wip

selfdrive/ui/.gitignore

@@ -3,11 +3,13 @@ moc_*
 
 translations/main_test_en.*
 
+_text
+_spinner
+
 ui
+mui
 watch3
 installer/installers/*
-qt/text
-qt/spinner
 qt/setup/setup
 qt/setup/reset
 qt/setup/wifi

selfdrive/ui/SConscript

@@ -11,29 +11,26 @@ if arch == 'larch64':
 
 maps = arch in ['larch64', 'aarch64', 'x86_64']
 
-if maps and arch != 'larch64':
-  rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
-  qt_env["RPATH"] += rpath
-
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
+# FIXME: remove this once we're on 5.15 (24.04)
+qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
 widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc",
-               "../frogpilot/ui/frogpilot_functions.cc", "../frogpilot/navigation/ui/navigation_settings.cc",
+               "../frogpilot/ui/qt/widgets/frogpilot_controls.cc", "../frogpilot/navigation/ui/navigation_settings.cc",
-               "../frogpilot/ui/control_settings.cc", "../frogpilot/ui/vehicle_settings.cc",
+               "../frogpilot/ui/qt/offroad/control_settings.cc", "../frogpilot/ui/qt/offroad/vehicle_settings.cc",
-               "../frogpilot/ui/visual_settings.cc", 
+               "../frogpilot/ui/qt/offroad/visual_settings.cc"]
-               "../oscarpilot/settings/settings.cc", "../oscarpilot/settings/basic.cc", 
-               ]
 
 qt_env['CPPDEFINES'] = []
 if maps:
-  base_libs += ['qmapboxgl']
+  base_libs += ['QMapLibre']
   widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
                   "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
@@ -48,21 +45,6 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc"]
 
-def is_running_on_wsl2():
-  try:
-    with open('/proc/version', 'r') as f:
-      return 'WSL2' in f.read()
-  except FileNotFoundError:
-    return False
-
-if is_running_on_wsl2():
-  qt_env.Append(CXXFLAGS=['-DWSL2'])
-  base_libs.remove('OmxCore')
-  qt_libs.remove('OmxCore')
-  qt_src.remove("../frogpilot/screenrecorder/screenrecorder.cc")
-  qt_src.remove("../frogpilot/screenrecorder/omx_encoder.cc")
-  print("Building for WSL2. Removing Screen Recorder")
-
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
   languages = json.loads(f.read())
@@ -94,8 +76,8 @@ asset_obj = qt_env.Object("assets", assets)
 qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
 # spinner and text window
-qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
+qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
-qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
+qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
 # build main UI
 qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
@@ -115,28 +97,25 @@ if GetOption('extras') and arch != "Darwin":
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
+  # build mui
+  qt_env.Program("mui", ["mui.cc"], LIBS=qt_libs)
+
   # build installers
   senv = qt_env.Clone()
   senv['LINKFLAGS'].append('-Wl,-strip-debug')
 
   release = "release3"
-  dashcam = "dashcam3"
   installers = [
     ("openpilot", release),
     ("openpilot_test", f"{release}-staging"),
     ("openpilot_nightly", "nightly"),
     ("openpilot_internal", "master"),
-    ("dashcam", dashcam),
-    ("dashcam_test", f"{dashcam}-staging"),
   ]
 
-  cont = {}
+  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-  for brand in ("openpilot", "dashcam"):
+                      "ld -r -b binary -o $TARGET $SOURCE")
-    cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh",
-                               "ld -r -b binary -o $TARGET $SOURCE")
   for name, branch in installers:
-    brand = "dashcam" if "dashcam" in branch else "openpilot"
+    d = {'BRANCH': f"'\"{branch}\"'"}
-    d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"}
     if "internal" in name:
       d['INTERNAL'] = "1"
 
