rr

Adjusted acceleration profiles and breakpoints for different personalities. Modified smoothing alpha for acceleration.

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

@@ -174,6 +174,24 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Restore workflows from source
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+
+          # Ensure we are on the target branch
+          git checkout $TARGET_BRANCH
+
+          echo "Restoring .github/workflows from $SOURCE_BRANCH"
+          git checkout origin/$SOURCE_BRANCH -- .github/workflows
+
+          if ! git diff --cached --quiet; then
+            echo "Workflows differ. Committing restoration."
+            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
+          else
+            echo "Workflows match $SOURCE_BRANCH."
+          fi
+
       - uses: actions/create-github-app-token@v2
         id: ci-token
         with:

.github/workflows/tests.yaml

@@ -108,7 +108,6 @@ jobs:
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:

.gitmodules

@@ -4,6 +4,7 @@
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
+  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/commaai/msgq.git

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export LOGPRINT=debug
+#export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}

README.md

@@ -11,66 +11,10 @@ Join the official sunnypilot community forum to stay up to date with all the lat
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
-
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
 
 ## Installation
-Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
-
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
-
-### Recommended Branches
-|      Branch     |                 Installation URL              |
-|:---------------:|:---------------------------------------------:|
-| `release`       | `https://release.sunnypilot.ai`               |
-| `staging`       | `https://staging.sunnypilot.ai`               |
-|   `dev`         | `https://dev.sunnypilot.ai`                   |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
-
-> [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
-
-> [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
-
-
-<details>
-
-<summary>Older legacy branches</summary>
-
-### If you want to use our older legacy branches (*not recommended*)
-
-> [**IMPORTANT**]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-</details>
-
+Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

RELEASES.md

@@ -1,3 +1,7 @@
+Version 0.10.4 (2026-02-17)
+========================
+* Lexus LS 2018 support thanks to Hacheoy!
+
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249

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;
@@ -288,6 +293,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     sccVision @1;
     sccMap @2;
     speedLimitAssist @3;
+    mapd @4;
   }
 
   struct E2eAlerts {
@@ -340,6 +346,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -446,6 +453,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;
@@ -475,11 +484,125 @@ struct CustomReserved15 @0xbd443b539493bc68 {
 struct CustomReserved16 @0xfc6241ed8877b611 {
 }
 
-struct CustomReserved17 @0xa30662f84033036c {
+struct MapdDownloadLocationDetails @0xff889853e7b0987f {
+  location @0 :Text;
+  totalFiles @1 :UInt32;
+  downloadedFiles @2 :UInt32;
 }
 
-struct CustomReserved18 @0xc86a3d38d13eb3ef {
+struct MapdDownloadProgress @0xfaa35dcac85073a2 {
+  active @0 :Bool;
+  cancelled @1 :Bool;
+  totalFiles @2 :UInt32;
+  downloadedFiles @3 :UInt32;
+  locations @4 :List(Text);
+  locationDetails @5 :List(MapdDownloadLocationDetails);
 }
 
-struct CustomReserved19 @0xa4f1eb3323f5f582 {
+struct MapdPathPoint @0xd6f78acca1bc3939 {
+  latitude @0 :Float64;
+  longitude @1 :Float64;
+  curvature @2 :Float32;
+  targetVelocity @3 :Float32;
+}
+
+struct MapdExtendedOut @0xa30662f84033036c {
+  downloadProgress @0 :MapdDownloadProgress;
+  settings @1 :Text;
+  path @2 :List(MapdPathPoint);
+}
+
+enum MapdInputType {
+  download @0;
+  setTargetLateralAccel @1;
+  setSpeedLimitOffset @2;
+  setSpeedLimitControl @3;
+  setMapCurveSpeedControl @4;
+  setVisionCurveSpeedControl @5;
+  setLogLevel @6;
+  setVisionCurveTargetLatA @7;
+  setVisionCurveMinTargetV @8;
+  reloadSettings @9;
+  saveSettings @10;
+  setEnableSpeed @11;
+  setVisionCurveUseEnableSpeed @12;
+  setMapCurveUseEnableSpeed @13;
+  setSpeedLimitUseEnableSpeed @14;
+  setHoldLastSeenSpeedLimit @15;
+  setTargetSpeedJerk @16;
+  setTargetSpeedAccel @17;
+  setTargetSpeedTimeOffset @18;
+  setDefaultLaneWidth @19;
+  setMapCurveTargetLatA @20;
+  loadDefaultSettings @21;
+  loadRecommendedSettings @22;
+  setSlowDownForNextSpeedLimit @23;
+  setSpeedUpForNextSpeedLimit @24;
+  setHoldSpeedLimitWhileChangingSetSpeed @25;
+  loadPersistentSettings @26;
+  cancelDownload @27;
+  setLogJson @28;
+  setLogSource @29;
+  setExternalSpeedLimitControl @30;
+  setExternalSpeedLimit @31;
+  setSpeedLimitPriority @32;
+  setSpeedLimitChangeRequiresAccept @33;
+  acceptSpeedLimit @34;
+  setPressGasToAcceptSpeedLimit @35;
+  setAdjustSetSpeedToAcceptSpeedLimit @36;
+  setAcceptSpeedLimitTimeout @37;
+  setPressGasToOverrideSpeedLimit @38;
+}
+
+enum WaySelectionType {
+  current @0;
+  predicted @1;
+  possible @2;
+  extended @3;
+  fail @4;
+}
+
+enum SpeedLimitOffsetType {
+  static @0;
+  percent @1;
+}
+
+struct MapdIn @0xc86a3d38d13eb3ef {
+  type @0 :MapdInputType;
+  float @1 :Float32;
+  str @2 :Text;
+  bool @3 :Bool;
+}
+
+enum RoadContext {
+  freeway @0;
+  city @1;
+  unknown @2;
+}
+
+struct MapdOut @0xa4f1eb3323f5f582 {
+  wayName @0 :Text;
+  wayRef @1 :Text;
+  roadName @2 :Text;
+  speedLimit @3 :Float32;
+  nextSpeedLimit @4 :Float32;
+  nextSpeedLimitDistance @5 :Float32;
+  hazard @6 :Text;
+  nextHazard @7 :Text;
+  nextHazardDistance @8 :Float32;
+  advisorySpeed @9 :Float32;
+  nextAdvisorySpeed @10 :Float32;
+  nextAdvisorySpeedDistance @11 :Float32;
+  oneWay @12 :Bool;
+  lanes @13 :UInt8;
+  tileLoaded @14 :Bool;
+  speedLimitSuggestedSpeed @15 :Float32;
+  suggestedSpeed @16 :Float32;
+  estimatedRoadWidth @17 :Float32;
+  roadContext @18 :RoadContext;
+  distanceFromWayCenter @19 :Float32;
+  visionCurveSpeed @20 :Float32;
+  mapCurveSpeed @21 :Float32;
+  waySelectionType @22 :WaySelectionType;
+  speedLimitAccepted @23 :Bool;
 }

cereal/log.capnp

@@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -2642,9 +2643,9 @@ struct Event {
     customReserved14 @140 :Custom.CustomReserved14;
     customReserved15 @141 :Custom.CustomReserved15;
     customReserved16 @142 :Custom.CustomReserved16;
-    customReserved17 @143 :Custom.CustomReserved17;
-    customReserved18 @144 :Custom.CustomReserved18;
-    customReserved19 @145 :Custom.CustomReserved19;
+    mapdExtendedOut @143 :Custom.MapdExtendedOut;
+    mapdIn @144 :Custom.MapdIn;
+    mapdOut @145 :Custom.MapdOut;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated

cereal/messaging/__init__.py

@@ -13,7 +13,7 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

cereal/services.py

@@ -98,9 +98,9 @@ _services: dict[str, tuple] = {
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
-  "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
+  "mapdOut": (True, 20., 20, QueueSize.MEDIUM),
 
   # debug
   "uiDebug": (True, 0., 1),

common/SConscript

@@ -19,11 +19,6 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
+common_python = [params_python]
 
 Export('common_python')

common/api/__init__.py

@@ -18,8 +18,8 @@ class Api:
     return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
 
 
 def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:

common/api/base.py

@@ -51,7 +51,7 @@ class BaseApi:
     ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
     return ascii_encoded_text.decode()
 
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
     headers = {}
     if access_token is not None:
       headers['Authorization'] = "JWT " + access_token
@@ -59,7 +59,9 @@ class BaseApi:
     version = self.remove_non_ascii_chars(get_version())
     headers['User-Agent'] = self.user_agent + version
 
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+    # TODO: add session to Api
+    req = requests if session is None else session
+    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
   def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Dark Souls 2 (Default)"
+#define DEFAULT_MODEL "WMI (Default)"

common/params_keys.h

@@ -133,6 +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, "0"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -145,15 +147,18 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
     {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
     {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
+    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
     {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DynamicFollow", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
     {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -166,17 +171,23 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
+    // toyota specific params
+    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -191,6 +202,9 @@ 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}},
 
+    {"MapdSettings", {PERSISTENT, JSON}},
+    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
+
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 
@@ -219,43 +233,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnypilot model params
+    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-
-    // mapd
-    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING}},
-    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
-    {"OSMDownloadBounds", {PERSISTENT, STRING}},
-    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
-    {"OSMDownloadLocations", {PERSISTENT, JSON}},
-    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OsmLocal", {PERSISTENT, BOOL}},
-    {"OsmLocationName", {PERSISTENT, STRING}},
-    {"OsmLocationTitle", {PERSISTENT, STRING}},
-    {"OsmLocationUrl", {PERSISTENT, STRING}},
-    {"OsmStateName", {PERSISTENT, STRING, "All"}},
-    {"OsmStateTitle", {PERSISTENT, STRING}},
-    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT, STRING}},
-
-    // Speed Limit
-    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
-    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-
-    // Smart Cruise Control
-    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // Torque lateral control custom params
     {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},

common/pid.py

@@ -3,15 +3,9 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,7 +13,11 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/prefix.py

@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,9 +10,10 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/transformations/SConscript

@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')

common/transformations/tests/test_coordinates.py

@@ -102,3 +102,36 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
+
+  def test_errors(self):
+    # Test wrong shape/type for geodetic2ecef
+    # numpy_wrap raises IndexError for scalar input
+    with np.testing.assert_raises(IndexError):
+      coord.geodetic2ecef(1.0)
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0])
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0, 0, 0])
+
+    with np.testing.assert_raises(TypeError):
+      coord.geodetic2ecef(['a', 'b', 'c'])
+
+    # Test LocalCoord constructor errors
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic([0, 0])
+
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic(1)
+
+    with np.testing.assert_raises(TypeError):
+      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
+
+    # Test wrong shape/type for ecef2geodetic
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2])
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2, 3, 4])
+    with np.testing.assert_raises(IndexError):
+      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
+
+  def test_inputs(self):
+    with pytest.raises(ValueError):
+      euler2quat([1, 2])
+
+    with pytest.raises(ValueError):
+      quat2rot([1, 2, 3])
+
+    with pytest.raises(IndexError):
+      rot2quat(np.zeros((2, 2)))
+
+  def test_euler_rot_consistency(self):
+    rpy = [0.1, 0.2, 0.3]
+    R = euler2rot(rpy)
+
+    # R -> q -> R
+    q = rot2quat(R)
+    R_new = quat2rot(q)
+    np.testing.assert_allclose(R, R_new, atol=1e-15)
+
+    # q -> R -> Euler (quat2euler) -> R
+    rpy_new = quat2euler(q)
+    R_new2 = euler2rot(rpy_new)
+    np.testing.assert_allclose(R, R_new2, atol=1e-15)
+
+    # R -> Euler (rot2euler) -> R
+    rpy_from_rot = rot2euler(R)
+    R_new3 = euler2rot(rpy_from_rot)
+    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -1,72 +0,0 @@
-# cython: language_level=3
-from libcpp cimport bool
-
-cdef extern from "orientation.cc":
-  pass
-
-cdef extern from "orientation.hpp":
-  cdef cppclass Quaternion "Eigen::Quaterniond":
-    Quaternion()
-    Quaternion(double, double, double, double)
-    double w()
-    double x()
-    double y()
-    double z()
-
-  cdef cppclass Vector3 "Eigen::Vector3d":
-    Vector3()
-    Vector3(double, double, double)
-    double operator()(int)
-
-  cdef cppclass Matrix3 "Eigen::Matrix3d":
-    Matrix3()
-    Matrix3(double*)
-
-    double operator()(int, int)
-
-  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(const Vector3 &)
-  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
-
-
-cdef extern from "coordinates.cc":
-  cdef struct ECEF:
-    double x
-    double y
-    double z
-
-  cdef struct NED:
-    double n
-    double e
-    double d
-
-  cdef struct Geodetic:
-    double lat
-    double lon
-    double alt
-    bool radians
-
-  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(const ECEF &)
-
-  cdef cppclass LocalCoord_c "LocalCoord":
-    Matrix3 ned2ecef_matrix
-    Matrix3 ecef2ned_matrix
-
-    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(const ECEF &)
-
-    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(const NED &)
-
-cdef extern from "coordinates.hpp":
-  pass

