all protected

#	system/ui/sunnypilot/widgets/list_view.py

.github/workflows/tests.yaml

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

cereal/custom.capnp

@@ -369,6 +369,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  speed @5 :Float32;
 
   struct Param {
     key @0 :Text;
@@ -454,7 +455,20 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct Navigationd @0xcb9fd56c7057593a {
+  upcomingTurn @0 :Text;
+  currentSpeedLimit @1 :UInt16;
+  bannerInstructions @2 :Text;
+  distanceFromRoute @3 :Float32;
+  allManeuvers @4 :List(Maneuver);
+  valid @5 :Bool;
+
+  struct Maneuver {
+    distance @0 :Float32;
+    type @1 :Text;
+    modifier @2 :Text;
+    instruction @3 :Text;
+  }
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {

cereal/log.capnp

@@ -2635,7 +2635,7 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    customReserved10 @136 :Custom.CustomReserved10;
+    navigationd @136 :Custom.Navigationd;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;

cereal/services.py

@@ -89,6 +89,7 @@ _services: dict[str, tuple] = {
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20.),
+  "navigationd": (True, 3.),
   "liveLocationKalman": (True, 20.),
 
   # debug

common/params_keys.h

@@ -173,6 +173,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"sunnypilot_ui", {PERSISTENT, BOOL, "1"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
@@ -189,6 +190,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
+    // Navigation params
+    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MapboxFavorites", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {PERSISTENT, STRING}},
+    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
+
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 

selfdrive/controls/lib/desire_helper.py

@@ -3,6 +3,7 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -51,6 +52,7 @@ class DesireHelper:
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
     self.lane_turn_direction = TurnDirection.none
+    self.navigation_desires = NavigationDesires()
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -143,3 +145,7 @@ class DesireHelper:
         self.desire = log.Desire.none
 
     self.alc.update_state()
+
+    nav_desire = self.navigation_desires.update(carstate, lateral_active)
+    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
+      self.desire = nav_desire

selfdrive/ui/layouts/main.py

@@ -10,6 +10,9 @@ from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 
+from openpilot.common.params import Params
+if Params().get_bool("sunnypilot_ui"):
+  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
 
 class MainState(IntEnum):
   HOME = 0

selfdrive/ui/layouts/settings/developer.py

@@ -9,6 +9,9 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult
 
+if Params().get_bool("sunnypilot_ui"):
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+
 # Description constants
 DESCRIPTIONS = {
   'enable_adb': tr_noop(

selfdrive/ui/layouts/settings/toggles.py

@@ -9,6 +9,10 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+if Params().get_bool("sunnypilot_ui"):
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+  from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item
+
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 # Description constants

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class CruiseLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+
+    items = [
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,5 @@
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+
+class DeviceLayoutSP(DeviceLayout):
+  def __init__(self):
+    DeviceLayout.__init__(self)