@@ -145,7 +124,7 @@ if GetOption('extras') and arch != "Darwin":
       r.raise_for_status()
       d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs)
+    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
     assert f[0].get_size() < 350*1e3
 

selfdrive/ui/installer/continue_openpilot.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh

selfdrive/ui/installer/installer.cc

@@ -33,8 +33,8 @@ const QString CACHE_PATH = "/data/openpilot.cache";
 #define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
-extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_start");
+extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
-extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_end");
+extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 
 bool time_valid() {
   time_t rawtime;

selfdrive/ui/mui.cc

@@ -0,0 +1,50 @@
+#include <QApplication>
+#include <QtWidgets>
+#include <QTimer>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+int main(int argc, char *argv[]) {
+  QApplication a(argc, argv);
+  QWidget w;
+  setMainWindow(&w);
+
+  w.setStyleSheet("background-color: black;");
+
+  // our beautiful UI
+  QVBoxLayout *layout = new QVBoxLayout(&w);
+  QLabel *label = new QLabel("〇");
+  layout->addWidget(label, 0, Qt::AlignCenter);
+
+  QTimer timer;
+  QObject::connect(&timer, &QTimer::timeout, [=]() {
+    static SubMaster sm({"deviceState", "controlsState"});
+
+    bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
+                       sm["deviceState"].getDeviceState().getStarted();
+    sm.update(0);
+
+    bool onroad = sm.allAliveAndValid({"deviceState"}) &&
+                  sm["deviceState"].getDeviceState().getStarted();
+
+    if (onroad) {
+      label->setText("〇");
+      auto cs = sm["controlsState"].getControlsState();
+      UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
+    } else {
+      label->setText("offroad");
+      label->setStyleSheet("color: grey; font-size: 40px;");
+    }
+
+    if ((onroad != onroad_prev) || sm.frame < 2) {
+      Hardware::set_brightness(50);
+      Hardware::set_display_power(onroad);
+    }
+  });
+  timer.start(50);
+
+  return a.exec();
+}

selfdrive/ui/qt/body.cc

@@ -3,54 +3,159 @@
 #include <cmath>
 #include <algorithm>
 
-#include <QPainter> 
+#include <QPainter>
 #include <QStackedLayout>
 
-#include <QApplication>
-#include <QGridLayout>
-#include <QString>
-#include <QTransform>
-#include <QPixmap>
-
 #include "common/params.h"
 #include "common/timing.h"
 
-#include "system/hardware/hw.h" 
+RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) {
-#include "selfdrive/ui/qt/qt_window.h"
+  setCheckable(true);
-#include "selfdrive/ui/qt/util.h"
+  setChecked(false);
+  setFixedSize(148, 148);
 
-BodyWindow::BodyWindow(QWidget *parent) : QWidget(parent) {
+  QObject::connect(this, &QPushButton::toggled, [=]() {
-  QGridLayout *layout = new QGridLayout(this);
+    setEnabled(false);
-  layout->setSpacing(0);
+  });
-  layout->setMargin(200);
+}
 
-  setAttribute(Qt::WA_OpaquePaintEvent);
+void RecordButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
 
-  setStyleSheet(R"(
+  QPoint center(width() / 2, height() / 2);
-    BodyWindow {
+
-      background-color: blue;
+  QColor bg(isChecked() ? "#FFFFFF" : "#737373");
-    }
+  QColor accent(isChecked() ? "#FF0000" : "#FFFFFF");
-  )");
+  if (!isEnabled()) {
+    bg = QColor("#404040");
+    accent = QColor("#FFFFFF");
+  }
+
+  if (isDown()) {
+    accent.setAlphaF(0.7);
+  }
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, 74, 74);
+
+  p.setPen(QPen(accent, 6));
+  p.setBrush(Qt::NoBrush);
+  p.drawEllipse(center, 42, 42);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(accent);
+  p.drawEllipse(center, 22, 22);
+}
+
+
+BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
+  QStackedLayout *layout = new QStackedLayout(this);
+  layout->setStackingMode(QStackedLayout::StackAll);
+
+  QWidget *w = new QWidget;
+  QVBoxLayout *vlayout = new QVBoxLayout(w);
+  vlayout->setMargin(45);
+  layout->addWidget(w);
+
+  // face
+  face = new QLabel();
+  face->setAlignment(Qt::AlignCenter);
+  layout->addWidget(face);
+  awake = new QMovie("../assets/body/awake.gif", {}, this);
+  awake->setCacheMode(QMovie::CacheAll);
+  sleep = new QMovie("../assets/body/sleep.gif", {}, this);
+  sleep->setCacheMode(QMovie::CacheAll);
+
+  // record button
+  btn = new RecordButton(this);
+  vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight);
+  QObject::connect(btn, &QPushButton::clicked, [=](bool checked) {
+    btn->setEnabled(false);
+    Params().putBool("DisableLogging", !checked);
+    last_button = nanos_since_boot();
+  });
+  w->raise();
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
 }
 
