sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
2026-07-21 07:44:02 +00:00
commit de77c89cf6
@@ -0,0 +1,266 @@
+"""
+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 Enum
+
+from openpilot.cereal import messaging, log, custom
+from opendbc.car.structs import car
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
+from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
+from openpilot.system.ui.lib.application import gui_app
+
+OpenpilotState = log.SelfdriveState.OpenpilotState
+MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+
+ONROAD_BRIGHTNESS_TIMER_PAUSED = -1
+
+
+class OnroadTimerStatus(Enum):
+  NONE = 0
+  PAUSE = 1
+  RESUME = 2
+
+
+class UIStateSP:
+  def __init__(self):
+    self.params = Params()
+    self.CP_SP: custom.CarParamsSP | None = None
+    self.has_icbm: bool = False
+    self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
+    self.sm_services_ext = [
+      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
+    ]
+
+    self.sunnylink_state = SunnylinkState()
+
+    self.active_bundle = None
+    self.blindspot: bool = False
+    self.chevron_metrics = None
+    self.custom_interactive_timeout: int = 0
+    self.developer_ui = None
+    self.hide_v_ego_ui: bool = False
+    self.onroad_brightness: int = 0
+    self.onroad_brightness_timer: int = 0
+    self.onroad_brightness_timer_param: int = 0
+    self.rainbow_path: bool = False
+    self.road_name_toggle: bool = False
+    self.rocket_fuel: bool = False
+    self.speed_limit_mode = None
+    self.standstill_timer: bool = False
+    self.sunnylink_enabled: bool = False
+    self.torque_bar: bool = False
+    self.enforce_torque_control: bool = False
+    self.custom_torque_params: bool = False
+    self.torque_override_enabled: bool = False
+    self._sp_initialized: bool = False
+
+  def update(self) -> None:
+    if self.sunnylink_enabled:
+      self.sunnylink_state.start()
+    else:
+      self.sunnylink_state.stop()
+
+  def onroad_brightness_handle_alerts(self, _ui_state, alert):
+    if _ui_state.sm.recv_frame["carState"] < _ui_state.started_frame:
+      return
+
+    has_alert = _ui_state.started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
+
+    self.update_onroad_brightness(has_alert)
+    if has_alert:
+      self.reset_onroad_sleep_timer()
+
+  def update_onroad_brightness(self, has_alert: bool) -> None:
+    if has_alert:
+      return
+
+    if self.onroad_brightness_timer > 0:
+      self.onroad_brightness_timer -= 1
+
+  def reset_onroad_sleep_timer(self, timer_status: OnroadTimerStatus = OnroadTimerStatus.NONE) -> None:
+    # Toggling from active state to inactive
+    if timer_status == OnroadTimerStatus.PAUSE and self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED:
+      self.onroad_brightness_timer = ONROAD_BRIGHTNESS_TIMER_PAUSED
+    # Toggling from a previously inactive state or resetting an active timer
+    elif (self.onroad_brightness_timer_param >= 0 and self.onroad_brightness != OnroadBrightness.AUTO and
+          self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED) or timer_status == OnroadTimerStatus.RESUME:
+      if self.onroad_brightness == OnroadBrightness.AUTO_DARK:
+        self.onroad_brightness_timer = 15 * gui_app.target_fps
+      else:
+        self.onroad_brightness_timer = self.onroad_brightness_timer_param * gui_app.target_fps
+
+  @property
+  def onroad_brightness_timer_expired(self) -> bool:
+    return self.onroad_brightness != OnroadBrightness.AUTO and self.onroad_brightness_timer == 0
+
+  @property
+  def auto_onroad_brightness(self) -> bool:
+    return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)
+
+  @staticmethod
+  def update_status(ss, ss_sp, onroad_evt) -> str:
+    state = ss.state
+    mads = ss_sp.mads
+    mads_state = mads.state
+
+    if state == OpenpilotState.preEnabled:
+      return "override"
+
+    if state == OpenpilotState.overriding:
+      if not mads.available:
+        return "override"
+
+      if any(e.overrideLongitudinal for e in onroad_evt):
+        return "override"
+
+    if mads_state in (MADSState.paused, MADSState.overriding):
+      return "override"
+
+    # MADS specific statuses
+    if not mads.available:
+      return "engaged" if ss.enabled else "disengaged"
+
+    if not mads.enabled and not ss.enabled:
+      return "disengaged"
+
+    if mads.enabled and ss.enabled:
+      return "engaged"
+
+    if mads.enabled:
+      return "lat_only"
+
+    if ss.enabled:
+      return "long_only"
+
+    return "disengaged"
+
+  def update_params(self) -> None:
+    CP_SP_bytes = self.params.get("CarParamsSPPersistent")
+    if CP_SP_bytes is not None:
+      self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+      self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
+
+    self._enforce_constraints()