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class DisplayLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class ModelsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,124 @@
+import json
+from functools import partial
+
+from openpilot.common.params import Params
+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 alert_dialog
+from openpilot.system.ui.widgets.list_view import button_item
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.scroller import Scroller
+
+from openpilot.sunnypilot.navd.navigationd import Navigationd
+from openpilot.system.ui.sunnypilot.widgets.input_dialog import InputDialogSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, multiple_button_item_sp
+
+
+class NavigationLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._navd = Navigationd()
+    self._params = Params()
+
+    self._mapbox_token_item = button_item("Mapbox token", "Edit", "Enter your mapbox public token",
+                                         partial(self._show_param_input, "MapboxToken", "Enter Mapbox Token"))
+    self._mapbox_route_item = button_item("Mapbox route", "Edit", "",
+                                         partial(self._show_param_input, "MapboxRoute", "Enter Mapbox Route"))
+
+    self._vis_items = [
+      button_item("Set Home", "Set", "", partial(self._open_fav_dialog, "home", "Set Home Route")),
+      button_item("Set Work", "Set", "", partial(self._open_fav_dialog, "work", "Set Work Route")),
+      button_item("Add Favorite", "Add", "Add a new favorite", self._add_fav),
+      button_item("Remove Favorite", "Remove", "Remove a favorite", self._remove_fav),
+      toggle_item_sp("Mapbox recompute", "Enable automatic route recomputation", param="MapboxRecompute"),
+      toggle_item_sp("Navigation allowed", "Allow navigation to automatically take turns", param="NavDesiresAllowed"),
+    ]
+
+    self.items = [
+      self._mapbox_token_item, self._mapbox_route_item,
+      button_item("Clear current route", "Clear", "", self._clear_route),
+      multiple_button_item_sp("Favorites", "Select favorite route", ["Home", "Work", "Favorites"], 0, callback=self._favorites_callback),
+      *self._vis_items[:4],
+      toggle_item_sp("Allow navigation", "Enable navigation service", callback=self._update_navigation_visibility, param="AllowNavigation"),
+      *self._vis_items[4:],
+    ]
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  @property
+  def _favs(self):
+    try:
+      return json.loads(self._params.get("MapboxFavorites") or "{}")
+    except Exception:
+      return {}
+
+  def _show_param_input(self, param, title):
+    InputDialogSP(title, current_text=self._params.get(param, return_default=True) or "", param=param).show()
+
+  def _clear_route(self):
+    self._navd.route = None
+    self._params.remove("MapboxRoute")
+
+  def _handle_save_fav(self, key, is_fav, res, text):
+    if res == DialogResult.CONFIRM and text:
+      favs = self._favs
+      (favs.setdefault("favorites", {}) if is_fav else favs)[key] = text
+      self._params.put("MapboxFavorites", json.dumps(favs))
+
+  def _open_fav_dialog(self, key, title):
+    InputDialogSP(title, current_text=self._favs.get(key, ""), callback=partial(self._handle_save_fav, key, False)).show()
+
+  def _add_fav_name_cb(self, res, name):
+    if res == DialogResult.CONFIRM and name:
+      InputDialogSP(f"Set Route for {name}", "", callback=partial(self._handle_save_fav, name, True), min_text_size=1).show()
+
+  def _add_fav(self):
+    InputDialogSP("Favorite Name", "", callback=self._add_fav_name_cb, min_text_size=1).show()
+
+  def _set_mapbox_route_cb(self, favorites, selection):
+    self._params.put("MapboxRoute", favorites[selection])
+
+  def _favorites_callback(self, index):
+    favs = self._favs
+    if index < 2:
+      if route := favs.get(["home", "work"][index]):
+        self._params.put("MapboxRoute", route)
+    elif favorites := favs.get("favorites"):
+      self._show_list_dialog(tr("Select Favorite"), list(favorites.keys()), partial(self._set_mapbox_route_cb, favorites))
+    else:
+      gui_app.set_modal_overlay(alert_dialog(tr("No custom favorites set")))
+
+  def _remove_fav_cb(self, selection):
+    favs = self._favs
+    if favs.get("favorites", {}).pop(selection, None):
+      self._params.put("MapboxFavorites", json.dumps(favs))
+
+  def _remove_fav(self):
+    if favorites := self._favs.get("favorites"):
+      self._show_list_dialog(tr("Remove Favorite"), list(favorites.keys()), self._remove_fav_cb)
+    else:
+      gui_app.set_modal_overlay(alert_dialog(tr("No custom favorites to remove")))
+
+  def _list_dialog_cb(self, callback, res):
+    if res == DialogResult.CONFIRM and self._dialog.selection:
+      callback(self._dialog.selection)
+    gui_app.set_modal_overlay(None)
+
+  def _show_list_dialog(self, title, items, callback):
+    self._dialog = MultiOptionDialog(title, items)
+    gui_app.set_modal_overlay(self._dialog, callback=partial(self._list_dialog_cb, callback))
+
+  def _update_navigation_visibility(self, state):
+    for item in self._vis_items:
+      item.set_visible(state)
+
+  def _update_state(self):
+    self._mapbox_token_item.action_item.set_value(self._params.get("MapboxToken") or "Mapbox token not set")
+    self._mapbox_route_item.action_item.set_value(self._params.get("MapboxRoute") or "Destination not set")
+    self._update_navigation_visibility(self._params.get_bool("AllowNavigation"))
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class OSMLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,189 @@
+import pyray as rl
+from dataclasses import dataclass
+from enum import IntEnum
+from openpilot.selfdrive.ui.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
+from openpilot.system.ui.lib.application import gui_app,MousePos
+from openpilot.system.ui.lib.multilang import tr_noop
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets.network import NetworkUI
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
+
+OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
+ICON_SIZE = 70
+
+OP.PanelType = IntEnum( # type: ignore
+  "PanelType",
+  [es.name for es in OP.PanelType] + [
+    "SUNNYLINK",
+    "MODELS",
+    "STEERING",
+    "CRUISE",
+    "VISUALS",
+    "DISPLAY",
+    "OSM",
+    "NAVIGATION",
+    "TRIPS",
+    "VEHICLE",
+  ],
+  start=0,
+  )
+
+@dataclass
+class PanelInfo(OP.PanelInfo):
+  icon: str = ""
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+    self._nav_items: list[Widget] = []
+
+    # Create sidebar scroller
+    self._sidebar_scroller = Scroller([], spacing=0, line_separator = False, pad_end=False)
+
+    # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
+    self._panels = {
+      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
+      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager), icon="icons/network.png"),
+      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
+      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
+      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
+      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
+      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
+      OP.PanelType.VISUALS: PanelInfo(tr_noop("Visuals"), VisualsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+      OP.PanelType.DISPLAY: PanelInfo(tr_noop("Display"), DisplayLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
+      OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
+      OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
+      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
+      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
+      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
+    }
+
+  def _create_nav_button(self, panel_type: OP.PanelType, panel_info: PanelInfo) -> Widget:
+    class NavButton(Widget):
+      def __init__(self, parent, p_type, p_info):
+        super().__init__()
+        self.parent = parent
+        self.panel_type = p_type
+        self.panel_info = p_info
+
+      def _render(self, rect):
+        is_selected = self.panel_type == self.parent._current_panel
+        text_color = OP.TEXT_SELECTED if is_selected else OP.TEXT_NORMAL
+        content_x = rect.x + 90
+        text_size = measure_text_cached(self.parent._font_medium, self.panel_info.name, 65)
+
+        # Draw background if selected
+        if is_selected:
+          self.container_rect = rl.Rectangle(
+            content_x - 20, rect.y, OP.SIDEBAR_WIDTH - 70, OP.NAV_BTN_HEIGHT
+          )
+          rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
+
+        if self.panel_info.icon:
+          icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
+          rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2), rl.WHITE)
+          content_x += ICON_SIZE + 20
+
+        # Draw button text (right-aligned)
+        text_pos = rl.Vector2(
+          content_x,
+          rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
+        )
+        rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
+
+        # Store button rect for click detection
+        self.panel_info.button_rect = rect
+
+    return NavButton(self, panel_type, panel_info)
+
+  def _draw_sidebar(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
+
+    # Close button
+    close_btn_rect = rl.Rectangle(
+      rect.x + (rect.width - OP.CLOSE_BTN_SIZE) / 2, rect.y + 60, OP.CLOSE_BTN_SIZE, OP.CLOSE_BTN_SIZE
+    )
+
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
+    icon_dest = rl.Rectangle(
+      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
+      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
+      self._close_icon.width,
+      self._close_icon.height,
+      )
+    rl.draw_texture_pro(
+      self._close_icon,
+      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
+      icon_dest,
+      rl.Vector2(0, 0),
+      0,
+      icon_color,
+    )
+
+    # Store close button rect for click detection
+    self._close_btn_rect = close_btn_rect
+
+    # Navigation buttons with scroller
+    if not self._nav_items:
+      for panel_type, panel_info in self._panels.items():
+        nav_button = self._create_nav_button(panel_type, panel_info)
+        nav_button.rect.width = rect.width - 100  # Full width minus padding
+        nav_button.rect.height = OP.NAV_BTN_HEIGHT
+        self._nav_items.append(nav_button)
+        self._sidebar_scroller.add_widget(nav_button)
+
+    # Draw navigation section with scroller
+    nav_rect = rl.Rectangle(
+      rect.x,
+      rect.y + 300,  # Starting Y position for nav items
+      rect.width,
+      rect.height - 300  # Remaining height after close button
+    )
+
+    if self._nav_items:
+      self._sidebar_scroller.render(nav_rect)
+      return
+
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+    # Check close button
+    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
+      if self._close_callback:
+        self._close_callback()
+      return True
+
+    # Check navigation buttons
+    for panel_type, panel_info in self._panels.items():
+      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
+        self.set_current_panel(panel_type)
+        return True
+
+    return False