 void BodyWindow::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
 
-  QPixmap comma_img = loadPixmap("../assets/oscarpilot_ready.png");
+  p.fillRect(rect(), QColor(0, 0, 0));
 
-  // Calculate the top-left position to center the image in the window.
+  // battery outline + detail
-  int x = (this->width() - comma_img.width()) / 2;
+  p.translate(width() - 136, 16);
-  int y = (this->height() - comma_img.height()) / 2;
+  const QColor gray = QColor("#737373");
+  p.setBrush(Qt::NoBrush);
+  p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
+  p.drawRoundedRect(2, 2, 78, 36, 8, 8);
 
-  // Draw the pixmap at the calculated position.
+  p.setPen(Qt::NoPen);
-  painter.drawPixmap(x, y, comma_img);
+  p.setBrush(gray);
-}
+  p.drawRoundedRect(84, 12, 6, 16, 4, 4);
+  p.drawRect(84, 12, 3, 16);
 
+  // battery level
+  double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
+  const int m = 5; // manual margin since we can't do an inner border
+  p.setPen(Qt::NoPen);
+  p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
+  p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
 
-void BodyWindow::updateState(const UIState &s) {
+  // charging status
+  if (charging) {
+    p.setPen(Qt::NoPen);
+    p.setBrush(Qt::white);
+    const QPolygonF charger({
+      QPointF(12.31, 0),
+      QPointF(12.31, 16.92),
+      QPointF(18.46, 16.92),
+      QPointF(6.15, 40),
+      QPointF(6.15, 23.08),
+      QPointF(0, 23.08),
+    });
+    p.drawPolygon(charger.translated(98, 0));
+  }
 }
 
 void BodyWindow::offroadTransition(bool offroad) {
+  btn->setChecked(true);
+  btn->setEnabled(true);
+  fuel_filter.reset(1.0);
+}
+
+void BodyWindow::updateState(const UIState &s) {
+  if (!isVisible()) {
+    return;
+  }
+
+  const SubMaster &sm = *(s.sm);
+  auto cs = sm["carState"].getCarState();
+
+  charging = cs.getCharging();
+  fuel_filter.update(cs.getFuelGauge());
+
+  // TODO: use carState.standstill when that's fixed
+  const bool standstill = std::abs(cs.getVEgo()) < 0.01;
+  QMovie *m = standstill ? sleep : awake;
+  if (m != face->movie()) {
+    face->setMovie(m);
+    face->movie()->start();
+  }
+
+  // update record button state
+  if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) {
+    for (auto proc : sm["managerState"].getManagerState().getProcesses()) {
+      if (proc.getName() == "loggerd") {
+        btn->setEnabled(true);
+        btn->setChecked(proc.getRunning());
+      }
+    }
+  }
+
+  update();
 }

selfdrive/ui/qt/body.good

@@ -1,60 +0,0 @@
-#include "selfdrive/ui/qt/body.h"
-
-#include <cmath>
-#include <algorithm>
-
-#include <QPainter> 
-#include <QStackedLayout>
-
-#include <QApplication>
-#include <QGridLayout>
-#include <QString>
-#include <QTransform>
-#include <QPixmap>
-
-#include "common/params.h"
-#include "common/timing.h"
-
-#include "system/hardware/hw.h" 
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-
-void LogoWidget::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-}
-
-BodyWindow::BodyWindow(QWidget *parent) : QWidget(parent) {
-  QGridLayout *layout = new QGridLayout(this);
-  layout->setSpacing(0);
-  layout->setMargin(200);
-
-  setAttribute(Qt::WA_OpaquePaintEvent);
-
-  setStyleSheet(R"(
-    BodyWindow {
-      background-color: blue;
-    }
-  )");
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
-}
-
-void BodyWindow::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-
-  QPixmap comma_img = loadPixmap("../assets/oscarpilot_ready.png");
-
-  // Calculate the top-left position to center the image in the window.
-  int x = (this->width() - comma_img.width()) / 2;
-  int y = (this->height() - comma_img.height()) / 2;
-
-  // Draw the pixmap at the calculated position.
-  painter.drawPixmap(x, y, comma_img);
-}
-
-
-void BodyWindow::updateState(const UIState &s) {
-}
-
-void BodyWindow::offroadTransition(bool offroad) {
-}