common/transformations/transformations.py

@@ -0,0 +1,342 @@
+import numpy as np
+
+
+# Constants
+a = 6378137.0
+b = 6356752.3142
+esq = 6.69437999014e-3
+e1sq = 6.73949674228e-3
+
+
+def geodetic2ecef_single(g):
+  """
+  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
+  """
+  try:
+    if len(g) != 3:
+      raise ValueError("Geodetic must be size 3")
+  except TypeError:
+    raise ValueError("Geodetic must be a sequence of length 3") from None
+
+  lat, lon, alt = g
+  lat = np.radians(lat)
+  lon = np.radians(lon)
+  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
+  return np.array([x, y, z])
+
+
+def ecef2geodetic_single(e):
+  """
+  Convert ECEF to geodetic coordinates using Ferrari's solution.
+  """
+  x, y, z = e
+  r = np.sqrt(x**2 + y**2)
+  Esq = a**2 - b**2
+  F = 54 * b**2 * z**2
+  G = r**2 + (1 - esq) * z**2 - esq * Esq
+  C = (esq**2 * F * r**2) / (G**3)
+  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
+  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
+  Q = np.sqrt(1 + 2 * esq**2 * P)
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
+  U = np.sqrt((r - esq * r_0)**2 + z**2)
+  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
+  Z_0 = b**2 * z / (a * V)
+  h = U * (1 - b**2 / (a * V))
+  lat = np.arctan((z + e1sq * Z_0) / r)
+  lon = np.arctan2(y, x)
+  return np.array([np.degrees(lat), np.degrees(lon), h])
+
+
+def euler2quat_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a quaternion.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
+  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
+  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
+
+  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
+  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
+  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
+  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def quat2euler_single(q):
+  """
+  Convert a quaternion to Euler angles (roll, pitch, yaw).
+  """
+  w, x, y, z = q
+  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+  sin_arg = 2 * (w * y - z * x)
+  sin_arg = np.clip(sin_arg, -1.0, 1.0)
+  theta = np.arcsin(sin_arg)
+  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+  return np.array([gamma, theta, psi])
+
+
+def quat2rot_single(q):
+  """
+  Convert a quaternion to a 3x3 rotation matrix.
+  """
+  w, x, y, z = q
+  xx, yy, zz = x * x, y * y, z * z
+  xy, xz, yz = x * y, x * z, y * z
+  wx, wy, wz = w * x, w * y, w * z
+
+  mat = np.array([
+    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
+    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
+    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
+  ])
+  return mat
+
+
+def rot2quat_single(rot):
+  """
+  Convert a 3x3 rotation matrix to a quaternion.
+  """
+  trace = np.trace(rot)
+  if trace > 0:
+    s = 0.5 / np.sqrt(trace + 1.0)
+    w = 0.25 / s
+    x = (rot[2, 1] - rot[1, 2]) * s
+    y = (rot[0, 2] - rot[2, 0]) * s
+    z = (rot[1, 0] - rot[0, 1]) * s
+  else:
+    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
+      w = (rot[2, 1] - rot[1, 2]) / s
+      x = 0.25 * s
+      y = (rot[0, 1] + rot[1, 0]) / s
+      z = (rot[0, 2] + rot[2, 0]) / s
+    elif rot[1, 1] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
+      w = (rot[0, 2] - rot[2, 0]) / s
+      x = (rot[0, 1] + rot[1, 0]) / s
+      y = 0.25 * s
+      z = (rot[1, 2] + rot[2, 1]) / s
+    else:
+      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
+      w = (rot[1, 0] - rot[0, 1]) / s
+      x = (rot[0, 2] + rot[2, 0]) / s
+      y = (rot[1, 2] + rot[2, 1]) / s
+      z = 0.25 * s
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def euler2rot_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  cx, sx = np.cos(phi), np.sin(phi)
+  cy, sy = np.cos(theta), np.sin(theta)
+  cz, sz = np.cos(psi), np.sin(psi)
+
+  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
+  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
+  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
+
+  return Rz @ Ry @ Rx
+
+
+def rot2euler_single(rot):
+  """
+  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
+  """
+  return quat2euler_single(rot2quat_single(rot))
+
+
+def rot_matrix(roll, pitch, yaw):
+  """
+  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
+  """
+  return euler2rot_single([roll, pitch, yaw])
+
+
+def axis_angle_to_rot(axis, angle):
+  """
+  Convert an axis-angle representation to a 3x3 rotation matrix.
+  """
+  c = np.cos(angle / 2)
+  s = np.sin(angle / 2)
+  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
+  return quat2rot_single(q)
+
+
+class LocalCoord:
+  """
+  A class to handle conversions between ECEF and local NED coordinates.
+  """
+  def __init__(self, geodetic=None, ecef=None):
+    """
+    Initialize LocalCoord with either geodetic or ECEF coordinates.
+    """
+    if geodetic is not None:
+      self.init_ecef = geodetic2ecef_single(geodetic)
+      lat, lon, _ = geodetic
+    elif ecef is not None:
+      self.init_ecef = np.array(ecef)
+      lat, lon, _ = ecef2geodetic_single(ecef)
+    else:
+      raise ValueError("Must provide geodetic or ecef")
+
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+
+    self.ned2ecef_matrix = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, geodetic):
+    """
+    Create a LocalCoord instance from geodetic coordinates.
+    """
+    return cls(geodetic=geodetic)
+
+  @classmethod
+  def from_ecef(cls, ecef):
+    """
+    Create a LocalCoord instance from ECEF coordinates.
+    """
+    return cls(ecef=ecef)
+
+  def ecef2ned_single(self, ecef):
+    """
+    Convert a single ECEF point to NED coordinates relative to the origin.
+    """
+    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
+
+  def ned2ecef_single(self, ned):
+    """
+    Convert a single NED point to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix @ ned + self.init_ecef
+
+  def geodetic2ned_single(self, geodetic):
+    """
+    Convert a single geodetic point to NED coordinates.
+    """
+    ecef = geodetic2ecef_single(geodetic)
+    return self.ecef2ned_single(ecef)
+
+  def ned2geodetic_single(self, ned):
+    """
+    Convert a single NED point to geodetic coordinates.
+    """
+    ecef = self.ned2ecef_single(ned)
+    return ecef2geodetic_single(ecef)
+
+  @property
+  def ned_from_ecef_matrix(self):
+    """
+    Returns the rotation matrix from ECEF to NED coordinates.
+    """
+    return self.ecef2ned_matrix
+
+  @property
+  def ecef_from_ned_matrix(self):
+    """
+    Returns the rotation matrix from NED to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix
+
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+  """
+  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent ECEF Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+  zero = np.array(ecef_init)
+
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  phi, theta, psi = ned_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
+
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+  """
+  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent NED Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  phi, theta, psi = ecef_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  zero = np.array(ecef_init)
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -1,173 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
-from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
-from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
-from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
-from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
-from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
-from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from openpilot.common.transformations.transformations cimport LocalCoord_c
-
-
-import numpy as np
-cimport numpy as np
-
-cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
-    return np.array([
-        [m(0, 0), m(0, 1), m(0, 2)],
-        [m(1, 0), m(1, 1), m(1, 2)],
-        [m(2, 0), m(2, 1), m(2, 2)],
-    ])
-
-cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
-    assert m.shape[0] == 3
-    assert m.shape[1] == 3
-    return Matrix3(<double*>m.data)
-
-cdef ECEF list2ecef(ecef):
-    cdef ECEF e
-    e.x = ecef[0]
-    e.y = ecef[1]
-    e.z = ecef[2]
-    return e
-
-cdef NED list2ned(ned):
-    cdef NED n
-    n.n = ned[0]
-    n.e = ned[1]
-    n.d = ned[2]
-    return n
-
-cdef Geodetic list2geodetic(geodetic):
-    cdef Geodetic g
-    g.lat = geodetic[0]
-    g.lon = geodetic[1]
-    g.alt = geodetic[2]
-    return g
-
-def euler2quat_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Quaternion q = euler2quat_c(e)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def quat2euler_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q)
-    return [e(0), e(1), e(2)]
-
-def quat2rot_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Matrix3 r = quat2rot_c(q)
-    return matrix2numpy(r)
-
-def rot2quat_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Quaternion q = rot2quat_c(r)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def euler2rot_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Matrix3 r = euler2rot_c(e)
-    return matrix2numpy(r)
-
-def rot2euler_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Vector3 e = rot2euler_c(r)
-    return [e(0), e(1), e(2)]
-
-def rot_matrix(roll, pitch, yaw):
-    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
-
-    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
-
-    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def geodetic2ecef_single(geodetic):
-    cdef Geodetic g = list2geodetic(geodetic)
-    cdef ECEF e = geodetic2ecef_c(g)
-    return [e.x, e.y, e.z]
-
-def ecef2geodetic_single(ecef):
-    cdef ECEF e = list2ecef(ecef)
-    cdef Geodetic g = ecef2geodetic_c(e)
-    return [g.lat, g.lon, g.alt]
-
-
-cdef class LocalCoord:
-    cdef LocalCoord_c * lc
-
-    def __init__(self, geodetic=None, ecef=None):
-        assert (geodetic is not None) or (ecef is not None)
-        if geodetic is not None:
-            self.lc = new LocalCoord_c(list2geodetic(geodetic))
-        elif ecef is not None:
-            self.lc = new LocalCoord_c(list2ecef(ecef))
-
-    @property
-    def ned2ecef_matrix(self):
-        return matrix2numpy(self.lc.ned2ecef_matrix)
-
-    @property
-    def ecef2ned_matrix(self):
-        return matrix2numpy(self.lc.ecef2ned_matrix)
-
-    @property
-    def ned_from_ecef_matrix(self):
-        return self.ecef2ned_matrix
-
-    @property
-    def ecef_from_ned_matrix(self):
-        return self.ned2ecef_matrix
-
-    @classmethod
-    def from_geodetic(cls, geodetic):
-        return cls(geodetic=geodetic)
-
-    @classmethod
-    def from_ecef(cls, ecef):
-        return cls(ecef=ecef)
-
-    def ecef2ned_single(self, ecef):
-        assert self.lc
-        cdef ECEF e = list2ecef(ecef)
-        cdef NED n = self.lc.ecef2ned(e)
-        return [n.n, n.e, n.d]
-
-    def ned2ecef_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef ECEF e = self.lc.ned2ecef(n)
-        return [e.x, e.y, e.z]
-
-    def geodetic2ned_single(self, geodetic):
-        assert self.lc
-        cdef Geodetic g = list2geodetic(geodetic)
-        cdef NED n = self.lc.geodetic2ned(g)
-        return [n.n, n.e, n.d]
-
-    def ned2geodetic_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef Geodetic g = self.lc.ned2geodetic(n)
-        return [g.lat, g.lon, g.alt]
-
-    def __dealloc__(self):
-        del self.lc

common/util.py

@@ -1,46 +0,0 @@
-import os
-import subprocess
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count

common/utils.py

@@ -7,14 +7,61 @@ import time
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
-from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
+
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
+
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -107,11 +154,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
         try:
           return func(*args, **kwargs)
         except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
+          print(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
+        print(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.10.4"

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="15.1"
+  export AGNOS_VERSION="16"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -14,7 +14,7 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
+  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # hardwared
@@ -49,7 +49,7 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr", # used in place of 'os.getxattr' for macos compatibility
+  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
   "PyJWT",
@@ -72,7 +72,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186
+  "raylib > 5.5.0.3",
   "qrcode",
   "mapbox-earcut",
 ]
@@ -87,7 +87,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "mypy",
+  "ty",
   "pytest",
   "pytest-cpp",
   "pytest-subtests",
@@ -107,15 +107,13 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "dbus-next", # TODO: remove once we moved everything to jeepney
   "dictdiffer",
   "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
-  "pygame",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pyopencl",
   "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
@@ -181,42 +179,6 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
-[tool.mypy]
-python_version = "3.11"
-exclude = [
-  "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-  "third_party/",
-]
-
-# third-party packages
-ignore_missing_imports=true
-
-# helpful warnings
-warn_redundant_casts=true
-warn_unreachable=true
-warn_unused_ignores=true
-
-# restrict dynamic typing
-warn_return_any=true
-
-# allow implicit optionals for default args
-implicit_optional = true
-
-local_partial_types=true
-explicit_package_bases=true
-disable_error_code = "annotation-unchecked"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -275,3 +237,43 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.format]
 quote-style = "preserve"
+
+[tool.ty.src]
+exclude = [
+  "cereal/",
+  "msgq/",
+  "msgq_repo/",
+  "opendbc/",
+  "opendbc_repo/",
+  "panda/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "teleoprtc/",
+  "teleoprtc_repo/",
+  "third_party/",
+]
+
+[tool.ty.rules]
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed

release/README.md

@@ -4,18 +4,17 @@
 ## release checklist
 
 ### Go to staging
-- [ ] make a GitHub issue to track release
+- [ ] make a GitHub issue to track release with this checklist
 - [ ] create release master branch
-- [ ] update RELEASES.md
+  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
+  - [ ] revert risky commits (double check with autonomy team)
+  - [ ] push the new branch
+- [ ] push to staging:
+  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
+  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] build new userdata partition from `release3-staging`
 - [ ] post on Discord, tag `@release crew`
 