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class SteeringLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class SunnylinkLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class TripsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class VehicleLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

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

@@ -0,0 +1,24 @@
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.params import Params
+
+
+class VisualsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()

selfdrive/ui/tests/test_ui/raylib_screenshots.py

@@ -148,7 +148,7 @@ def setup_experimental_mode_description(click, pm: PubMaster):
 
 def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster):
   setup_settings_developer(click, pm)
-  click(2000, 960)  # toggle openpilot longitudinal control
+  click(650, 960)  # toggle openpilot longitudinal control
 
 
 def setup_onroad(click, pm: PubMaster):
@@ -292,6 +292,7 @@ def create_screenshots():
     with OpenpilotPrefix():
       params = Params()
       params.put("DongleId", "123456789012345")
+      params.put_bool("sunnypilot_ui", True)
 
       # Set branch name
       params.put("UpdaterCurrentDescription", VERSION)

sunnypilot/navd/README.md

@@ -0,0 +1,7 @@
+# Navigation
+
+Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
+
+- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.
+- `navigationd`: Navigation service which uses mapbox integration to generate a route and keep it up to date. This service runs at three hz, using keep time to ensure the while loop only updates three times a second rather than every time sm updates, which in this case would be twenty hz (LLK).
+- `nav raylib`: Raylib UI for navigation. This may take a hot minute to make, maybe 1-2 weeks.

sunnypilot/navd/constants.py

@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+
+class NAV_CV:
+  """ These distances are expected in meters format and convert to desired format """
+  SHORT_DISTANCE_METERS = 200.0
+  QUARTER_MILE = 402.336
+  POINT_ONE_MILE = 160.9344
+  METERS_TO_KILO = 1000  # divide n by this
+  METERS_TO_MILE = 1609.344  # divide n by this
+  METERS_TO_FEET = 3.280839895  # multiply n by this

sunnypilot/navd/helpers.py

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

sunnypilot/navd/navigation_desires/navigation_desires.py

@@ -0,0 +1,42 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import cereal.messaging as messaging
+from cereal import car, log
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+
+class NavigationDesires:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['navigationd'])
+    self.desire = log.Desire.none
+    self._turn_speed_limit = 20 * CV.MPH_TO_MS
+    self._params = Params()
+    self.param_counter = -1
+    self.nav_allowed: bool = False
+
+  def update_params(self):
+    self.param_counter += 1
+    if self.param_counter % 60 == 0:  # every 3 seconds at 20hz
+      self.nav_allowed = self._params.get("NavDesiresAllowed", return_default=True)
+
+  def update(self, CS: car.CarState, lateral_active: bool) -> log.Desire:
+    self.update_params()
+    self.sm.update(0)
+    nav_msg = self.sm['navigationd']
+    self.desire = log.Desire.none
+    if self.nav_allowed and nav_msg.valid and lateral_active:
+      upcoming = nav_msg.upcomingTurn
+      if upcoming == 'slightLeft' and not CS.rightBlinker and not CS.leftBlindspot and CS.steeringPressed and CS.steeringTorque > 0:
+        self.desire = log.Desire.keepLeft
+      elif upcoming == 'slightRight' and not CS.leftBlinker and not CS.rightBlindspot and CS.steeringPressed and CS.steeringTorque < 0:
+        self.desire = log.Desire.keepRight
+      elif upcoming == 'left' and not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
+        self.desire = log.Desire.turnLeft
+      elif upcoming == 'right' and not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
+        self.desire = log.Desire.turnRight
+    return self.desire

sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py

@@ -0,0 +1,96 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+import types
+
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
+
+
+def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False, steeringPressed=False, steeringTorque=0):
+  return types.SimpleNamespace(
+    vEgo=vEgo, leftBlinker=leftBlinker, rightBlinker=rightBlinker,
+    leftBlindspot=leftBlindspot, rightBlindspot=rightBlindspot,
+    steeringPressed=steeringPressed, steeringTorque=steeringTorque
+  )
+
+NAVIGATION_PARAMS: list[tuple] = [
+  ('slightLeft', make_car(steeringPressed=True, steeringTorque=1), log.Desire.keepLeft),
+  ('slightRight', make_car(steeringPressed=True, steeringTorque=-1), log.Desire.keepRight),
+  ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
+  ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False), log.Desire.turnLeft),
+  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
+  ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False), log.Desire.turnRight),
+  ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
+]
+
+INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
+  (make_car(vEgo=6, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
+  (make_car(vEgo=5, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
+  (make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
+  (make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
+  (make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),
+]
+
+def make_nav_msg(valid=False, upcoming='none'):
+  return types.SimpleNamespace(valid=valid, upcomingTurn=upcoming)
+
+def params_setter(allowed: bool):
+  params = Params()
+  params.put("NavDesiresAllowed", allowed)
+
+@pytest.fixture
+def mock_submaster(mocker):
+  mock_sm = mocker.patch('cereal.messaging.SubMaster')
+  mock_sm_instance = mocker.Mock()
+  mock_sm.return_value = mock_sm_instance
+  mock_sm_instance.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=False))
+  params_setter(True)
+  return mock_sm_instance
+
+@pytest.mark.parametrize("upcoming, carstate, expected", NAVIGATION_PARAMS)
+def test_navigation_desires_update(mock_submaster, mocker, upcoming, carstate, expected):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  nav_desires.update(carstate, True)
+  assert nav_desires.desire == expected
+
+@pytest.mark.parametrize("msg_valid,lateral_active", [(False, True), (True, False)])
+def test_invalid_or_inactive(mock_submaster, mocker, msg_valid, lateral_active):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=msg_valid, upcoming='slightLeft'))
+  nav_desires.update(make_car(), lateral_active)
+  assert nav_desires.desire == log.Desire.none
+
+def test_update(mock_submaster, mocker):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
+  nav_desires = NavigationDesires()
+
+  assert nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True) == log.Desire.turnLeft
+
+  params_setter(False)
+  nav_desires.param_counter = 59
+  nav_desires.update(make_car(leftBlinker=True), True)
+  assert nav_desires.desire == log.Desire.none
+
+@pytest.mark.parametrize("carstate, upcoming, current_desire, expected", INTEGRATION_PARAMS)
+def test_desire_helper(mock_submaster, mocker, carstate, upcoming, current_desire, expected):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  dh = DesireHelper()
+  dh.desire = current_desire
+
+  if current_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
+    dh.lane_change_state = log.LaneChangeState.laneChangeStarting
+    dh.lane_change_direction = log.LaneChangeDirection.left if current_desire == log.Desire.laneChangeLeft else log.LaneChangeDirection.right
+
+  dh.update(carstate, True, 1.0)
+  assert dh.desire == expected