selfdrive/ui/qt/body.h

@@ -3,21 +3,35 @@
 #include <QMovie>
 #include <QLabel>
 #include <QPushButton>
-#include <QPixmap>
+
-#include <QProgressBar>
-#include <QSocketNotifier>
-#include <QVariantAnimation>
-#include <QWidget>
- 
 #include "common/util.h"
 #include "selfdrive/ui/ui.h"
 
-class BodyWindow : public QWidget {
+class RecordButton : public QPushButton {
   Q_OBJECT
+
 public:
-  BodyWindow(QWidget* parent = 0);
+  RecordButton(QWidget* parent = 0);
+
 private:
   void paintEvent(QPaintEvent*) override;
+};
+
+class BodyWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  BodyWindow(QWidget* parent = 0);
+
+private:
+  bool charging = false;
+  uint64_t last_button = 0;
+  FirstOrderFilter fuel_filter;
+  QLabel *face;
+  QMovie *awake, *sleep;
+  RecordButton *btn;
+  void paintEvent(QPaintEvent*) override;
+
 private slots:
   void updateState(const UIState &s);
   void offroadTransition(bool onroad);

selfdrive/ui/qt/body.h.org

@@ -1,38 +0,0 @@
-#pragma once
-
-#include <QMovie>
-#include <QLabel>
-#include <QPushButton>
-
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-
-class RecordButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  RecordButton(QWidget* parent = 0);
-
-private:
-  void paintEvent(QPaintEvent*) override;
-};
-
-class BodyWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  BodyWindow(QWidget* parent = 0);
-
-private:
-  bool charging = false;
-  uint64_t last_button = 0;
-  FirstOrderFilter fuel_filter;
-  QLabel *face;
-  QMovie *awake, *sleep;
-  RecordButton *btn;
-  void paintEvent(QPaintEvent*) override;
-
-private slots:
-  void updateState(const UIState &s);
-  void offroadTransition(bool onroad);
-};