-Updating staging:
-1. either rebase on master or cherry-pick changes
-2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
-3. build new userdata partition from `release3-staging`
-
 ### Go to release
 - [ ] before going to release, test the following:
   - [ ] update from previous release -> new release
@@ -26,7 +25,7 @@ Updating staging:
   - [ ] check sentry, MTBF, etc.
   - [ ] stress test passes in production
 - [ ] publish the blog post
-- [ ] `git reset --hard origin/release3-staging`
+- [ ] `git reset --hard origin/release-mici-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`

scripts/lint/lint.sh

@@ -55,7 +55,7 @@ function run_tests() {
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "mypy" mypy $PYTHON_FILES
+    run "ty" ty check
     run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
@@ -69,7 +69,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
-  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
   echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
@@ -81,11 +81,11 @@ function help() {
   echo "          Specify tests to skip separated by spaces"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op lint mypy ruff"
-  echo "          Only run the mypy and ruff tests"
+  echo "  op lint ty ruff"
+  echo "          Only run the ty and ruff tests"
   echo ""
-  echo "  op lint --skip mypy ruff"
-  echo "          Skip the mypy and ruff tests"
+  echo "  op lint --skip ty ruff"
+  echo "          Skip the ty and ruff tests"
   echo ""
   echo "  op lint"
   echo "          Run all the tests"

selfdrive/car/car_specific.py

@@ -1,7 +1,8 @@
-from cereal import car, log, custom
-import cereal.messaging as messaging
+from cereal import car, log
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
+from opendbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -11,33 +12,6 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-# TODO: the goal is to abstract this file into the CarState struct and make events generic
-class MockCarState:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
-  def update(self, CS: car.CarState, CS_SP: custom.CarStateSP):
-    self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-
-    CS.vEgo = self.sm[gps_sock].speed
-    CS.vEgoRaw = self.sm[gps_sock].speed
-
-    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
@@ -48,14 +22,12 @@ 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()
+      return Events()
 
-    elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+    events = self.create_common_events(CS, CS_prev)
 
+    if self.CP.brand == 'chrysler':
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
@@ -65,8 +37,6 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      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)
 
@@ -87,11 +57,9 @@ 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=extra_gears)
-
       if self.CP.openpilotLongitudinalControl:
         # Only can leave standstill when planner wants to move
-        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
+        if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -103,8 +71,6 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      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
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -114,8 +80,6 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      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:
           events.add(EventName.belowEngageSpeed)
@@ -123,27 +87,26 @@ class CarSpecificEvents:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
-      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      # if CC.eps_timer_soft_disable_alert:
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
-      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, extra_gears=extra_gears)
-
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
-                           allow_button_cancel=True):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
     events = Events()
 
+    CI = interfaces[self.CP.carFingerprint]
+    # TODO: cleanup the honda-specific logic
+    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
+    # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
+    # so only use it for cancel when running openpilot longitudinal
+    allow_button_cancel = self.CP.brand != 'hyundai'
+
     if CS.doorOpen:
       events.add(EventName.doorOpen)
     if CS.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
-       CS.gearShifter not in extra_gears):
+    if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
       events.add(EventName.wrongGear)
     if CS.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -157,6 +120,8 @@ class CarSpecificEvents:
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
+    if CS.stockLkas:
+      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:

selfdrive/car/card.py

@@ -10,7 +10,7 @@ from cereal import car, log, custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -19,7 +19,6 @@ from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
@@ -123,7 +122,13 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
+    # set alternative experiences from parameters
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
+
     # mads
     set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
@@ -139,7 +144,7 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not is_release:
+    if self.CP.secOcRequired:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -179,7 +184,6 @@ class Car:
     self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
-    self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
@@ -200,8 +204,6 @@ class Car:
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
-    if self.CP.brand == 'mock':
-      CS, CS_SP = self.mock_carstate.update(CS, CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
@@ -217,7 +219,6 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on

selfdrive/car/cruise.py

@@ -53,7 +53,6 @@ class VCruiseHelper(VCruiseHelperSP):
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
-        self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -105,12 +104,6 @@ class VCruiseHelper(VCruiseHelperSP):
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    # Speed Limit Assist for Non PCM long cars.
-    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
-    # False: Allow set speed changes as SLA is not requesting user confirmation
-    if self.update_speed_limit_assist_pre_active_confirmed(button_type):
-      return
-
     long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta

selfdrive/controls/lib/desire_helper.py

@@ -56,7 +56,7 @@ class DesireHelper:
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -88,8 +88,8 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -327,8 +327,10 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, a_cruise_min_override=None, t_follow_override=None):
+    t_follow = t_follow_override if t_follow_override is not None else get_T_FOLLOW(personality)
+    a_cruise_min = a_cruise_min_override if a_cruise_min_override is not None else CRUISE_MIN_ACCEL
+
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
@@ -350,7 +352,7 @@ 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 sp_accel_clip := LongitudinalPlannerSP.get_accel_clip(self, v_ego, mode):
+        accel_clip = sp_accel_clip
+      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:
@@ -154,7 +158,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
+    a_cruise_min_override = LongitudinalPlannerSP.get_cruise_min_accel(self, v_ego)
+    t_follow_override = LongitudinalPlannerSP.get_t_follow(self, v_ego)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality, a_cruise_min_override=a_cruise_min_override, t_follow_override=t_follow_override)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)

selfdrive/controls/plannerd.py

@@ -27,12 +27,11 @@ def main():
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                            'carStateSP', 'mapdOut', gps_location_service],
                            poll='carState')
 
   while True:
     sm.update()
-    longitudinal_planner.sla.update_car_state(sm['carState'])
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)

selfdrive/debug/car/hyundai_enable_radar_points.py

@@ -108,11 +108,11 @@ if __name__ == "__main__":
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
-  session_type : SESSION_TYPE = 0x07 # type: ignore
+  session_type : SESSION_TYPE = 0x07
   uds_client.diagnostic_session_control(session_type)
 
   print("[HARDWARE/SOFTWARE VERSION]")
-  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100
   fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
   print(fw_version)
   if fw_version not in SUPPORTED_FW_VERSIONS.keys():
@@ -120,7 +120,7 @@ if __name__ == "__main__":
     sys.exit(1)
 
   print("[GET CONFIGURATION]")
-  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142
   current_config = uds_client.read_data_by_identifier(config_data_id)
   config_values = SUPPORTED_FW_VERSIONS[fw_version]
   new_config = config_values.default_config if args.default else config_values.tracks_enabled

selfdrive/debug/car/vw_mqb_config.py

@@ -55,7 +55,7 @@ if __name__ == "__main__":
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
     odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
-    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
     coding_text = current_coding.hex()
 
     print("\nEPS diagnostic data\n")
@@ -126,9 +126,9 @@ if __name__ == "__main__":
     new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
 
     try:
-      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
       key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
-      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
       print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
@@ -148,7 +148,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
-      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
       print("Make sure the comma processes are stopped: tmux kill-session -t comma")
@@ -156,7 +156,7 @@ if __name__ == "__main__":
 
     try:
       # Read back result just to make 100% sure everything worked
-      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()  # type: ignore
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
       print(f"   New coding:   {current_coding_text}")
     except (NegativeResponseError, MessageTimeoutError):
       print("Reading back updated coding failed!")

selfdrive/debug/cpu_usage_stat.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:

selfdrive/debug/cycle_alerts.py

@@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False):
       alert = AM.process_alerts(frame, [])
       print(alert)
       for _ in range(duration):
-        dat = messaging.new_message()
-        dat.init('selfdriveState')
+        dat = messaging.new_message('selfdriveState')
         dat.selfdriveState.enabled = False
 
         if alert:
@@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.selfdriveState.alertSound = alert.audible_alert
         pm.send('selfdriveState', dat)
 
-        dat = messaging.new_message()
-        dat.init('deviceState')
+        dat = messaging.new_message('deviceState')
         dat.deviceState.started = True
         pm.send('deviceState', dat)
 

selfdrive/debug/fingerprint_from_route.py

@@ -28,11 +28,12 @@ def get_fingerprint(lr):
 
   # TODO: also print the fw fingerprint merged with the existing ones
   # show FW fingerprint
-  print("\nFW fingerprint:\n")
-  for f in fw:
-    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
-    print(f"      {f.fwVersion},")
-    print("    ],")
+  if fw:
+    print("\nFW fingerprint:\n")
+    for f in fw:
+      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+      print(f"      {f.fwVersion},")
+      print("    ],")
   print()
   print(f"VIN: {vin}")
 

selfdrive/debug/fuzz_fw_fingerprint.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 import random
 from collections import defaultdict
 

selfdrive/debug/measure_torque_time_to_max.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import argparse

selfdrive/debug/test_fw_query_on_routes.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 from collections import defaultdict
 import argparse

selfdrive/locationd/calibrationd.py

@@ -47,7 +47,7 @@ DEBUG = os.getenv("DEBUG") is not None
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:
@@ -92,7 +92,7 @@ class Calibrator:
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray = None) -> None:
+                  smooth_from: np.ndarray | None = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:

selfdrive/locationd/helpers.py

@@ -94,7 +94,7 @@ class PointBuckets:
   def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int = None) -> Any:
+  def get_points(self, num_points: int | None = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points

selfdrive/locationd/paramsd.py

@@ -127,8 +127,8 @@ class VehicleParamsLearner:
 
     if not self.active:
       # Reset time when stopped so uncertainty doesn't grow
-      self.kf.filter.set_filter_time(t)  # type: ignore
-      self.kf.filter.reset_rewind()      # type: ignore
+      self.kf.filter.set_filter_time(t)
+      self.kf.filter.reset_rewind()
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     x = self.kf.x

selfdrive/locationd/torqued.py

@@ -35,7 +35,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen']
 
 
 def slope2rot(slope):

selfdrive/modeld/SConscript

@@ -1,7 +1,7 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

selfdrive/modeld/modeld.py

@@ -33,7 +33,7 @@ from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -298,6 +298,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -395,7 +396,10 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
+oid sha256:1edea5bb56f876db4cec97c150799513f6a59373f3ad152d55e4dcaab1b809e3
 size 13926324

selfdrive/monitoring/helpers.py

@@ -449,7 +449,6 @@ class DriverMonitoring:
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      # TODO-SP: unit test to assert both control checks are always present
       enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill

selfdrive/monitoring/test_monitoring.py

@@ -1,6 +1,7 @@
 import numpy as np
+import pytest
 
-from cereal import log
+from cereal import log, car
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 from openpilot.system.hardware import HARDWARE
@@ -204,3 +205,66 @@ class TestMonitoring:
     assert EventName.driverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
+
+@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
+  (False, False, False), # Both Disabled
+  (True, False, True),   # OP Enabled, Lat Inactive
+  (False, True, True),   # OP Disabled, Lat Active (e.g. MADS)
+  (True, True, True)     # Both Active
+])
+def test_enabled_states(enabled_state, lat_active_state, expected):
+  """
+  Test DriverMonitoring.run_step with all 4 combinations of:
+  - selfdriveState.enabled (True/False)
+  - carControl.latActive (True/False)
+  """
+  cs = car.CarState.new_message()
+  cs.vEgo = 30.0
+  cs.gearShifter = car.CarState.GearShifter.drive
+  cs.standstill = False
+  cs.steeringPressed = False
+  cs.gasPressed = False
+
+  ss = log.SelfdriveState.new_message()
+  ss.enabled = enabled_state
+
+  cc = car.CarControl.new_message()
+  cc.latActive = lat_active_state
+
+  mv2 = log.ModelDataV2.new_message()
+  mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
+
+  lc = log.LiveCalibrationData.new_message()
+  lc.rpyCalib = [0.0, 0.0, 0.0]
+
+  ds = make_msg(False)
+
+  sm = {
+      'carState': cs,
+      'selfdriveState': ss,
+      'carControl': cc,
+      'modelV2': mv2,
+      'liveCalibration': lc,
+      'driverStateV2': ds
+  }
+
+  driver_monitoring = DriverMonitoring()
+
+  # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
+  captured_args = []
+  original_update_events = driver_monitoring._update_events
+
+  def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+      captured_args.append(op_engaged)
+      return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
+
+  driver_monitoring._update_events = spy_update_events
+
+  driver_monitoring.run_step(sm, demo=False)
+
+  # Assertion
+  assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
+  actual_enabled = captured_args[0]
+
+  assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
+

selfdrive/selfdrived/alertmanager.py

@@ -14,7 +14,7 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''

selfdrive/selfdrived/events.py

@@ -303,6 +303,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
+  EventName.stockLkas: {
+    ET.PERMANENT: Alert(
+      "TAKE CONTROL",
+      "Stock LKAS: Lane Departure Detected",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",
@@ -758,13 +767,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"),
     ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+      "Unknown Vehicle Variant",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"),
   },
 
   EventName.canBusMissing: {

selfdrive/selfdrived/selfdrived.py

@@ -233,8 +233,8 @@ class SelfdriveD(CruiseHelper):
 
       # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
       if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+            (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+            (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
@@ -295,16 +295,22 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+            (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
+
+      elif mdv2sp.leftLaneChangeEdgeBlock or mdv2sp.rightLaneChangeEdgeBlock:
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
     elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                    LaneChangeState.laneChangeFinishing):
+                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
     # Handle lane turn
@@ -499,7 +505,7 @@ class SelfdriveD(CruiseHelper):
 
     # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
     if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
     return CS

selfdrive/test/fuzzy_generation.py

@@ -44,7 +44,7 @@ class FuzzyGenerator:
     except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
     fields_to_generate = schema.non_union_fields + single_fill
     return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})

selfdrive/test/process_replay/migration.py

@@ -1,5 +1,6 @@
 from collections import defaultdict
 from collections.abc import Callable
+from typing import cast
 import capnp
 import functools
 import traceback
@@ -69,7 +70,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
     if migration.product in grouped: # skip if product already exists
       continue
 
-    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, []))
     msg_gen = [(i, lr[i]) for i in sorted_indices]
     r_ops, a_ops, d_ops = migration(msg_gen)
     replace_ops.extend(r_ops)

selfdrive/test/process_replay/process_replay.py

@@ -614,9 +614,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
-  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
-  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None,
+  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
+  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)

selfdrive/test/process_replay/regen.py

@@ -16,7 +16,7 @@ from openpilot.tools.lib.openpilotci import get_url
 
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] = None,
+  lr: LogIterable, frs: dict[str, Any] | None = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)

selfdrive/test/update_ci_routes.py

@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 

selfdrive/ui/layouts/home.py

@@ -39,7 +39,7 @@ class HomeLayout(Widget):
 
     self.current_state = HomeLayoutState.HOME
     self.last_refresh = 0
-    self.settings_callback: callable | None = None
+    self.settings_callback: Callable[[], None] | None = None
 
     self.update_available = False
     self.alert_count = 0

selfdrive/ui/layouts/onboarding.py

@@ -11,7 +11,9 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, terms_version_sp
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkOnboarding
 
 DEBUG = False
 
@@ -33,6 +35,7 @@ class OnboardingState(IntEnum):
   TERMS = 0
   ONBOARDING = 1
   DECLINE = 2
+  SUNNYLINK_CONSENT = 3
 
 
 class TrainingGuide(Widget):
@@ -110,14 +113,14 @@ class TermsPage(Widget):
     self._on_decline = on_decline
 
     self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    self._desc = Label(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."),
+    self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
     self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
 
   def _render(self, _):
-    welcome_x = self._rect.x + 165
+    welcome_x = self._rect.x + 95
     welcome_y = self._rect.y + 165
     welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
     self._title.render(welcome_rect)
@@ -143,7 +146,7 @@ class TermsPage(Widget):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
+    self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
     self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
@@ -180,9 +183,21 @@ class OnboardingWindow(Widget):
     self._training_guide: TrainingGuide | None = None
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
+    # sunnylink consent pages
+    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
+    self._sunnylink = SunnylinkOnboarding()
+    if not self._accepted_terms:
+      self._state = OnboardingState.TERMS
+    elif not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self._state = OnboardingState.ONBOARDING
+
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._training_done
+    return self._accepted_terms and self._sunnylink.completed and self._training_done
 
   def _on_terms_declined(self):
     self._state = OnboardingState.DECLINE
@@ -192,8 +207,12 @@ class OnboardingWindow(Widget):
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    self._state = OnboardingState.ONBOARDING
-    if self._training_done:
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    if not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
       gui_app.set_modal_overlay(None)
 
   def _on_completed_training(self):
@@ -206,8 +225,18 @@ class OnboardingWindow(Widget):
 
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
-    if self._state == OnboardingState.ONBOARDING:
-      self._training_guide.render(self._rect)
+    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
+      self._sunnylink.render(self._rect)
+      if self._sunnylink.completed:
+        if not self._training_done:
+          self._state = OnboardingState.ONBOARDING
+        else:
+          gui_app.set_modal_overlay(None)
+    elif self._state == OnboardingState.ONBOARDING:
+      if not self._training_done:
+        self._training_guide.render(self._rect)
+      else:
+        gui_app.set_modal_overlay(None)
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1

selfdrive/ui/layouts/settings/settings.py

@@ -145,20 +145,18 @@ class SettingsLayout(Widget):
     if panel.instance:
       panel.instance.render(content_rect)
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return True
+      return
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
         self.set_current_panel(panel_type)
-        return True
-
-    return False
+        return
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:

selfdrive/ui/layouts/sidebar.py

@@ -9,6 +9,8 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.layouts.sidebar import SidebarSP
+
 SIDEBAR_WIDTH = 300
 METRIC_HEIGHT = 126
 METRIC_WIDTH = 240
@@ -62,9 +64,10 @@ class MetricData:
     self.color = color
 
 
-class Sidebar(Widget):
+class Sidebar(Widget, SidebarSP):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    SidebarSP.__init__(self)
     self._net_type = NETWORK_TYPES.get(NetworkType.none)
     self._net_strength = 0
 
@@ -112,6 +115,7 @@ class Sidebar(Widget):
     self._update_temperature_status(device_state)
     self._update_connection_status(device_state)
     self._update_panda_status()
+    SidebarSP._update_sunnylink_status(self)
 
   def _update_network_status(self, device_state):
     self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, tr_noop("Unknown"))
@@ -200,6 +204,13 @@ class Sidebar(Widget):
     rl.draw_text_ex(self._font_regular, tr(self._net_type), text_pos, FONT_SIZE, 0, Colors.WHITE)
 
   def _draw_metrics(self, rect: rl.Rectangle):
+    if gui_app.sunnypilot_ui():
+      metrics, start_y, spacing = SidebarSP._draw_metrics_w_sunnylink(self, rect, self._temp_status, self._panda_status, self._connect_status)
+      for idx, metric in enumerate(metrics):
+        self._draw_metric(rect, metric, start_y + idx * spacing)
+
+      return
+
     metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
 
     for metric, y_offset in metrics:

selfdrive/ui/lib/prime_state.py

@@ -1,5 +1,6 @@
 from enum import IntEnum
 import os
+import requests
 import threading
 import time
 
@@ -29,6 +30,7 @@ class PrimeState:
   def __init__(self):
     self._params = Params()
     self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self.prime_type: PrimeType = self._load_initial_state()
 
     self._running = False
@@ -50,7 +52,7 @@ class PrimeState:
 
     try:
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)

selfdrive/ui/mici/layouts/home.py

@@ -109,7 +109,7 @@ class MiciHomeLayout(Widget):
     self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
     self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
 
-    self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
+    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
     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)

selfdrive/ui/mici/layouts/main.py

@@ -4,6 +4,7 @@ import cereal.messaging as messaging
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
 from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
+from openpilot.selfdrive.ui.mici.layouts.mapd_panel import MapdInfoPanel
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
@@ -40,17 +41,19 @@ class MiciMainLayout(Widget):
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
     self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._mapd_panel = MapdInfoPanel()
 
     # Initialize widget rects
-    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
+    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout, self._mapd_panel):
       # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
       widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
     self._scroller = Scroller([
-      self._alerts_layout,
-      self._home_layout,
-      self._onroad_layout,
-    ], spacing=0, pad_start=0, pad_end=0)
+        self._alerts_layout,
+        self._home_layout,
+        self._mapd_panel,
+        self._onroad_layout,
+      ], spacing=0, pad_start=0, pad_end=0)
     self._scroller.set_reset_scroll_at_show(False)
 
     # Disable scrolling when onroad is interacting with bookmark
@@ -107,6 +110,14 @@ class MiciMainLayout(Widget):
       self._layouts[mode].show_event()
       self._current_mode = mode
 
+  def _is_on_side_panel(self) -> bool:
+    onroad_x = self._onroad_layout.rect.x
+    current_scroll = self._scroller.scroll_panel.get_offset()
+    return abs(current_scroll - onroad_x) > self._rect.width / 2
+
+  def _is_on_mapd_panel(self) -> bool:
+    return self._is_on_side_panel()
+
   def _handle_transitions(self):
     if ui_state.started != self._prev_onroad:
       self._prev_onroad = ui_state.started
@@ -123,15 +134,16 @@ class MiciMainLayout(Widget):
 
     CS = ui_state.sm["carState"]
     if not CS.standstill and self._prev_standstill:
-      self._set_mode(MainState.MAIN)
-      self._scroll_to(self._onroad_layout)
+      if not self._is_on_mapd_panel():
+        self._set_mode(MainState.MAIN)
+        self._scroll_to(self._onroad_layout)
     self._prev_standstill = CS.standstill
 
   def _set_mode_for_started(self, onroad_transition: bool = False):
     if ui_state.started:
       CS = ui_state.sm["carState"]
       # Only go onroad if car starts or is not at a standstill
-      if not CS.standstill or onroad_transition:
+      if (not CS.standstill or onroad_transition) and not self._is_on_mapd_panel():
         self._set_mode(MainState.MAIN)
         self._scroll_to(self._onroad_layout)
     else:

selfdrive/ui/mici/layouts/mapd_panel.py

@@ -0,0 +1,217 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+@dataclass(frozen=True)
+class MapdPanelColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = rl.Color(255, 0, 0, 255)
+  green: rl.Color = rl.Color(0, 255, 0, 255)
+  grey: rl.Color = rl.Color(145, 155, 149, 241)
+  light_grey: rl.Color = rl.Color(200, 200, 200, 255)
+  dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
+  bg_dark: rl.Color = rl.Color(30, 30, 30, 255)
+  card_bg: rl.Color = rl.Color(50, 50, 50, 200)
+
+COLORS = MapdPanelColors()
+
+class MapdInfoPanel(Widget):
+  def __init__(self):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+    self.lanes: int = 0
+    self.road_context: str = ""
+    self.hazard: str = ""
+    self.vision_curve_speed: float = 0.0
+    self.map_curve_speed: float = 0.0
+    self.tile_loaded: bool = False
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    if sm.valid["mapdOut"]:
+      mapd = sm["mapdOut"]
+      self.speed_limit = mapd.speedLimit * speed_conv
+      self.speed_limit_valid = mapd.speedLimit > 0
+      self.next_speed_limit = mapd.nextSpeedLimit * speed_conv
+      self.next_speed_limit_distance = mapd.nextSpeedLimitDistance
+      self.road_name = mapd.roadName
+      self.lanes = mapd.lanes
+      self.hazard = mapd.hazard
+      self.vision_curve_speed = mapd.visionCurveSpeed * speed_conv
+      self.map_curve_speed = mapd.mapCurveSpeed * speed_conv
+      self.tile_loaded = mapd.tileLoaded
+
+      road_ctx = mapd.roadContext
+      if hasattr(road_ctx, 'raw'):
+        ctx_val = road_ctx.raw
+      else:
+        ctx_val = int(road_ctx)
+      self.road_context = ["Freeway", "City", "Unknown"][ctx_val] if ctx_val < 3 else "Unknown"
+    else:
+      self.speed_limit_valid = False
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+
+    rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
+    margin = 15
+    left_width = 130
+    right_x = rect.x + left_width + margin + 10
+    right_width = rect.width - left_width - margin * 3
+    sign_x = rect.x + margin + 5
+    sign_y = rect.y + (rect.height - 140) / 2
+    self._draw_speed_limit_sign(sign_x, sign_y)
+    info_y = rect.y + 25
+
+    # Road name
+    self._draw_road_name(right_x, info_y, right_width)
+    info_y += 55
+
+    # Road context (Freeway/City) and lanes
+    self._draw_road_details(right_x, info_y, right_width)
+    info_y += 45
+
+    # Next speed limit
+    self._draw_next_speed_limit(right_x, info_y, right_width)
+    info_y += 45
+
+    # Curve speeds
+    self._draw_curve_speeds(right_x, info_y, right_width)
+    info_y += 45
+
+    # Hazard warning Beta
+    if self.hazard:
+      self._draw_hazard(right_x, info_y, right_width)
+
+    status_text = tr("Map Loaded") if self.tile_loaded else tr("No Map Data")
+    status_color = COLORS.green if self.tile_loaded else COLORS.red
+    status_size = measure_text_cached(self._font_medium, status_text, 18)
+    status_pos = rl.Vector2(rect.x + (rect.width - status_size.x) / 2, rect.y + rect.height - 30)
+    rl.draw_text_ex(self._font_medium, status_text, status_pos, 18, 0, status_color)
+
+  def _draw_speed_limit_sign(self, x: float, y: float) -> None:
+    sign_width = 110 if ui_state.is_metric else 100
+    sign_height = 120 if ui_state.is_metric else 110
+
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid else "--"
+    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color)
+    else:
+      self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color)
+
+  def _draw_road_name(self, x: float, y: float, width: float) -> None:
+    road_display = self.road_name if self.road_name else "--"
+    road_size = measure_text_cached(self._font_semi_bold, road_display, 34)
+    if road_size.x > width:
+      road_display = road_display[:20] + "..."
+    rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), 34, 0, COLORS.white)
+
+  def _draw_road_details(self, x: float, y: float, width: float) -> None:
+    details = []
+    if self.road_context and self.road_context != "Unknown":
+      details.append(self.road_context)
+    if self.lanes > 0:
+      details.append(f"{self.lanes} {tr('lanes')}")
+    details_text = " • ".join(details) if details else "--"
+    rl.draw_text_ex(self._font_medium, details_text, rl.Vector2(x, y), 26, 0, COLORS.light_grey)
+
+  def _draw_next_speed_limit(self, x: float, y: float, width: float) -> None:
+    if self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit:
+      next_text = f"{tr('Next')}: {round(self.next_speed_limit)} ({self._format_distance(self.next_speed_limit_distance)})"
+    else:
+      next_text = f"{tr('Next')}: --"
+    rl.draw_text_ex(self._font_medium, next_text, rl.Vector2(x, y), 26, 0, COLORS.light_grey)
+
+  def _draw_curve_speeds(self, x: float, y: float, width: float) -> None:
+    unit = tr("km/h") if ui_state.is_metric else tr("mph")
+    vision_val = str(round(self.vision_curve_speed)) if self.vision_curve_speed > 0 else "--"
+    map_val = str(round(self.map_curve_speed)) if self.map_curve_speed > 0 else "--"
+    curve_text = f"{tr('Curve')}: V:{vision_val} M:{map_val} {unit}"
+    rl.draw_text_ex(self._font_medium, curve_text, rl.Vector2(x, y), 24, 0, COLORS.light_grey)
+
+  def _draw_hazard(self, x: float, y: float, width: float) -> None:
+    hazard_text = f"⚠ {self.hazard}"
+    rl.draw_text_ex(self._font_semi_bold, hazard_text, rl.Vector2(x, y), 26, 0, COLORS.red)
+
+  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color) -> None:
+    center = rl.Vector2(x + width / 2, y + height / 2)
+    outer_radius = min(width, height) / 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
+    text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
+    text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
+
+  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color) -> None:
+    sign_rect = rl.Rectangle(x, y, width, height)
+    rl.draw_rectangle_rounded(sign_rect, 0.2, 10, COLORS.white)
+    rl.draw_rectangle_rounded_lines_ex(sign_rect, 0.2, 10, 3, COLORS.black)
+
+    speed_label = tr("SPEED")
+    limit_label = tr("LIMIT")
+    label_size = 16
+
+    speed_text_size = measure_text_cached(self._font_semi_bold, speed_label, label_size)
+    speed_pos = rl.Vector2(x + (width - speed_text_size.x) / 2, y + 8)
+    rl.draw_text_ex(self._font_semi_bold, speed_label, speed_pos, label_size, 0, COLORS.black)
+
+    limit_text_size = measure_text_cached(self._font_semi_bold, limit_label, label_size)
+    limit_pos = rl.Vector2(x + (width - limit_text_size.x) / 2, y + 26)
+    rl.draw_text_ex(self._font_semi_bold, limit_label, limit_pos, label_size, 0, COLORS.black)
+
+    font_size = 40 if len(speed_str) >= 3 else 50
+    num_size = measure_text_cached(self._font_bold, speed_str, font_size)
+    num_pos = rl.Vector2(x + (width - num_size.x) / 2, y + 45)
+    rl.draw_text_ex(self._font_bold, speed_str, num_pos, font_size, 0, speed_color)
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")