sunnypilot/navd/navigation_helpers/mapbox_integration.py

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

sunnypilot/navd/navigation_helpers/nav_instructions.py

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

sunnypilot/navd/navigation_helpers/tests/test_mapbox.py

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

sunnypilot/navd/navigationd.py

@@ -0,0 +1,167 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from math import degrees
+from numpy import interp
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.sunnypilot.navd.constants import NAV_CV
+from openpilot.sunnypilot.navd.helpers import Coordinate, parse_banner_instructions
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class Navigationd:
+  def __init__(self):
+    self.params = Params()
+    self.mapbox = MapboxIntegration()
+    self.nav_instructions = NavigationInstructions()
+
+    self.sm = messaging.SubMaster(['carControlSP', 'liveLocationKalman'])
+    self.pm = messaging.PubMaster(['navigationd'])
+    self.rk = Ratekeeper(3) # 3 Hz
+
+    self.route = None
+    self.destination: str | None = None
+    self.new_destination: str = ''
+
+    self.allow_navigation: bool = False
+    self.recompute_allowed: bool = False
+    self.allow_recompute: bool = False
+    self.reroute_counter: int = 0
+    self.cancel_route_counter: int = 0
+
+    self.frame: int = -1
+    self.last_position: Coordinate | None = None
+    self.last_bearing: float | None = None
+    self.valid: bool = False
+
+  def _update_params(self):
+    if self.last_position is not None:
+      self.frame += 1
+      if self.frame % 15 == 0:
+        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
+        self.new_destination = self.params.get('MapboxRoute')
+        self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
+
+      self.allow_recompute: bool = (self.new_destination != self.destination and self.new_destination != '') or (
+        self.recompute_allowed and self.reroute_counter > 9 and self.route)
+
+      if self.allow_recompute:
+        postvars = {'place_name': self.new_destination}
+        postvars, valid_addr = self.mapbox.set_destination(postvars, self.last_position.longitude, self.last_position.latitude, self.last_bearing)
+
+        if valid_addr:
+          self.destination = self.new_destination
+          self.nav_instructions.clear_route_cache()
+          self.route = self.nav_instructions.get_current_route()
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+      if self.cancel_route_counter == 30:
+        self.cancel_route_counter = 0
+        self.params.put_nonblocking("MapboxRoute", "")
+        self.nav_instructions.clear_route_cache()
+        self.route = None
+
+      self.valid = self.route is not None
+
+  def _update_navigation(self) -> tuple[str, dict | None, dict]:
+    banner_instructions: str = ''
+    nav_data: dict = {}
+    if self.allow_navigation and self.route and self.last_position is not None:
+      if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
+        v_ego = float(max(self.sm['carControlSP'].speed, 0.0))
+        nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude,
+                                                                                          self.last_position.longitude, v_ego)
+        speed_limit, _ = progress['current_maxspeed']
+        nav_data['current_speed_limit'] = speed_limit
+        arrived = self.nav_instructions.arrived_at_destination(progress, v_ego)
+
+        if progress['current_step']:
+          if parsed := parse_banner_instructions(progress['current_step']['bannerInstructions'], progress['distance_to_end_of_step']):
+            banner_instructions = parsed['maneuverPrimaryText']
+
+        nav_data['distance_from_route'] = progress['distance_from_route']
+        speed_breakpoints: list = [0.0, 5.0, 10.0, 20.0, 40.0]
+        distance_list: list = [100.0, 125.0, 150.0, 200.0, 250.0]
+        large_distance: bool = progress['distance_from_route'] > float(interp(v_ego, speed_breakpoints, distance_list))
+
+        route_bearing_misalign: bool = self.nav_instructions.route_bearing_misalign(self.route, self.last_bearing, v_ego)
+
+        if large_distance and not arrived:
+          self.cancel_route_counter = self.cancel_route_counter + 1 if progress['distance_from_route'] > NAV_CV.QUARTER_MILE else 0
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        elif arrived:
+          self.cancel_route_counter += 1
+          self.recompute_allowed = False
+        elif route_bearing_misalign:
+          self.cancel_route_counter += 1
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        else:
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+        # Don't recompute in last segment to prevent reroute loops
+        if progress['current_step_idx'] == len(self.route['steps']) - 1:
+          self.recompute_allowed = False
+          self.allow_navigation = False
+    else:
+      banner_instructions = ''
+      progress = None
+      nav_data = {}
+
+    return banner_instructions, progress, nav_data
+
+  def _build_navigation_message(self, banner_instructions: str, progress: dict | None, nav_data: dict, valid: bool):
+    msg = messaging.new_message('navigationd')
+    msg.valid = valid
+    msg.navigationd.upcomingTurn = nav_data.get('upcoming_turn', 'none')
+    msg.navigationd.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
+    msg.navigationd.bannerInstructions = banner_instructions
+    msg.navigationd.distanceFromRoute = nav_data.get('distance_from_route', 0.0)
+    msg.navigationd.valid = self.valid
+
+    all_maneuvers = (
+      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
+                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
+      if progress
+      else []
+    )
+    msg.navigationd.allManeuvers = all_maneuvers
+    return msg
+
+  def run(self):
+    cloudlog.warning('navigationd init')
+
+    while True:
+      self.sm.update(0)
+      location = self.sm['liveLocationKalman']
+      localizer_valid = location.positionGeodetic.valid if location else False
+
+      if localizer_valid:
+        self.last_bearing = degrees(location.calibratedOrientationNED.value[2])
+        self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+
+      self._update_params()
+      banner_instructions, progress, nav_data = self._update_navigation()
+
+      msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)
+
+      self.pm.send('navigationd', msg)
+      self.rk.keep_time()
+
+
+def main():
+  nav = Navigationd()
+  nav.run()

sunnypilot/navd/tests/test_navigationd.py

@@ -0,0 +1,67 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import platform
+import pytest
+
+import cereal.messaging as messaging
+
+from openpilot.sunnypilot.navd.navigationd import Navigationd
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class TestNavigationd:
+  is_darwin = platform.system() == "Darwin"
+
+  @pytest.fixture(autouse=True)
+  def setup_method(self, mocker):
+    if self.is_darwin:
+      mocker.patch('cereal.messaging.SubMaster')
+      mocker.patch('cereal.messaging.PubMaster')
+
+  def test_update_params(self):
+    nav = Navigationd()
+    nav.last_position = None
+    nav._update_params()
+    assert nav.frame == -1
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav._update_params()
+    assert nav.frame == 0  # frame only updates when last position is set
+
+  def test_update_navigation_no_position(self):
+    nav = Navigationd()
+    nav.last_position = None
+    banner, progress, nav_data = nav._update_navigation()
+    assert banner == ''
+    assert progress is None
+    assert nav_data == {}
+
+  def test_update_navigation(self):
+    nav = Navigationd()
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav.route = {'580 Winchester dr, oxnard, CA': True}
+    banner, progress, nav_data = nav._update_navigation()
+    assert isinstance(banner, str)
+    assert not progress  # no route was actually set
+    assert isinstance(nav_data, dict)
+
+  def test_build_navigation_message(self):
+    if self.is_darwin:
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+      assert msg.navigationd.bannerInstructions == ''
+      assert msg.navigationd.valid is False
+    else:
+      sm = messaging.SubMaster(['navigationd'])
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+
+      nav.pm.send('navigationd', msg)
+      sm.update()
+      received_msg = sm['navigationd']
+
+      assert received_msg.bannerInstructions == msg.navigationd.bannerInstructions
+      assert received_msg.valid == msg.navigationd.valid

sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -72,6 +72,8 @@ class ControlsExt:
 
     CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
 
+    CC_SP.speed = sm['carState'].vEgo
+
     return CC_SP
 
   @staticmethod

sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

@@ -7,11 +7,17 @@ See the LICENSE.md file in the root directory for more details.
 
 from parameterized import parameterized
 
+import cereal.messaging
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
   AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY
 
+class MockSubMaster:
+  def __init__(self, services):
+    pass
+
+
 AUTO_LANE_CHANGE_TIMER_COMBOS = [
   (AutoLaneChangeMode.NUDGELESS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]),
   (AutoLaneChangeMode.HALF_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.HALF_SECOND]),
@@ -23,6 +29,7 @@ AUTO_LANE_CHANGE_TIMER_COMBOS = [
 
 class TestAutoLaneChangeController:
   def setup_method(self):
+    cereal.messaging.SubMaster = MockSubMaster
     self.DH = DesireHelper()
     self.alc = AutoLaneChangeController(self.DH)
 

sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -1,14 +1,29 @@
 import pytest
+
+import cereal.messaging
 from cereal import log, custom
 from openpilot.common.params import Params
 
