilot.system.hardware import TICI
 from collections import deque
 
-MIN_VELOCITY = 2  # px/s, changes from auto scroll to steady state
+MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
 MIN_VELOCITY_FOR_CLICKING = 2 * 60  # px/s, accepts clicks while auto scrolling below this velocity
 MIN_DRAG_PIXELS = 12
 AUTO_SCROLL_TC_SNAP = 0.025
@@ -67,16 +67,18 @@ class GuiScrollPanel2:
       print()
     return self.get_offset()
 
+  def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]:
+    """Returns (max_offset, min_offset) for the given bounds and content size."""
+    return 0.0, min(0.0, bounds_size - content_size)
+
   def _update_state(self, bounds_size: float, content_size: float) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     if self._state == ScrollState.AUTO_SCROLL:
+      max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
       # simple exponential return if out of bounds
-      out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+      out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
       if out_of_bounds and self._handle_out_of_bounds:
-        if self.get_offset() < (bounds_size - content_size):  # too far right
-          target = bounds_size - content_size
-        else:  # too far left
-          target = 0.0
+        target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
         factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
@@ -88,6 +90,7 @@ class GuiScrollPanel2:
         # Steady once we are close enough to the target
         if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
           self.set_offset(target)
+          self._velocity = 0.0
           self._state = ScrollState.STEADY
 
       elif abs(self._velocity) < MIN_VELOCITY:
@@ -102,7 +105,9 @@ class GuiScrollPanel2:
 
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
-    out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    # simple exponential return if out of bounds
+    out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
     if DEBUG:
       print('Mouse event:', mouse_event)
 
@@ -201,8 +206,8 @@ class GuiScrollPanel2:
   def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
     return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
 
-  def get_offset(self) -> int:
-    return round(self._offset.x if self._horizontal else self._offset.y)
+  def get_offset(self) -> float:
+    return self._offset.x if self._horizontal else self._offset.y
 
   def set_offset(self, value: float) -> None:
     if self._horizontal:

system/ui/mici_setup.py

@@ -244,7 +244,7 @@ class TermsPage(Widget):
     pass
 
   def _render(self, _):
-    scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)
+    scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
 
     if scroll_offset <= self._scrolled_down_offset:
       # don't show back if not enabled

system/ui/sunnypilot/lib/utils.py

@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+
+
+class NoElideButtonAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1