selfdrive/ui/mici/layouts/onboarding.py

@@ -17,13 +17,16 @@ from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, terms_version_sp
+
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding
 
 
 class OnboardingState(IntEnum):
   TERMS = 0
   ONBOARDING = 1
   DECLINE = 2
+  SUNNYLINK_CONSENT = 3
 
 
 class DriverCameraSetupDialog(DriverCameraDialog):
@@ -166,8 +169,8 @@ class TrainingGuideDMTutorial(Widget):
 
   def _update_state(self):
     super()._update_state()
-    if device.awake:
-      ui_state.params.put_bool("IsDriverViewEnabled", True)
+    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -237,19 +240,20 @@ class TrainingGuideDMTutorial(Widget):
       ring_color,
     )
 
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
+    if self._dialog._camera_view.frame:
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
 
-    self._good_button.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-      self._rect.y + self._rect.height - self._good_button.rect.height,
-      self._good_button.rect.width,
-      self._good_button.rect.height,
-    ))
+      self._good_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._good_button.rect.height,
+        self._good_button.rect.width,
+        self._good_button.rect.height,
+      ))
 
     # rounded border
     rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
@@ -412,10 +416,10 @@ class TermsPage(SetupTermsPage):
     super().__init__(on_accept, on_decline, "decline")
 
     info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms & conditions", info_txt)
+    self._title_header = TermsHeader("terms of service", info_txt)
 
-    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
-                                     "Read the latest terms at https://comma.ai/terms before continuing.", 36,
+    self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " +
+                                     "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36,
                                      FontWeight.ROMAN)
 
   @property
@@ -449,6 +453,18 @@ class OnboardingWindow(Widget):
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
+    # sunnylink consent pages
+    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
+    self._sunnylink = SunnylinkOnboarding()
+    if not self._accepted_terms:
+      self._state = OnboardingState.TERMS
+    elif not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self._state = OnboardingState.ONBOARDING
+
   def show_event(self):
     super().show_event()
     device.set_override_interactive_timeout(300)
@@ -459,7 +475,7 @@ class OnboardingWindow(Widget):
 
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._training_done
+    return self._accepted_terms and self._sunnylink.completed and self._training_done
 
   def _on_terms_declined(self):
     self._state = OnboardingState.DECLINE
@@ -473,7 +489,13 @@ class OnboardingWindow(Widget):
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    self._state = OnboardingState.ONBOARDING
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    if not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self.close()
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
@@ -482,8 +504,18 @@ class OnboardingWindow(Widget):
   def _render(self, _):
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
+    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
+      self._sunnylink.render(self._rect)
+      if self._sunnylink.completed:
+        if not self._training_done:
+          self._state = OnboardingState.ONBOARDING
+        else:
+          self.close()
     elif self._state == OnboardingState.ONBOARDING:
-      self._training_guide.render(self._rect)
+      if not self._training_done:
+        self._training_guide.render(self._rect)
+      else:
+        self.close()
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1

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

@@ -1,3 +1,4 @@
+import requests
 import threading
 import time
 import pyray as rl
@@ -44,6 +45,7 @@ class FirehoseLayoutBase(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
@@ -203,7 +205,7 @@ class FirehoseLayoutBase(Widget):
       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)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)

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

@@ -36,8 +36,6 @@ class WifiIcon(Widget):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 89, 64))
 
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64)
-    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64)
     self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64)
     self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64)
     self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64)
@@ -57,17 +55,13 @@ class WifiIcon(Widget):
       return
 
     # Determine which wifi strength icon to use
-    strength = round(self._network.strength / 100 * 4)
-    if strength == 4:
+    strength = round(self._network.strength / 100 * 2)
+    if strength == 2:
       strength_icon = self._wifi_full_txt
-    elif strength == 3:
+    elif strength == 1:
       strength_icon = self._wifi_medium_txt
-    elif strength == 2:
-      strength_icon = self._wifi_low_txt
-    elif self._network.strength < 0:
-      strength_icon = self._wifi_slash_txt
     else:
-      strength_icon = self._wifi_none_txt
+      strength_icon = self._wifi_low_txt
 
     icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2)
     icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2)
@@ -388,7 +382,7 @@ class WifiUIMici(BigMultiOptionDialog):
       else:
         network_button = WifiItem(network)
 
-      self.add_button(network_button)
+      self._scroller.add_widget(network_button)
 
     # remove networks no longer present
     self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
@@ -402,11 +396,10 @@ class WifiUIMici(BigMultiOptionDialog):
       self._wifi_manager.connect_to_network(ssid, password)
       self._update_buttons()
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
-    super()._on_option_selected(option, smooth_scroll)
+  def _on_option_selected(self, option: str):
+    super()._on_option_selected(option)
 
-    # only open if button is already selected
-    if option in self._networks and option == self._selected_option:
+    if option in self._networks:
       self._network_info_page.set_current_network(self._networks[option])
       self._open_network_manage_page()
 
@@ -453,7 +446,7 @@ class WifiUIMici(BigMultiOptionDialog):
     current_selection = self.get_selected_option()
     if self._restore_selection and current_selection in self._networks:
       self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
+      BigMultiOptionDialog._on_option_selected(self, current_selection)
       self._restore_selection = None
 
     super()._render(_)

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -222,6 +222,9 @@ class AlertRenderer(Widget):
     self._alert_y_filter.update(self._rect.y - 50 if alert is None else self._rect.y)
     self._alpha_filter.update(0 if alert is None else 1)
 
+    if gui_app.sunnypilot_ui():
+      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+
     if alert is None:
       # If still animating out, keep the previous alert
       if self._alpha_filter.x > 0.01 and self._prev_alert is not None:

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -19,6 +19,9 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
+
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -351,6 +354,14 @@ class AugmentedRoadView(CameraView):
 
     return self._cached_matrix
 
+  def show_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
+
+  def hide_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
+
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -121,12 +121,17 @@ class HudRenderer(Widget):
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
     self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
+    self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
+    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
+    self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+    self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+
   def set_wheel_critical_icon(self, critical: bool):
     """Set the wheel icon to critical or normal state."""
     self._show_wheel_critical = critical
@@ -175,19 +180,79 @@ class HudRenderer(Widget):
     if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
       self._torque_bar.render(rect)
 
+    draw_set_speed = False
     if self.is_cruise_set:
+      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
+      )
+      draw_set_speed = alpha >= 1e-2
+
+    if draw_set_speed:
       self._draw_set_speed(rect)
 
     self._draw_steering_wheel(rect)
 
+    self._draw_blind_spot_indicators(rect)
+
+  def _draw_blind_spot_indicators(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    car_state = sm['carState']
+
+    try:
+      left_detected = car_state.leftBlindspot
+    except AttributeError:
+      left_detected = False
+
+    try:
+      right_detected = car_state.rightBlindspot
+    except AttributeError:
+      right_detected = False
+
+    self._blind_spot_left_alpha_filter.update(1.0 if left_detected else 0.0)
+    self._blind_spot_right_alpha_filter.update(1.0 if right_detected else 0.0)
+
+    BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
+    BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
+
+    if self._blind_spot_left_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + BLIND_SPOT_MARGIN_X)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_left_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
+
+    if self._blind_spot_right_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_right_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)
+
+  def _has_blind_spot_detected(self) -> bool:
+    car_state = ui_state.sm['carState']
+    try:
+      left_detected = car_state.leftBlindspot
+    except AttributeError:
+      left_detected = False
+
+    try:
+      right_detected = car_state.rightBlindspot
+    except AttributeError:
+      right_detected = False
+
+    return left_detected or right_detected
+
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
+    has_blind_spot = self._has_blind_spot_detected()
+
     if self._show_wheel_critical:
       self._wheel_alpha_filter.update(255)
       self._wheel_y_filter.update(0)
     else:
-      if ui_state.status == UIStatus.DISENGAGED:
+      if ui_state.status == UIStatus.DISENGAGED or has_blind_spot:
         self._wheel_alpha_filter.update(0)
         self._wheel_y_filter.update(wheel_txt.height / 2)
       else:

selfdrive/ui/mici/onroad/model_renderer.py

@@ -80,6 +80,9 @@ class ModelRenderer(Widget):
     self._transform_dirty = True
     self._clip_region = None
 
+    self._counter = -1
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+
     self._exp_gradient = Gradient(
       start=(0.0, 1.0),  # Bottom of path
       end=(0.0, 0.0),  # Top of path
@@ -99,6 +102,10 @@ class ModelRenderer(Widget):
   def _render(self, rect: rl.Rectangle):
     sm = ui_state.sm
 
+    if self._counter % 180 == 0:  # This runs at 60fps, so we query every 3 seconds
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    self._counter += 1
+
     self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
     # Check if data is up-to-date
@@ -150,13 +157,13 @@ class ModelRenderer(Widget):
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
-    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
+    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
 
     for i, lane_line in enumerate(model.laneLines):
-      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
+      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
 
     for i, road_edge in enumerate(model.roadEdges):
-      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
+      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
 
     self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
@@ -174,7 +181,7 @@ class ModelRenderer(Widget):
 
         # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
+        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
         if point:
           self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
 

selfdrive/ui/mici/onroad/speed_limit_ui.py

@@ -0,0 +1,177 @@
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+SPEED_LIMIT_WIDTH_METRIC = 200
+SPEED_LIMIT_WIDTH_IMPERIAL = 172
+SPEED_LIMIT_HEIGHT = 204
+
+
+@dataclass(frozen=True)
+class SpeedLimitColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = rl.Color(255, 0, 0, 255)
+  grey: rl.Color = rl.Color(145, 155, 149, 241)
+  green: rl.Color = rl.Color(0, 255, 0, 255)
+  light_grey: rl.Color = rl.Color(200, 200, 200, 255)
+  dark_grey: rl.Color = rl.Color(180, 180, 180, 255)
+  border_grey: rl.Color = rl.Color(77, 77, 77, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+
+
+COLORS = SpeedLimitColors()
+
+
+class SpeedLimitRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    if sm.valid["mapdOut"]:
+      mapd = sm["mapdOut"]
+      self.speed_limit = mapd.speedLimit * speed_conv
+      self.speed_limit_valid = mapd.speedLimit > 0
+      self.next_speed_limit = mapd.nextSpeedLimit * speed_conv
+      self.next_speed_limit_distance = mapd.nextSpeedLimitDistance
+      self.road_name = mapd.roadName
+    else:
+      self.speed_limit_valid = False
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+
+    if not self.speed_limit_valid:
+      return
+
+    sign_width = SPEED_LIMIT_WIDTH_METRIC if ui_state.is_metric else SPEED_LIMIT_WIDTH_IMPERIAL
+    sign_height = SPEED_LIMIT_HEIGHT
+    sign_margin = 12
+    sign_x = rect.x + sign_margin
+    sign_y = rect.y + 45
+
+    sign_rect = rl.Rectangle(sign_x, sign_y, sign_width, sign_height)
+
+    speed_str = str(round(self.speed_limit))
+    speed_color = COLORS.white if self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(sign_rect, speed_str, "", speed_color, True)
+    else:
+      self._draw_mutcd_sign(sign_rect, speed_str, "", speed_color, True)
+    if self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit:
+      self._draw_upcoming_speed_limit(sign_rect)
+
+  def _draw_vienna_sign(self, sign_rect: rl.Rectangle, speed_str: str, sub_text: str, speed_color: rl.Color, has_speed_limit: bool) -> None:
+    """Draw EU/Vienna sign."""
+    center = rl.Vector2(sign_rect.x + sign_rect.width / 2, sign_rect.y + sign_rect.height / 2)
+    outer_radius = min(sign_rect.width, sign_rect.height) / 2
+    circle_size = outer_radius * 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = circle_size * (0.35 if len(speed_str) >= 3 else 0.45)
+    text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
+    text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
+
+  def _draw_mutcd_sign(self, sign_rect: rl.Rectangle, speed_str: str, sub_text: str, speed_color: rl.Color, has_speed_limit: bool) -> None:
+    """Draw US/Canada MUTCD sign."""
+    padding = 8
+    inner_rect = rl.Rectangle(sign_rect.x + padding, sign_rect.y + padding, sign_rect.width - (padding * 2), sign_rect.height - (padding * 2))
+    rl.draw_rectangle_rounded(inner_rect, 0.35, 10, COLORS.white)
+    rl.draw_rectangle_rounded_lines_ex(inner_rect, 0.35, 10, 4, COLORS.black)
+
+    border_width = 4
+    border_rect = rl.Rectangle(
+      inner_rect.x + border_width, inner_rect.y + border_width, inner_rect.width - (border_width * 2), inner_rect.height - (border_width * 2)
+    )
+    speed_text = tr("SPEED")
+    limit_text = tr("LIMIT")
+
+    speed_size = measure_text_cached(self._font_semi_bold, speed_text, 40)
+    limit_size = measure_text_cached(self._font_semi_bold, limit_text, 40)
+
+    speed_pos = rl.Vector2(border_rect.x + (border_rect.width - speed_size.x) / 2, sign_rect.y + 27)
+    limit_pos = rl.Vector2(border_rect.x + (border_rect.width - limit_size.x) / 2, sign_rect.y + 65)
+
+    rl.draw_text_ex(self._font_semi_bold, speed_text, speed_pos, 40, 0, COLORS.black)
+    rl.draw_text_ex(self._font_semi_bold, limit_text, limit_pos, 40, 0, COLORS.black)
+
+    font_size = 70 if len(speed_str) >= 3 else 90
+    speed_value_size = measure_text_cached(self._font_bold, speed_str, font_size)
+    speed_value_pos = rl.Vector2(border_rect.x + (border_rect.width - speed_value_size.x) / 2, sign_rect.y + 100)
+    rl.draw_text_ex(self._font_bold, speed_str, speed_value_pos, font_size, 0, speed_color)
+
+  def _draw_upcoming_speed_limit(self, sign_rect: rl.Rectangle) -> None:
+    """Draw upcoming speed limit."""
+    speed_str = str(round(self.next_speed_limit))
+    distance_str = self._format_distance(self.next_speed_limit_distance)
+
+    ahead_width = 150
+    ahead_height = 100
+    ahead_x = sign_rect.x + (sign_rect.width - ahead_width) / 2
+    ahead_y = sign_rect.y + sign_rect.height + 6
+    ahead_rect = rl.Rectangle(ahead_x, ahead_y, ahead_width, ahead_height)
+
+    rl.draw_rectangle_rounded(ahead_rect, 0.2, 10, rl.Color(0, 0, 0, 180))
+    rl.draw_rectangle_rounded_lines_ex(ahead_rect, 0.2, 10, 3, rl.Color(255, 255, 255, 100))
+
+    ahead_label = tr("AHEAD")
+    ahead_size = measure_text_cached(self._font_semi_bold, ahead_label, 28)
+    ahead_pos = rl.Vector2(ahead_rect.x + (ahead_rect.width - ahead_size.x) / 2, ahead_rect.y + 4)
+    rl.draw_text_ex(self._font_semi_bold, ahead_label, ahead_pos, 28, 0, COLORS.light_grey)
+
+    speed_size = measure_text_cached(self._font_bold, speed_str, 48)
+    speed_pos = rl.Vector2(ahead_rect.x + (ahead_rect.width - speed_size.x) / 2, ahead_rect.y + 26)
+    rl.draw_text_ex(self._font_bold, speed_str, speed_pos, 48, 0, COLORS.white)
+
+    distance_size = measure_text_cached(self._font_medium, distance_str, 28)
+    distance_pos = rl.Vector2(ahead_rect.x + (ahead_rect.width - distance_size.x) / 2, ahead_rect.y + 70)
+    rl.draw_text_ex(self._font_medium, distance_str, distance_pos, 28, 0, COLORS.dark_grey)
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")

selfdrive/ui/mici/widgets/button.py

@@ -71,7 +71,7 @@ class BigCircleButton(Widget):
 
 
 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable = None):
+  def __init__(self, icon: str, toggle_callback: Callable | None = None):
     super().__init__(icon, False)
     self._toggle_callback = toggle_callback
 
@@ -251,7 +251,7 @@ class BigButton(Widget):
 
 
 class BigToggle(BigButton):
-  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None):
+  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None):
     super().__init__(text, value, "")
     self._checked = initial_state
     self._toggle_callback = toggle_callback
@@ -288,8 +288,8 @@ class BigToggle(BigButton):
 
 
 class BigMultiToggle(BigToggle):
-  def __init__(self, text: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     assert len(options) > 0
     self._options = options
@@ -327,8 +327,8 @@ class BigMultiToggle(BigToggle):
 
 
 class BigMultiParamToggle(BigMultiToggle):
-  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -345,7 +345,7 @@ class BigMultiParamToggle(BigMultiToggle):
 
 
 class BigParamControl(BigToggle):
-  def __init__(self, text: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -361,7 +361,7 @@ class BigParamControl(BigToggle):
 
 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(icon, toggle_callback)
     self._param = param
     self.params = Params()

selfdrive/ui/mici/widgets/dialog.py

@@ -4,17 +4,17 @@ import pyray as rl
 from typing import Union
 from collections.abc import Callable
 from typing import cast
-from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 
 DEBUG = False
 
@@ -137,7 +137,7 @@ class BigInputDialog(BigDialogBase):
                hint: str,
                default_text: str = "",
                minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] = None):
+               confirm_callback: Callable[[str], None] | None = None):
     super().__init__(None, None)
     self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                     font_weight=FontWeight.MEDIUM)
@@ -317,39 +317,36 @@ class BigMultiOptionDialog(BigDialogBase):
   BACK_TOUCH_AREA_PERCENTAGE = 0.1
 
   def __init__(self, options: list[str], default: str | None,
-               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None):
+               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None):
     super().__init__(right_btn, right_btn_callback=right_btn_callback)
     self._options = options
     if default is not None:
       assert default in options
 
-    self._default_option: str = default or (options[0] if len(options) > 0 else "")
-    self._selected_option: str = self._default_option
+    self._default_option: str | None = default
+    self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "")
     self._last_selected_option: str = self._selected_option
 
+    # Widget doesn't differentiate between click and drag
+    self._can_click = True
+
     self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
     if self._right_btn is not None:
       self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
 
     for option in options:
-      self.add_button(BigDialogOptionButton(option))
-
-  def add_button(self, button: BigDialogOptionButton):
-    def click_callback(_btn=button):
-      self._on_option_selected(_btn.option)
-
-    button.set_click_callback(click_callback)
-    self._scroller.add_widget(button)
+      self._scroller.add_widget(BigDialogOptionButton(option))
 
   def show_event(self):
     super().show_event()
     self._scroller.show_event()
-    self._on_option_selected(self._default_option)
+    if self._default_option is not None:
+      self._on_option_selected(self._default_option)
 
   def get_selected_option(self) -> str:
     return self._selected_option
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
+  def _on_option_selected(self, option: str):
     y_pos = 0.0
     for btn in self._scroller._items:
       btn = cast(BigDialogOptionButton, btn)
@@ -365,11 +362,35 @@ class BigMultiOptionDialog(BigDialogBase):
         y_pos = rect_center_y - (btn.rect.y + height / 2)
         break
 
-    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
+    self._scroller.scroll_to(-y_pos)
 
   def _selected_option_changed(self):
     pass
 
+  def _handle_mouse_press(self, mouse_pos: MousePos):
+    super()._handle_mouse_press(mouse_pos)
+    self._can_click = True
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    # # TODO: add generic _handle_mouse_click handler to Widget
+    if not self._scroller.scroll_panel.is_touch_valid():
+      self._can_click = False
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if not self._can_click:
+      return
+
+    # select current option
+    for btn in self._scroller._items:
+      btn = cast(BigDialogOptionButton, btn)
+      if btn.option == self._selected_option:
+        self._on_option_selected(btn.option)
+        break
+
   def _update_state(self):
     super()._update_state()
 

selfdrive/ui/onroad/alert_renderer.py

@@ -116,6 +116,10 @@ class AlertRenderer(Widget):
 
   def _render(self, rect: rl.Rectangle):
     alert = self.get_alert(ui_state.sm)
+
+    if gui_app.sunnypilot_ui():
+      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+
     if not alert:
       return
 

selfdrive/ui/onroad/augmented_road_view.py

@@ -15,9 +15,10 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
-
-from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
@@ -223,6 +224,14 @@ class AugmentedRoadView(CameraView):
 
     return self._cached_matrix
 
+  def show_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
+
+  def hide_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
+
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")

selfdrive/ui/onroad/exp_button.py

@@ -50,12 +50,7 @@ class ExpButton(Widget):
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-
-    src_rect = rl.Rectangle(0.0, 0.0, texture.width, texture.height)
-    dest_rect = rl.Rectangle(center_x, center_y, texture.width, texture.height)
-    origin = rl.Vector2(texture.width / 2.0, texture.height / 2.0)
-    rotation = -ui_state.sm['carState'].steeringAngleDeg
-    rl.draw_texture_pro(texture, src_rect, dest_rect, origin, rotation, self._white_color)
+    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()

selfdrive/ui/onroad/hud_renderer.py

@@ -2,6 +2,7 @@ import pyray as rl
 from dataclasses import dataclass
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
+from openpilot.selfdrive.ui.onroad.speed_limit_ui import SpeedLimitRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -71,6 +72,7 @@ class HudRenderer(Widget):
     self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
 
     self._exp_button: ExpButton = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
+    self._speed_limit_renderer: SpeedLimitRenderer = SpeedLimitRenderer()
 
   def _update_state(self) -> None:
     """Update HUD state based on car state and controls state."""
@@ -112,6 +114,8 @@ class HudRenderer(Widget):
       COLORS.HEADER_GRADIENT_END,
     )
 
+    self._speed_limit_renderer.render(rect)
+
     if self.is_cruise_available:
       self._draw_set_speed(rect)
 

selfdrive/ui/onroad/model_renderer.py

@@ -56,7 +56,8 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
     self._path_offset_z = HEIGHT_INIT[0]
-
+    self._counter = -1
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
     # Initialize ModelPoints objects
     self._path = ModelPoints()
     self._lane_lines = [ModelPoints() for _ in range(4)]
@@ -103,6 +104,10 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     live_calib = sm['liveCalibration']
     self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
 
+    if self._counter % 60 == 0:
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    self._counter += 1
+
     if sm.updated['carParams']:
       self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
 
@@ -136,13 +141,13 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
-    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
+    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
 
     for i, lane_line in enumerate(model.laneLines):
-      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
+      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
 
     for i, road_edge in enumerate(model.roadEdges):
-      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
+      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
 
     self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
@@ -160,7 +165,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
 
         # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
+        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
         if point:
           self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
 

selfdrive/ui/onroad/speed_limit_ui.py

@@ -0,0 +1,235 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+
+@dataclass(frozen=True)
+class SpeedLimitColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = rl.Color(255, 0, 0, 255)
+  green: rl.Color = rl.Color(0, 255, 0, 255)
+  grey: rl.Color = rl.Color(145, 155, 149, 241)
+  light_grey: rl.Color = rl.Color(200, 200, 200, 255)
+  dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
+  bg_dark: rl.Color = rl.Color(20, 20, 20, 230)
+  card_bg: rl.Color = rl.Color(50, 50, 50, 200)
+
+
+COLORS = SpeedLimitColors()
+
+
+class SpeedLimitRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+    self.lanes: int = 0
+    self.road_context: str = ""
+    self.hazard: str = ""
+    self.vision_curve_speed: float = 0.0
+    self.map_curve_speed: float = 0.0
+    self.tile_loaded: bool = False
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+    if sm.valid["mapdOut"]:
+      mapd = sm["mapdOut"]
+      self.speed_limit = mapd.speedLimit * speed_conv
+      self.speed_limit_valid = mapd.speedLimit > 0
+      self.next_speed_limit = mapd.nextSpeedLimit * speed_conv
+      self.next_speed_limit_distance = mapd.nextSpeedLimitDistance
+      self.road_name = mapd.roadName
+      self.lanes = mapd.lanes
+      self.hazard = mapd.hazard
+      self.vision_curve_speed = mapd.visionCurveSpeed * speed_conv
+      self.map_curve_speed = mapd.mapCurveSpeed * speed_conv
+      self.tile_loaded = mapd.tileLoaded
+
+      road_ctx = mapd.roadContext
+      if hasattr(road_ctx, 'raw'):
+        ctx_val = road_ctx.raw
+      else:
+        ctx_val = int(road_ctx)
+      self.road_context = ["Freeway", "City", "Unknown"][ctx_val] if ctx_val < 3 else "Unknown"
+    else:
+      self.speed_limit_valid = False
+      self.tile_loaded = False
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+    panel_width = 420
+    panel_height = 280
+    panel_margin = 20
+    panel_x = rect.x + panel_margin
+    panel_y = rect.y + (rect.height - panel_height) / 2
+
+    panel_rect = rl.Rectangle(panel_x, panel_y, panel_width, panel_height)
+    rl.draw_rectangle_rounded(panel_rect, 0.08, 10, COLORS.bg_dark)
+    rl.draw_rectangle_rounded_lines_ex(panel_rect, 0.08, 10, 2, rl.Color(80, 80, 80, 200))
+
+    padding = 20
+    sign_width = 140 if ui_state.is_metric else 130
+    sign_height = 150 if ui_state.is_metric else 140
+    sign_x = panel_x + padding
+    sign_y = panel_y + padding
+
+    self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
+    info_x = sign_x + sign_width + 20
+    info_width = panel_width - sign_width - padding * 2 - 20
+    info_y = panel_y + padding + 5
+
+    # Road name
+    self._draw_road_name(info_x, info_y, info_width)
+    info_y += 50
+
+    # Road context and lanes
+    self._draw_road_details(info_x, info_y, info_width)
+    info_y += 40
+
+    # Next speed limit
+    self._draw_next_speed_limit(info_x, info_y, info_width)
+    info_y += 40
+
+    # Curve speeds
+    self._draw_curve_speeds(info_x, info_y, info_width)
+
+    # Hazard warning beta
+    if self.hazard:
+      hazard_y = panel_y + panel_height - 60
+      self._draw_hazard(panel_x + padding, hazard_y, panel_width - padding * 2)
+
+    status_text = tr("Map Loaded") if self.tile_loaded else tr("No Map Data")
+    status_color = COLORS.green if self.tile_loaded else COLORS.red
+    status_size = measure_text_cached(self._font_medium, status_text, 22)
+    status_pos = rl.Vector2(panel_x + (panel_width - status_size.x) / 2, panel_y + panel_height - 30)
+    rl.draw_text_ex(self._font_medium, status_text, status_pos, 22, 0, status_color)
+
+  def _draw_speed_limit_sign(self, x: float, y: float, width: float, height: float) -> None:
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid else "--"
+    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(x, y, width, height, speed_str, speed_color)
+    else:
+      self._draw_mutcd_sign(x, y, width, height, speed_str, speed_color)
+
+  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color) -> None:
+    center = rl.Vector2(x + width / 2, y + height / 2)
+    outer_radius = min(width, height) / 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = outer_radius * (0.75 if len(speed_str) >= 3 else 0.95)
+    text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
+    text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
+
+  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color) -> None:
+    sign_rect = rl.Rectangle(x, y, width, height)
+    rl.draw_rectangle_rounded(sign_rect, 0.2, 10, COLORS.white)
+    rl.draw_rectangle_rounded_lines_ex(sign_rect, 0.2, 10, 4, COLORS.black)
+
+    speed_label = tr("SPEED")
+    limit_label = tr("LIMIT")
+    label_size = 22
+
+    speed_text_size = measure_text_cached(self._font_semi_bold, speed_label, label_size)
+    speed_pos = rl.Vector2(x + (width - speed_text_size.x) / 2, y + 12)
+    rl.draw_text_ex(self._font_semi_bold, speed_label, speed_pos, label_size, 0, COLORS.black)
+
+    limit_text_size = measure_text_cached(self._font_semi_bold, limit_label, label_size)
+    limit_pos = rl.Vector2(x + (width - limit_text_size.x) / 2, y + 36)
+    rl.draw_text_ex(self._font_semi_bold, limit_label, limit_pos, label_size, 0, COLORS.black)
+
+    font_size = 55 if len(speed_str) >= 3 else 70
+    num_size = measure_text_cached(self._font_bold, speed_str, font_size)
+    num_pos = rl.Vector2(x + (width - num_size.x) / 2, y + 65)
+    rl.draw_text_ex(self._font_bold, speed_str, num_pos, font_size, 0, speed_color)
+
+  def _draw_road_name(self, x: float, y: float, width: float) -> None:
+    road_display = self.road_name if self.road_name else "--"
+    font_size = 32
+    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
+    if road_size.x > width:
+      while len(road_display) > 3 and measure_text_cached(self._font_semi_bold, road_display + "...", font_size).x > width:
+        road_display = road_display[:-1]
+      road_display = road_display + "..."
+    rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
+
+  def _draw_road_details(self, x: float, y: float, width: float) -> None:
+    details = []
+    if self.road_context and self.road_context != "Unknown":
+      details.append(self.road_context)
+    if self.lanes > 0:
+      details.append(f"{self.lanes} {tr('lanes')}")
+    details_text = " • ".join(details) if details else "--"
+    rl.draw_text_ex(self._font_medium, details_text, rl.Vector2(x, y), 26, 0, COLORS.light_grey)
+
+  def _draw_next_speed_limit(self, x: float, y: float, width: float) -> None:
+    if self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit:
+      next_text = f"{tr('Next')}: {round(self.next_speed_limit)} ({self._format_distance(self.next_speed_limit_distance)})"
+    else:
+      next_text = f"{tr('Next')}: --"
+    rl.draw_text_ex(self._font_medium, next_text, rl.Vector2(x, y), 26, 0, COLORS.light_grey)
+
+  def _draw_curve_speeds(self, x: float, y: float, width: float) -> None:
+    unit = tr("km/h") if ui_state.is_metric else tr("mph")
+    vision_val = str(round(self.vision_curve_speed)) if self.vision_curve_speed > 0 else "--"
+    map_val = str(round(self.map_curve_speed)) if self.map_curve_speed > 0 else "--"
+    curve_text = f"{tr('Curve')}: V:{vision_val} M:{map_val} {unit}"
+    rl.draw_text_ex(self._font_medium, curve_text, rl.Vector2(x, y), 24, 0, COLORS.light_grey)
+
+  def _draw_hazard(self, x: float, y: float, width: float) -> None:
+    hazard_text = f"⚠ {self.hazard}"
+    rl.draw_text_ex(self._font_semi_bold, hazard_text, rl.Vector2(x, y), 28, 0, COLORS.red)
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")

selfdrive/ui/sunnypilot/layouts/onboarding.py

@@ -0,0 +1,116 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+
+
+class SunnylinkConsentPage(Widget):
+  def __init__(self, done_callback=None):
+    super().__init__()
+    self._done_callback = done_callback
+    self._step = 0
+
+    self._title = Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+
+    self._content = [
+      {
+        "text": tr("sunnylink enables secured remote access to your comma device from anywhere, " +
+                   "including settings management, remote monitoring, real-time dashboard, etc."),
+        "primary_btn": tr("Enable"),
+        "secondary_btn": tr("Disable"),
+        "highlight_primary": True
+      },
+      {
+        "text": tr("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
+                   "If sunnylink is disabled, features such as settings management, remote monitoring, " +
+                   "real-time dashboards will be unavailable."),
+        "secondary_btn": tr("Back"),
+        "danger_btn": tr("Disable"),
+        "highlight_primary": True
+      }
+    ]
+
+    self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable"))
+    self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary"))
+    self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable"))
+
+  def _handle_choice(self, choice):
+    if choice == "enable":
+      ui_state.params.put_bool("SunnylinkEnabled", True)
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+      if self._done_callback:
+        self._done_callback()
+    elif choice == "secondary":
+      if self._step == 0:
+        self._step = 1
+      elif self._step == 1:
+        self._step = 0
+    elif choice == "disable":
+      ui_state.params.put_bool("SunnylinkEnabled", False)
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+      if self._done_callback:
+        self._done_callback()
+
+  def _render(self, _):
+    step_data = self._content[self._step]
+
+    welcome_x = self._rect.x + 95
+    welcome_y = self._rect.y + 165
+    welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
+    self._title.render(welcome_rect)
+
+    desc_x = welcome_x
+    desc_y = welcome_y + 120
+    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
+
+    desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    desc_label.render(desc_rect)
+
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+
+    if "danger_btn" in step_data:
+      btn_width = (self._rect.width - 45 * 3) / 2
+
+      self._secondary_btn.set_text(step_data["secondary_btn"])
+      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+
+      self._danger_btn.set_text(step_data["danger_btn"])
+      self._danger_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    else:
+      btn_width = (self._rect.width - 45 * 3) / 2
+
+      self._secondary_btn.set_text(step_data["secondary_btn"])
+      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+
+      self._primary_btn.set_text(step_data["primary_btn"])
+      self._primary_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    return -1
+
+
+class SunnylinkOnboarding:
+  def __init__(self):
+    self.consent_page = SunnylinkConsentPage(done_callback=self._on_done)
+    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
+
+  @property
+  def completed(self) -> bool:
+    return self.consent_done
+
+  def _on_done(self):
+    self.consent_done = True
+
+  def render(self, rect):
+    if not self.consent_done:
+      self.consent_page.render(rect)

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

@@ -5,8 +5,216 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, multiple_button_item_sp, button_item_sp, \
+  dual_button_item_sp, Spacer
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
+from openpilot.system.ui.widgets.scroller_tici import LineSeparator
+
+offroad_time_options = {
+  0: 0,
+  1: 5,
+  2: 10,
+  3: 15,
+  4: 30,
+  5: 60,
+  6: 120,
+  7: 180,
+  8: 300,
+  9: 600,
+  10: 1440,
+  11: 1800,
+}
 