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
 
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 
+class MockSubMaster:
+  def __init__(self, services): pass
+
+  def update(self, timeout): pass
+
+  def __getitem__(self, key):
+    return type('nav_msg', (), {'valid': False})()
+
+
+@pytest.fixture(autouse=True)
+def mock_submaster():
+  cereal.messaging.SubMaster = MockSubMaster
+
+
 @pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
   (True, False, 5, False, False, TurnDirection.turnLeft),
   (False, True, 6, False, False, TurnDirection.turnRight),
@@ -107,7 +122,6 @@ def set_lane_turn_params():
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
   dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
   for _ in range(10):
     dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  assert dh.desire == expected_desire

system/manager/process_config.py

@@ -180,6 +180,9 @@ procs += [
   NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
   PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 
+  # navigationd
+  PythonProcess("navigationd", "sunnypilot.navd.navigationd", only_onroad),
+
   # locationd
   NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]

system/ui/spinner.py

@@ -8,8 +8,6 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.text import wrap_text
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
-
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
@@ -28,7 +26,7 @@ def clamp(value, min_value, max_value):
 class Spinner(Widget):
   def __init__(self):
     super().__init__()
-    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app.texture("../../sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
     self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
     self._rotation = 0.0
     self._progress: int | None = None

system/ui/sunnypilot/lib/application.py

@@ -1,24 +0,0 @@
-from openpilot.system.ui.lib.application import GuiApplication
-from importlib.resources import as_file, files
-
-ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
-
-
-class GuiApplicationSP(GuiApplication):
-
-  def __init__(self, width: int, height: int):
-    super().__init__(width, height)
-
-  def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
-    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
-    if cache_key in self._textures:
-      return self._textures[cache_key]
-
-    with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
-      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
-      texture_obj = self._load_texture_from_image(image_obj)
-    self._textures[cache_key] = texture_obj
-    return texture_obj
-
-
-gui_app_sp = GuiApplicationSP(2160, 1080)

system/ui/sunnypilot/lib/styles.py

@@ -0,0 +1,44 @@
+import pyray as rl
+from dataclasses import dataclass
+
+@dataclass
+class Base:
+  # Widget/Control Base Dimensions
+  ITEM_BASE_HEIGHT = 170
+  ITEM_PADDING = 20
+  ITEM_TEXT_FONT_SIZE = 50
+  ITEM_DESC_FONT_SIZE = 40
+  ITEM_DESC_V_OFFSET = 150
+
+  # Toggle Control
+  TOGGLE_HEIGHT = 100
+  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
+  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
+
+  # Button Control
+  BUTTON_WIDTH = 250
+  BUTTON_HEIGHT = 100
+
+@dataclass
+class SP_Default(Base):
+  # Base Colors
+  BASE_BG_COLOR = rl.Color(57, 57, 57, 255) # Grey
+  ON_BG_COLOR = rl.Color(28, 101, 186, 255) # Blue
+  OFF_BG_COLOR = BASE_BG_COLOR
+  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255) # Dark Blue
+  OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
+  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255) # Dull Blue
+  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
+  ITEM_TEXT_COLOR = rl.WHITE
+  ITEM_DISABLED_TEXT_COLOR = rl.Color(88, 88, 88, 255)
+  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+
+  # Toggle Control
+  TOGGLE_ON_COLOR = ON_BG_COLOR
+  TOGGLE_OFF_COLOR = OFF_BG_COLOR
+  TOGGLE_KNOB_COLOR = rl.WHITE
+  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
+  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
+  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey
+
+style = SP_Default

system/ui/sunnypilot/widgets/input_dialog.py

@@ -0,0 +1,35 @@
+from collections.abc import Callable
+
+from openpilot.common.params import Params
+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.keyboard import Keyboard
+
+
+class InputDialogSP:
+  def __init__(self, title: str, sub_title: str | None = None, current_text: str = "", param: str | None = None,
+               callback: Callable[[DialogResult, str], None] | None = None,
+               min_text_size: int = 0, password_mode: bool = False):
+    self.callback = callback
+    self.current_text = current_text
+    self.keyboard = Keyboard(max_text_size=255, min_text_size=min_text_size, password_mode=password_mode)
+    self.param = param
+    self._params = Params()
+    self.sub_title = sub_title
+    self.title = title
+
+  def show(self):
+    self.keyboard.reset(min_text_size=self.keyboard._min_text_size)
+    self.keyboard.set_title(tr(self.title), *(tr(self.sub_title),) if self.sub_title else ())
+    self.keyboard.set_text(self.current_text)
+
+    def internal_callback(result: DialogResult):
+      text = self.keyboard.text if result == DialogResult.CONFIRM else ""
+      if result == DialogResult.CONFIRM:
+        if self.param:
+          self._params.put(self.param, text)
+      if self.callback:
+        self.callback(result, text)
+
+    gui_app.set_modal_overlay(self.keyboard, internal_callback)

