sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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import pyray as rl
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import time
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from dataclasses import dataclass
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from collections.abc import Callable
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from openpilot.cereal import log
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, FONT_SCALE
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from openpilot.system.ui.lib.multilang import tr, tr_noop
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from openpilot.system.ui.lib.text_measure import measure_text_cached
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from openpilot.system.ui.widgets import Widget
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from openpilot.selfdrive.ui.sunnypilot.layouts.sidebar import SidebarSP
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SIDEBAR_WIDTH = 300
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METRIC_HEIGHT = 126
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METRIC_WIDTH = 240
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METRIC_MARGIN = 30
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FONT_SIZE = 35
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SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117)
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HOME_BTN = rl.Rectangle(60, 860, 180, 180)
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ThermalStatus = log.DeviceState.ThermalStatus
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NetworkType = log.DeviceState.NetworkType
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# Color scheme
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class Colors:
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WHITE = rl.WHITE
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WHITE_DIM = rl.Color(255, 255, 255, 85)
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GRAY = rl.Color(84, 84, 84, 255)
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# Status colors
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GOOD = rl.WHITE
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WARNING = rl.Color(218, 202, 37, 255)
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DANGER = rl.Color(201, 34, 49, 255)
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# UI elements
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METRIC_BORDER = rl.Color(255, 255, 255, 85)
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BUTTON_NORMAL = rl.WHITE
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BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
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NETWORK_TYPES = {
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NetworkType.none: tr_noop("--"),
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NetworkType.wifi: tr_noop("Wi-Fi"),
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NetworkType.ethernet: tr_noop("ETH"),
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NetworkType.cell2G: tr_noop("2G"),
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NetworkType.cell3G: tr_noop("3G"),
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NetworkType.cell4G: tr_noop("LTE"),
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NetworkType.cell5G: tr_noop("5G"),
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}
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@dataclass(slots=True)
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class MetricData:
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label: str
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value: str
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color: rl.Color
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def update(self, label: str, value: str, color: rl.Color):
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self.label = label
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self.value = value
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self.color = color
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class Sidebar(Widget, SidebarSP):
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def __init__(self):
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Widget.__init__(self)
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SidebarSP.__init__(self)
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self._net_type = NETWORK_TYPES.get(NetworkType.none)
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self._net_strength = 0
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self._temp_status = MetricData(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
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self._panda_status = MetricData(tr_noop("VEHICLE"), tr_noop("ONLINE"), Colors.GOOD)
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self._connect_status = MetricData(tr_noop("CONNECT"), tr_noop("OFFLINE"), Colors.WARNING)
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self._recording_audio = False
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self._home_img = gui_app.texture("images/button_home.png", HOME_BTN.width, HOME_BTN.height)
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self._flag_img = gui_app.texture("images/button_flag.png", HOME_BTN.width, HOME_BTN.height)
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self._settings_img = gui_app.texture("images/button_settings.png", SETTINGS_BTN.width, SETTINGS_BTN.height)
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self._mic_img = gui_app.texture("icons/microphone.png", 30, 30)
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self._mic_indicator_rect = rl.Rectangle(0, 0, 0, 0)
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self._font_regular = gui_app.font(FontWeight.NORMAL)
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self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
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# Callbacks
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self._on_settings_click: Callable | None = None
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self._on_flag_click: Callable | None = None
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self._open_settings_callback: Callable | None = None
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def set_callbacks(self, on_settings: Callable | None = None, on_flag: Callable | None = None,
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open_settings: Callable | None = None):
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self._on_settings_click = on_settings
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self._on_flag_click = on_flag
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self._open_settings_callback = open_settings
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def _render(self, rect: rl.Rectangle):
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# Background
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rl.draw_rectangle_rec(rect, rl.BLACK)
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self._draw_buttons(rect)
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self._draw_network_indicator(rect)
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self._draw_metrics(rect)
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def _update_state(self):
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sm = ui_state.sm
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if not sm.updated['deviceState']:
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return
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device_state = sm['deviceState']
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self._recording_audio = ui_state.recording_audio
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self._update_network_status(device_state)
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self._update_temperature_status(device_state)
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self._update_connection_status(device_state)
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self._update_panda_status()
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SidebarSP._update_sunnylink_status(self)
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def _update_network_status(self, device_state):
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self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, tr_noop("Unknown"))
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strength = device_state.networkStrength
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self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
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def _update_temperature_status(self, device_state):
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thermal_status = device_state.thermalStatus
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if thermal_status == ThermalStatus.ok:
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self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
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else:
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self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
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def _update_connection_status(self, device_state):
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last_ping = device_state.lastAthenaPingTime
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if last_ping == 0:
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self._connect_status.update(tr_noop("CONNECT"), tr_noop("OFFLINE"), Colors.WARNING)
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elif time.monotonic_ns() - last_ping < 80_000_000_000: # 80 seconds in nanoseconds
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self._connect_status.update(tr_noop("CONNECT"), tr_noop("ONLINE"), Colors.GOOD)
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else:
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self._connect_status.update(tr_noop("CONNECT"), tr_noop("ERROR"), Colors.DANGER)
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def _update_panda_status(self):
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if ui_state.panda_type == log.PandaState.PandaType.unknown:
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self._panda_status.update(tr_noop("NO"), tr_noop("PANDA"), Colors.DANGER)
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else:
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self._panda_status.update(tr_noop("VEHICLE"), tr_noop("ONLINE"), Colors.GOOD)
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def _handle_mouse_release(self, mouse_pos: MousePos):
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if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
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if self._on_settings_click:
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self._on_settings_click()
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elif rl.check_collision_point_rec(mouse_pos, HOME_BTN) and ui_state.started:
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if self._on_flag_click:
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self._on_flag_click()
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elif self._recording_audio and rl.check_collision_point_rec(mouse_pos, self._mic_indicator_rect):
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if self._open_settings_callback:
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self._open_settings_callback()
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def _draw_buttons(self, rect: rl.Rectangle):
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mouse_pos = rl.get_mouse_position()
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mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
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# Settings button
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settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
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tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
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rl.draw_texture_ex(self._settings_img, rl.Vector2(SETTINGS_BTN.x, SETTINGS_BTN.y), 0.0, 1.0, tint)
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# Home/Flag button
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flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
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button_img = self._flag_img if ui_state.started else self._home_img
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tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
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rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)
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# Microphone button
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if self._recording_audio:
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self._mic_indicator_rect = rl.Rectangle(rect.x + rect.width - 130, rect.y + 245, 75, 40)
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mic_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, self._mic_indicator_rect)
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bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER
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rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
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rl.draw_texture_ex(self._mic_img, rl.Vector2(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2,
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self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), 0.0, 1.0, Colors.WHITE)
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def _draw_network_indicator(self, rect: rl.Rectangle):
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# Signal strength dots
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x_start = rect.x + 58
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y_pos = rect.y + 196
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dot_size = 27
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dot_spacing = 37
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for i in range(5):
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color = Colors.WHITE if i < self._net_strength else Colors.GRAY
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x = int(x_start + i * dot_spacing + dot_size // 2)
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y = int(y_pos + dot_size // 2)
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rl.draw_circle(x, y, dot_size // 2, color)
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# Network type text
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text_y = rect.y + 247
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text_pos = rl.Vector2(rect.x + 58, text_y)
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rl.draw_text_ex(self._font_regular, tr(self._net_type), text_pos, FONT_SIZE, 0, Colors.WHITE)
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def _draw_metrics(self, rect: rl.Rectangle):
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if gui_app.sunnypilot_ui():
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metrics, start_y, spacing = SidebarSP._draw_metrics_w_sunnylink(self, rect, self._temp_status, self._panda_status, self._connect_status)
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for idx, metric in enumerate(metrics):
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self._draw_metric(rect, metric, start_y + idx * spacing)
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return
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metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
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for metric, y_offset in metrics:
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self._draw_metric(rect, metric, rect.y + y_offset)
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def _draw_metric(self, rect: rl.Rectangle, metric: MetricData, y: float):
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metric_rect = rl.Rectangle(rect.x + METRIC_MARGIN, y, METRIC_WIDTH, METRIC_HEIGHT)
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# Draw colored left edge (clipped rounded rectangle)
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edge_rect = rl.Rectangle(metric_rect.x + 4, metric_rect.y + 4, 100, 118)
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rl.begin_scissor_mode(int(metric_rect.x + 4), int(metric_rect.y), 18, int(metric_rect.height))
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rl.draw_rectangle_rounded(edge_rect, 0.3, 10, metric.color)
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rl.end_scissor_mode()
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# Draw border
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rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.3, 10, 2, Colors.METRIC_BORDER)
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# Draw label and value
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labels = [tr(metric.label), tr(metric.value)]
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text_y = metric_rect.y + (metric_rect.height / 2 - len(labels) * FONT_SIZE * FONT_SCALE)
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for text in labels:
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text_size = measure_text_cached(self._font_bold, text, FONT_SIZE)
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text_y += text_size.y
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text_pos = rl.Vector2(
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metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2,
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text_y
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)
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rl.draw_text_ex(self._font_bold, text, text_pos, FONT_SIZE, 0, Colors.WHITE)
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