 
 class DeviceLayoutSP(DeviceLayout):
   def __init__(self):
     DeviceLayout.__init__(self)
+    self._scroller._line_separator = None
+
+  def _initialize_items(self):
+    DeviceLayout._initialize_items(self)
+
+    # Using dual button with no right button for better alignment
+    self._always_offroad_btn = dual_button_item_sp(
+      left_text=lambda: tr("Enable Always Offroad"),
+      left_callback=self._handle_always_offroad,
+      right_text="",
+      right_callback=None,
+    )
+    self._always_offroad_btn.action_item.right_button.set_visible(False)
+
+    self._max_time_offroad = option_item_sp(
+      title=lambda: tr("Max Time Offroad"),
+      description=lambda: tr("Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)"),
+      param="MaxTimeOffroad",
+      min_value=0,
+      max_value=11,
+      value_change_step=1,
+      on_value_changed=None,
+      enabled=True,
+      icon="",
+      value_map=offroad_time_options,
+      label_width=360,
+      use_float_scaling=False,
+      inline=True,
+      label_callback=self._update_max_time_offroad_label
+    )
+
+    self._device_wake_mode = multiple_button_item_sp(
+      title=lambda: tr("Wake Up Behavior"),
+      description=self.wake_mode_description,
+      param="DeviceBootMode",
+      buttons=[lambda: tr("Default"), lambda: tr("Offroad")],
+      button_width=364,
+      callback=None,
+      inline=True,
+    )
+
+    self._quiet_mode_and_dcam = dual_button_item_sp(
+      left_text=lambda: tr("Quiet Mode"),
+      right_text=lambda: tr("Driver Camera Preview"),
+      left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")),
+      right_callback=self._show_driver_camera
+    )
+    self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
+
+    self._reg_and_training = dual_button_item_sp(
+      left_text=lambda: tr("Regulatory"),
+      left_callback=self._on_regulatory,
+      right_text=lambda: tr("Training Guide"),
+      right_callback=self._on_review_training_guide
+    )
+    self._reg_and_training.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
+
+    self._onroad_uploads_and_reset_settings = dual_button_item_sp(
+      left_text=lambda: tr("Onroad Uploads"),
+      left_callback=lambda: ui_state.params.put_bool("OnroadUploads", not ui_state.params.get_bool("OnroadUploads")),
+      right_text=lambda: tr("Reset Settings"),
+      right_callback=self._reset_settings
+    )
+
+    self._power_buttons = dual_button_item_sp(
+      left_text=lambda: tr("Reboot"),
+      right_text=lambda: tr("Power Off"),
+      left_callback=self._reboot_prompt,
+      right_callback=self._power_off_prompt
+    )
+
+    items = [
+      text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
+      LineSeparator(),
+      text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
+      LineSeparator(),
+      self._pair_device_btn,
+      LineSeparator(),
+      self._reset_calib_btn,
+      LineSeparator(),
+      button_item_sp(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
+      LineSeparator(),
+      self._device_wake_mode,
+      LineSeparator(),
+      self._max_time_offroad,
+      LineSeparator(height=10),
+      self._quiet_mode_and_dcam,
+      self._reg_and_training,
+      self._onroad_uploads_and_reset_settings,
+      Spacer(10),
+      LineSeparator(height=10),
+      self._power_buttons,
+    ]
+
+    return items
+
+  def _offroad_transition(self):
+    self._power_buttons.action_item.right_button.set_visible(ui_state.is_offroad())
+
+  @staticmethod
+  def wake_mode_description() -> str:
+    def_str = tr("Default: Device will boot/wake-up normally & will be ready to engage.")
+    offrd_str = tr("Offroad: Device will be in Always Offroad mode after boot/wake-up.")
+    header = tr("Controls state of the device after boot/sleep.")
+
+    return f"{header}\n\n{def_str}\n{offrd_str}"
+
+  @staticmethod
+  def _reset_settings():
+    def _do_reset(result: int):
+      if result == DialogResult.CONFIRM:
+        for _key in ui_state.params.all_keys():
+          ui_state.params.remove(_key)
+        HARDWARE.reboot()
+
+    def _second_confirm(result: int):
+      if result == DialogResult.CONFIRM:
+        gui_app.set_modal_overlay(ConfirmDialog(
+          text=tr("The reset cannot be undone. You have been warned."),
+          confirm_text=tr("Confirm")
+        ), callback=_do_reset)
+
+    gui_app.set_modal_overlay(ConfirmDialog(
+      text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."),
+      confirm_text=tr("Reset")
+    ), callback=_second_confirm)
+
+  @staticmethod
+  def _handle_always_offroad():
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
+      return
+
+    _offroad_mode_state = ui_state.params.get_bool("OffroadMode")
+    _offroad_mode_str = tr("Are you sure you want to exit Always Offroad mode?") if _offroad_mode_state else \
+                        tr("Are you sure you want to enter Always Offroad mode?")
+
+    def _set_always_offroad(result: int):
+      if result == DialogResult.CONFIRM and not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", not _offroad_mode_state)
+
+    gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result))
+
+  @staticmethod
+  def _update_max_time_offroad_label(value: int) -> str:
+    label = tr("Always On") if value == 0 else f"{value}" + tr("m") if value < 60 else f"{value // 60}" + tr("h")
+    label += tr(" (Default)") if value == 1800 else ""
+    return label
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Handle Always Offroad button
+    always_offroad = ui_state.params.get_bool("OffroadMode")
+
+    # Text & Color
+    offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad")
+    offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER
+    self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text)
+    self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style)
+
+    # Position
+    if self._scroller._items.__contains__(self._always_offroad_btn):
+      self._scroller._items.remove(self._always_offroad_btn)
+    if ui_state.is_offroad() and not always_offroad:
+      self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn)
+    else:
+      self._scroller._items.insert(0, self._always_offroad_btn)
+
+    # Quiet Mode button
+    self._quiet_mode_and_dcam.action_item.left_button.set_button_style(ButtonStyle.PRIMARY if ui_state.params.get_bool("QuietMode") else ButtonStyle.NORMAL)
+
+    # Onroad Uploads
+    self._onroad_uploads_and_reset_settings.action_item.left_button.set_button_style(
+      ButtonStyle.PRIMARY if ui_state.params.get_bool("OnroadUploads") else ButtonStyle.NORMAL
+    )
+
+    # Offroad only buttons
+    self._quiet_mode_and_dcam.action_item.right_button.set_enabled(ui_state.is_offroad())
+    self._reg_and_training.action_item.left_button.set_enabled(ui_state.is_offroad())
+    self._reg_and_training.action_item.right_button.set_enabled(ui_state.is_offroad())
+    self._onroad_uploads_and_reset_settings.action_item.right_button.set_enabled(ui_state.is_offroad())

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

@@ -4,9 +4,21 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from enum import IntEnum
+
 from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
+
+ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}}
+
+
+class OnroadBrightness(IntEnum):
+  AUTO = 0
+  AUTO_DARK = 1
 
 
 class DisplayLayout(Widget):
@@ -18,11 +30,69 @@ class DisplayLayout(Widget):
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
+    self._onroad_brightness = option_item_sp(
+      param="OnroadScreenOffBrightness",
+      title=lambda: tr("Onroad Brightness"),
+      description="",
+      min_value=0,
+      max_value=21,
+      value_change_step=1,
+      label_callback=lambda value: self.update_onroad_brightness(value),
+      inline=True
+    )
+    self._onroad_brightness_timer = option_item_sp(
+      param="OnroadScreenOffTimer",
+      title=lambda: tr("Onroad Brightness Delay"),
+      description="",
+      min_value=0,
+      max_value=11,
+      value_change_step=1,
+      value_map=ONROAD_BRIGHTNESS_TIMER_VALUES,
+      label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
+      inline=True
+    )
+    self._interactivity_timeout = option_item_sp(
+      param="InteractivityTimeout",
+      title=lambda: tr("Interactivity Timeout"),
+      description=lambda: tr("Apply a custom timeout for settings UI." +
+                             "<br>This is the time after which settings UI closes automatically " +
+                             "if user is not interacting with the screen."),
+      min_value=0,
+      max_value=120,
+      value_change_step=10,
+      label_callback=lambda value: (tr("Default") if not value or value == 0 else
+                                    f"{value} s" if value < 60 else f"{int(value/60)} m"),
+      inline=True
+    )
     items = [
-
+      self._onroad_brightness,
+      self._onroad_brightness_timer,
+      self._interactivity_timeout,
     ]
     return items
 
+  @staticmethod
+  def update_onroad_brightness(val):
+    if val == OnroadBrightness.AUTO:
+      return tr("Auto (Default)")
+
+    if val == OnroadBrightness.AUTO_DARK:
+      return tr("Auto (Dark)")
+
+    return f"{(val - 1) * 5} %"
+
+  def _update_state(self):
+    super()._update_state()
+
+    for _item in self._scroller._items:
+      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
+        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
+      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
+        _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True))
+
+    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
+    self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
+
   def _render(self, rect):
     self._scroller.render(rect)
 

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

@@ -1,232 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import 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.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._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):
-    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"))
-
-    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
-
-  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

@@ -9,35 +9,34 @@ from enum import IntEnum
 
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app, MousePos
-from openpilot.system.ui.lib.multilang import tr_noop
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
 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.developer import DeveloperLayoutSP
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.multilang import tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 
 # 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
+OP.PanelType = IntEnum(
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",
@@ -46,7 +45,6 @@ OP.PanelType = IntEnum(  # type: ignore
     "CRUISE",
     "VISUALS",
     "DISPLAY",
-    "OSM",
     "NAVIGATION",
     "TRIPS",
     "VEHICLE",
@@ -120,7 +118,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
       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"),

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

@@ -4,23 +4,23 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import pyray as rl
 from cereal import custom
+from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.list_view import button_item, dual_button_item
+from openpilot.system.ui.widgets.list_view import dual_button_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-import pyray as rl
-
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+from openpilot.system.version import sunnylink_consent_version
 
 
 class SunnylinkHeader(Widget):
@@ -160,14 +160,14 @@ class SunnylinkLayout(Widget):
     self._sunnylink_description = SunnylinkDescriptionItem()
     self._sunnylink_description.set_visible(False)
 
-    self._sponsor_btn = button_item(
+    self._sponsor_btn = button_item_sp(
       title=tr("Sponsor Status"),
       button_text=tr("SPONSOR"),
       description=tr(
         "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
       callback=lambda: self._handle_pair_btn(False)
     )
-    self._pair_btn = button_item(
+    self._pair_btn = button_item_sp(
       title=tr("Pair GitHub Account"),
       button_text=tr("Not Paired"),
       description=tr(
@@ -209,8 +209,8 @@ class SunnylinkLayout(Widget):
     return items
 
   @staticmethod
-  def _get_sunnylink_dongle_id() -> str | None:
-    return str(ui_state.params.get("SunnylinkDongleId") or (lambda: tr("N/A")))
+  def _get_sunnylink_dongle_id() -> str:
+    return ui_state.params.get("SunnylinkDongleId") or tr("N/A")
 
   def _handle_pair_btn(self, sponsor_pairing: bool = False):
     sunnylink_dongle_id = self._get_sunnylink_dongle_id()
@@ -302,6 +302,22 @@ class SunnylinkLayout(Widget):
       self._restore_btn.set_text(tr("Restore Settings"))
 
   def _sunnylink_toggle_callback(self, state: bool):
+    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
+    sl_enabled: bool = ui_state.params.get_bool("SunnylinkEnabled")
+
+    if state and not sl_consent and not sl_enabled:
+      def on_consent_done():
+        enabled = ui_state.params.get_bool("SunnylinkEnabled")
+        self._update_description(enabled)
+        gui_app.set_modal_overlay(None)
+
+      sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done)
+      gui_app.set_modal_overlay(sl_terms_dlg)
+    else:
+      ui_state.params.put_bool("SunnylinkEnabled", state)
+      self._update_description(state)
+
+  def _update_description(self, state: bool):
     if state:
       description = tr(
         "Welcome back!! We're excited to see you've enabled sunnylink again!")

selfdrive/ui/sunnypilot/layouts/sidebar.py

@@ -0,0 +1,87 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+import time
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.multilang import tr_noop
+
+
+PING_TIMEOUT_NS = 80_000_000_000  # 80 seconds in nanoseconds
+METRIC_HEIGHT = 126
+METRIC_MARGIN = 30
+METRIC_START_Y = 300
+HOME_BTN = rl.Rectangle(60, 860, 180, 180)
+
+
+# Color scheme
+class Colors:
+  WHITE = rl.WHITE
+  WHITE_DIM = rl.Color(255, 255, 255, 85)
+  GRAY = rl.Color(84, 84, 84, 255)
+
+  # Status colors
+  GOOD = rl.WHITE
+  WARNING = rl.Color(218, 202, 37, 255)
+  DANGER = rl.Color(201, 34, 49, 255)
+  PROGRESS = rl.Color(0, 134, 233, 255)
+  DISABLED = rl.Color(128, 128, 128, 255)
+
+  # UI elements
+  METRIC_BORDER = rl.Color(255, 255, 255, 85)
+  BUTTON_NORMAL = rl.WHITE
+  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
+
+
+@dataclass(slots=True)
+class MetricData:
+  label: str
+  value: str
+  color: rl.Color
+
+  def update(self, label: str, value: str, color: rl.Color):
+    self.label = label
+    self.value = value
+    self.color = color
+
+
+class SidebarSP:
+  def __init__(self):
+    self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING)
+
+  def _update_sunnylink_status(self):
+    if not ui_state.params.get_bool("SunnylinkEnabled"):
+      self._sunnylink_status.update(tr_noop("SUNNYLINK"), tr_noop("DISABLED"), Colors.DISABLED)
+      return
+
+    last_ping = ui_state.params.get("LastSunnylinkPingTime") or 0
+    dongle_id = ui_state.params.get("SunnylinkDongleId")
+
+    is_online = last_ping and (time.monotonic_ns() - last_ping) < PING_TIMEOUT_NS
+    is_temp_fault = ui_state.params.get_bool("SunnylinkTempFault")
+    is_registering = not is_temp_fault and dongle_id in (None, "", UNREGISTERED_SUNNYLINK_DONGLE_ID)
+
+    # Determine status/color pair based on priority
+    if last_ping:
+      status, color = (tr_noop("ONLINE"), Colors.GOOD) if is_online else (tr_noop("ERROR"), Colors.DANGER)
+    elif is_temp_fault:
+      status, color = (tr_noop("FAULT"), Colors.WARNING)
+    elif is_registering:
+      status, color = (tr_noop("REGIST..."), Colors.PROGRESS)
+    else:
+      status, color = (tr_noop("OFFLINE"), Colors.DANGER)
+
+    self._sunnylink_status.update(tr_noop("SUNNYLINK"), status, color)
+
+  def _draw_metrics_w_sunnylink(self, rect: rl.Rectangle, _temp, _panda, _connect):
+    metrics = [_temp, _panda, _connect, self._sunnylink_status]
+    start_y = int(rect.y) + METRIC_START_Y
+    available_height = max(0, int(HOME_BTN.y) - METRIC_MARGIN - METRIC_HEIGHT - start_y)
+    spacing = available_height / max(1, len(metrics) - 1)
+
+    return metrics, start_y, spacing