system/ui/sunnypilot/widgets/list_view.py

@@ -0,0 +1,173 @@
+import pyray as rl
+
+from collections.abc import Callable
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, _resolve_value
+from openpilot.system.ui.sunnypilot.lib.styles import style
+
+
+class ToggleActionSP(ToggleAction):
+  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
+               callback: Callable[[bool], None] | None = None, param: str | None = None):
+    ToggleAction.__init__(self, initial_state, width, enabled, callback)
+    self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
+
+class MultipleButtonActionSP(MultipleButtonAction):
+  def __init__(self, param: str | None, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None):
+    MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
+    self.param_key = param
+    self.params = Params()
+    if self.param_key:
+      self.selected_button = int(self.params.get(self.param_key, return_default=True))
+
+  def _render(self, rect: rl.Rectangle):
+    spacing = style.ITEM_PADDING
+    button_y = rect.y + (rect.height - style.BUTTON_HEIGHT) / 2
+
+    for i, _text in enumerate(self.buttons):
+      button_x = rect.x + i * (self.button_width + spacing)
+      button_rect = rl.Rectangle(button_x, button_y, self.button_width, style.BUTTON_HEIGHT)
+
+      # Check button state
+      mouse_pos = rl.get_mouse_position()
+      is_hovered = rl.check_collision_point_rec(mouse_pos, button_rect)
+      is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
+      is_selected = i == self.selected_button
+
+      # Button colors
+      if is_selected:
+        bg_color = style.ON_BG_COLOR
+        if is_pressed:
+          bg_color = style.ON_HOVER_BG_COLOR
+      elif is_pressed:
+        bg_color = style.OFF_HOVER_BG_COLOR
+      else:
+        bg_color = style.OFF_BG_COLOR
+
+      if not self.enabled:
+        bg_color = style.DISABLED_OFF_BG_COLOR
+
+      # Draw button
+      rl.draw_rectangle_rounded(button_rect, 1.0, 20, bg_color)
+
+      # Draw text
+      text = _resolve_value(_text, "")
+      text_size = measure_text_cached(self._font, text, 40)
+      text_x = button_x + (self.button_width - text_size.x) / 2
+      text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2
+      text_color = style.ITEM_TEXT_COLOR if self.enabled else style.ITEM_DISABLED_TEXT_COLOR
+      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, text_color)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    MultipleButtonAction._handle_mouse_release(self, mouse_pos)
+    if self.param_key:
+      self.params.put(self.param_key, self.selected_button)
+
+class ListItemSP(ListItem):
+  def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
+               description_visible: bool = False, callback: Callable | None = None,
+               action_item: ItemAction | None = None, inline: bool = True):
+    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
+    self.inline = inline
+    if not self.inline:
+      self._rect.height += style.ITEM_BASE_HEIGHT/1.75
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    height = super().get_item_height(font, max_width)
+    if not self.inline:
+      height = height + style.ITEM_BASE_HEIGHT/1.75
+    return height
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.action_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    if not self.inline:
+      action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
+
+    right_width = self.action_item.rect.width
+    if right_width == 0:  # Full width action (like DualButtonAction)
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
+                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
+
+    action_width = self.action_item.rect.width
+    if isinstance(self.action_item, ToggleAction):
+      action_x = item_rect.x
+    else:
+      action_x = item_rect.x + item_rect.width - action_width
+    action_y = item_rect.y
+    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
+
+  def _render(self, _):
+    if not self.is_visible:
+      return
+
+      # Don't draw items that are not in parent's viewport
+    if (self._rect.y + self.rect.height) <= self._parent_rect.y or self._rect.y >= (self._parent_rect.y + self._parent_rect.height):
+      return
+
+    content_x = self._rect.x + style.ITEM_PADDING
+    text_x = content_x
+    left_action_item = isinstance(self.action_item, ToggleAction)
+
+    if left_action_item:
+      left_rect = rl.Rectangle(
+        content_x,
+        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
+        style.TOGGLE_WIDTH,
+        style.TOGGLE_HEIGHT
+      )
+      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
+
+      # Draw title
+      if self.title:
+        self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+
+      # Render toggle and handle callback
+      if self.action_item.render(left_rect) and self.action_item.enabled:
+        if self.callback:
+          self.callback()
+
+    else:
+      if self.title:
+        # Draw main text
+        self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+
+        # Draw right item if present
+        if self.action_item:
+          right_rect = self.get_right_item_rect(self._rect)
+          if self.action_item.render(right_rect) and self.action_item.enabled:
+            # Right item was clicked/activated
+            if self.callback:
+              self.callback()
+
+    # Draw description if visible
+    if self.description_visible:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      description_height = self._html_renderer.get_total_height(content_width)
+
+      desc_y = self._rect.y + style.ITEM_DESC_V_OFFSET
+      if not self.inline and self.action_item:
+        desc_y = self.action_item.rect.y + style.ITEM_DESC_V_OFFSET - style.ITEM_PADDING * 1.75
+
+      description_rect = rl.Rectangle(self._rect.x + style.ITEM_PADDING, desc_y, content_width, description_height)
+      self._html_renderer.render(description_rect)
+
+def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
+                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItem:
+  action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
+
+def multiple_button_item_sp(title: str | Callable[[], str], description: str| Callable[[], str], buttons: list[str | Callable[[], str]],
+                            selected_index: int = 0, button_width: int = style.BUTTON_WIDTH, callback: Callable = None,
+                            icon: str = "", param: str | None = None, inline: bool = True) -> ListItem:
+  action = MultipleButtonActionSP(param, buttons, button_width, selected_index, callback=callback)
+  return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)