+    self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.blindspot = self.params.get_bool("BlindSpot")
+    self.chevron_metrics = self.params.get("ChevronInfo")
+    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
+    self.developer_ui = self.params.get("DevUIInfo")
+    self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
+    self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
+    self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
+    self.rainbow_path = self.params.get_bool("RainbowMode")
+    self.road_name_toggle = self.params.get_bool("RoadNameToggle")
+    self.rocket_fuel = self.params.get_bool("RocketFuel")
+    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
+    self.standstill_timer = self.params.get_bool("StandstillTimer")
+    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
+    self.torque_bar = self.params.get_bool("TorqueBar")
+    self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
+    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.torque_override_lat_accel_factor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+    self.torque_override_friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
+    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
+    self.turn_signals = self.params.get_bool("ShowTurnSignals")
+    self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.always_offroad = self.params.get_bool("OffroadMode")
+
+    if not self._sp_initialized:
+      self._sp_initialized = True
+      self.reset_onroad_sleep_timer()
+
+  def _enforce_constraints(self) -> None:
+    has_long = self.has_longitudinal_control
+    CP = self.CP
+
+    if CP is not None:
+      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("EnforceTorqueControl", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
+      # Angle steering: no torque-based lateral controls
+      if CP.steerControlType == car.CarParams.SteerControlType.angle:
+        self.params.remove("EnforceTorqueControl")
+        self.params.remove("NeuralNetworkLateralControl")
+
+      # Alpha longitudinal: clear if not available
+      if not CP.alphaLongitudinalAvailable:
+        self.params.remove("AlphaLongitudinalEnabled")
+
+      # BSM not available: clear BSM-dependent settings
+      if not CP.enableBsm:
+        self.params.remove("AutoLaneChangeBsmDelay")
+    else:
+      # No CarParams: clear all car-dependent params as safety default
+      self.params.remove("EnforceTorqueControl")
+      self.params.remove("NeuralNetworkLateralControl")
+      self.params.remove("AlphaLongitudinalEnabled")
+
+    # No longitudinal control: no experimental mode or DEC
+    if not has_long:
+      self.params.remove("ExperimentalMode")
+      self.params.remove("DynamicExperimentalControl")
+
+    # ICBM: clear if not available or if full longitudinal control is active
+    if self.CP_SP is not None:
+      if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
+        self.params.remove("IntelligentCruiseButtonManagement")
+        self.has_icbm = False
+    else:
+      self.params.remove("IntelligentCruiseButtonManagement")
+      self.has_icbm = False
+
+    # Cruise features requiring longitudinal or ICBM
+    if not (has_long or self.has_icbm):
+      self.params.remove("CustomAccIncrementsEnabled")
+      self.params.remove("SmartCruiseControlVision")
+      self.params.remove("SmartCruiseControlMap")
+
+
+class DeviceSP:
+  @staticmethod
+  def _set_awake(on: bool, _ui_state):
+    if _ui_state.boot_offroad_mode == 1 and not on:
+      _ui_state.params.put_bool("OffroadMode", True)
+
+  @staticmethod
+  def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
+    if not awake or not _ui_state.started:
+      return cur_brightness
+
+    if _ui_state.onroad_brightness_timer != 0:
+      if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+        return max(30.0, cur_brightness)
+      return cur_brightness
+
+    # 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
+      return cur_brightness
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+      return cur_brightness
+    if _ui_state.onroad_brightness == OnroadBrightness.SCREEN_OFF:
+      return 0.0
+
+    # 3-22: 5% - 100%
+    return float((_ui_state.onroad_brightness - 2) * 5)
+
+  @staticmethod
+  def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+      min_brightness = 10
+
+    return min_brightness
+
+  @staticmethod
+  def wake_from_dimmed_onroad_brightness(_ui_state, evs) -> None:
+    if _ui_state.started and (_ui_state.onroad_brightness_timer_expired or _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK):
+      if any(ev.left_down for ev in evs):
+        if _ui_state.onroad_brightness_timer_expired:
+          gui_app.mouse_events.clear()
+        _ui_state.reset_onroad_sleep_timer()