system/ui/sunnypilot/widgets/tests/test_input_dialog.py

@@ -0,0 +1,58 @@
+import os
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.sunnypilot.widgets.input_dialog import InputDialogSP
+
+os.environ['SDL_VIDEODRIVER'] = 'dummy'
+if not os.environ.get('CI'):
+  pytest.skip("Test in CI environment, or comment out this flag to test locally", allow_module_level=True)
+
+
+class TestInputDialog:
+  def setup_method(self):
+    self.params = Params()
+
+  def test_input_dialog_int(self):
+    gui_app.init_window("test window")
+    dialog = InputDialogSP("title", current_text="current_text", param="MapTargetVelocities")
+    dialog.show()
+
+    dialog.keyboard._render_return_status = 1
+    gui_app._handle_modal_overlay()
+
+    assert self.params.get("MapTargetVelocities") == "current_text"
+
+  def test_before_input_dialog(self):
+    gui_app.init_window("test window")
+    current_apn = "gsmapn"
+    # This tests the pre InputDialogSP, where keyboard setup had to be done for every single dialog box you want to use.
+    self.keyboard = Keyboard()
+    self.keyboard.reset(min_text_size=0)
+    self.keyboard.set_title(("Enter APN"), ("networking"))
+    self.keyboard.set_text(current_apn)
+
+    def pre_input_dialog_callback(result):
+      if result == 1:
+        apn = self.keyboard.text.strip()
+        self.params.put("GsmApn", apn)
+
+    gui_app.set_modal_overlay(self.keyboard, pre_input_dialog_callback)
+    self.keyboard.set_text("new_apn")
+    self.keyboard._render_return_status = 1
+    gui_app._handle_modal_overlay()
+    pre_input_dialog_result = self.params.get("GsmApn")
+
+    assert pre_input_dialog_result == "new_apn"
+
+    dialog = InputDialogSP(title="Enter APN", sub_title="networking", current_text=current_apn, param="GsmApn")
+    dialog.show()
+    dialog.keyboard.set_text("new_apn")
+    dialog.keyboard._render_return_status = 1
+    gui_app._handle_modal_overlay()
+    input_dialog_result = self.params.get("GsmApn")
+
+    assert input_dialog_result == "new_apn"
+    assert pre_input_dialog_result == input_dialog_result

system/ui/sunnypilot/widgets/toggle.py

@@ -0,0 +1,96 @@
+import pyray as rl
+from collections.abc import Callable
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets.toggle import Toggle
+from openpilot.system.ui.sunnypilot.lib.styles import style
+
+KNOB_PADDING = 5
+KNOB_RADIUS = style.TOGGLE_BG_HEIGHT / 2 - KNOB_PADDING
+SYMBOL_SIZE = KNOB_RADIUS / 2
+
+class ToggleSP(Toggle):
+  def __init__(self, initial_state=False, callback: Callable[[bool], None] | None = None, param: str | None = None):
+    self.param_key = param
+    self.params = Params()
+    if self.param_key:
+        initial_state = self.params.get_bool(self.param_key)
+    Toggle.__init__(self, initial_state, callback)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+      super()._handle_mouse_release(mouse_pos)
+      if self._enabled and self.param_key:
+        self.params.put_bool(self.param_key, self._state)
+
+  def _render(self, rect: rl.Rectangle):
+    self.update()
+    if self._enabled:
+      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_KNOB_COLOR
+    else:
+      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
+
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
+
+    # Draw outline first
+    outline_color = style.TOGGLE_ON_COLOR
+    if not self._enabled:
+        # Use a more subtle color for disabled state
+        outline_color = rl.Color(outline_color.r // 2, outline_color.g // 2, outline_color.b // 2, 255)
+
+    # Draw outline by drawing a slightly larger rounded rectangle behind the background
+    outline_rect = rl.Rectangle(bg_rect.x - 2, bg_rect.y - 2, bg_rect.width + 4, bg_rect.height + 4)
+    rl.draw_rectangle_rounded(outline_rect, 1.0, 10, outline_color)
+
+    # Draw actual background
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
+
+    left_edge = bg_rect.x + KNOB_PADDING
+    right_edge = bg_rect.x + bg_rect.width - KNOB_PADDING
+
+    knob_travel_distance = right_edge - left_edge - 2 * KNOB_RADIUS
+    min_knob_x = left_edge + KNOB_RADIUS
+    knob_x = min_knob_x + knob_travel_distance * self._progress
+    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
+
+    rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
+
+    if self._state and (self._enabled or self._progress > 0.5):
+        # Draw checkmark when toggle is ON
+        start_x = knob_x - SYMBOL_SIZE * 0.8
+        start_y = knob_y
+        mid_x = knob_x - SYMBOL_SIZE * 0.1
+        mid_y = knob_y + SYMBOL_SIZE * 0.6
+        end_x = knob_x + SYMBOL_SIZE * 0.8
+        end_y = knob_y - SYMBOL_SIZE * 0.5
+
+        rl.draw_line_ex(
+            rl.Vector2(int(start_x), int(start_y)),
+            rl.Vector2(int(mid_x), int(mid_y)),
+            3,
+          style.TOGGLE_ON_COLOR
+        )
+        rl.draw_line_ex(
+            rl.Vector2(int(mid_x), int(mid_y)),
+            rl.Vector2(int(end_x), int(end_y)),
+            3,
+          style.TOGGLE_ON_COLOR
+        )
+    else:
+        # Draw X when toggle is OFF
+        x_offset = SYMBOL_SIZE * 0.65
+
+        rl.draw_line_ex(
+            rl.Vector2(int(knob_x - x_offset), int(knob_y - x_offset)),
+            rl.Vector2(int(knob_x + x_offset), int(knob_y + x_offset)),
+            3,
+          style.TOGGLE_OFF_COLOR
+        )
+        rl.draw_line_ex(
+            rl.Vector2(int(knob_x + x_offset), int(knob_y - x_offset)),
+            rl.Vector2(int(knob_x - x_offset), int(knob_y + x_offset)),
+            3,
+          style.TOGGLE_OFF_COLOR
+        )