selfdrive/ui/qt/body.org

@@ -1,161 +0,0 @@
-#include "selfdrive/ui/qt/body.h"
-
-#include <cmath>
-#include <algorithm>
-
-#include <QPainter>
-#include <QStackedLayout>
-
-#include "common/params.h"
-#include "common/timing.h"
-
-RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) {
-  setCheckable(true);
-  setChecked(false);
-  setFixedSize(148, 148);
-
-  QObject::connect(this, &QPushButton::toggled, [=]() {
-    setEnabled(false);
-  });
-}
-
-void RecordButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  QPoint center(width() / 2, height() / 2);
-
-  QColor bg(isChecked() ? "#FFFFFF" : "#737373");
-  QColor accent(isChecked() ? "#FF0000" : "#FFFFFF");
-  if (!isEnabled()) {
-    bg = QColor("#404040");
-    accent = QColor("#FFFFFF");
-  }
-
-  if (isDown()) {
-    accent.setAlphaF(0.7);
-  }
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(center, 74, 74);
-
-  p.setPen(QPen(accent, 6));
-  p.setBrush(Qt::NoBrush);
-  p.drawEllipse(center, 42, 42);
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(accent);
-  p.drawEllipse(center, 22, 22);
-}
-
-
-BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
-  QStackedLayout *layout = new QStackedLayout(this);
-  layout->setStackingMode(QStackedLayout::StackAll);
-
-  QWidget *w = new QWidget;
-  QVBoxLayout *vlayout = new QVBoxLayout(w);
-  vlayout->setMargin(45);
-  layout->addWidget(w);
-
-  // face
-  face = new QLabel();
-  face->setAlignment(Qt::AlignCenter);
-  layout->addWidget(face);
-  awake = new QMovie("../assets/body/awake.gif", {}, this);
-  awake->setCacheMode(QMovie::CacheAll);
-  sleep = new QMovie("../assets/body/sleep.gif", {}, this);
-  sleep->setCacheMode(QMovie::CacheAll);
-
-  // record button
-  btn = new RecordButton(this);
-  vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight);
-  QObject::connect(btn, &QPushButton::clicked, [=](bool checked) {
-    btn->setEnabled(false);
-    Params().putBool("DisableLogging", !checked);
-    last_button = nanos_since_boot();
-  });
-  w->raise();
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
-}
-
-void BodyWindow::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  p.fillRect(rect(), QColor(0, 0, 0));
-
-  // battery outline + detail
-  p.translate(width() - 136, 16);
-  const QColor gray = QColor("#737373");
-  p.setBrush(Qt::NoBrush);
-  p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
-  p.drawRoundedRect(2, 2, 78, 36, 8, 8);
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(gray);
-  p.drawRoundedRect(84, 12, 6, 16, 4, 4);
-  p.drawRect(84, 12, 3, 16);
-
-  // battery level
-  double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
-  const int m = 5; // manual margin since we can't do an inner border
-  p.setPen(Qt::NoPen);
-  p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
-  p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
-
-  // charging status
-  if (charging) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(Qt::white);
-    const QPolygonF charger({
-      QPointF(12.31, 0),
-      QPointF(12.31, 16.92),
-      QPointF(18.46, 16.92),
-      QPointF(6.15, 40),
-      QPointF(6.15, 23.08),
-      QPointF(0, 23.08),
-    });
-    p.drawPolygon(charger.translated(98, 0));
-  }
-}
-
-void BodyWindow::offroadTransition(bool offroad) {
-  btn->setChecked(true);
-  btn->setEnabled(true);
-  fuel_filter.reset(1.0);
-}
-
-void BodyWindow::updateState(const UIState &s) {
-  if (!isVisible()) {
-    return;
-  }
-
-  const SubMaster &sm = *(s.sm);
-  auto cs = sm["carState"].getCarState();
-
-  charging = cs.getCharging();
-  fuel_filter.update(cs.getFuelGauge());
-
-  // TODO: use carState.standstill when that's fixed
-  const bool standstill = std::abs(cs.getVEgo()) < 0.01;
-  QMovie *m = standstill ? sleep : awake;
-  if (m != face->movie()) {
-    face->setMovie(m);
-    face->movie()->start();
-  }
-
-  // update record button state
-  if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) {
-    for (auto proc : sm["managerState"].getManagerState().getProcesses()) {
-      if (proc.getName() == "loggerd") {
-        btn->setEnabled(true);
-        btn->setChecked(proc.getRunning());
-      }
-    }
-  }
-
-  update();
-}

selfdrive/ui/qt/body.webbrowser.test

@@ -1,52 +0,0 @@
-#include "selfdrive/ui/qt/body.h"
-
-#include <cmath>
-#include <algorithm>
-
-#include <QPainter>
-#include <QStackedLayout>
-#include <QApplication>
-#include <QGridLayout>
-#include <QString>
-#include <QTransform>
-#include <QPixmap>
-#include <QWebEngineView> // Include the QWebEngineView header
-
-#include "common/params.h"
-#include "common/timing.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-
-void LogoWidget::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-}
-
-BodyWindow::BodyWindow(QWidget *parent) : QWidget(parent) {
-  // Create a QWebEngineView
-  QWebEngineView *view = new QWebEngineView(this);
-  view->setUrl(QUrl("http://www.fark.com/")); // Set the URL to fark.com
-
-  // Filler
-
-  QGridLayout *layout = new QGridLayout(this);
-  layout->setSpacing(0);
-  layout->setMargin(0); // Set margin to 0 to fill the entire window
-  layout->addWidget(view, 0, 0); // Add the view to the layout
-
-  setAttribute(Qt::WA_OpaquePaintEvent);
-
-  setStyleSheet(R"(
-    BodyWindow {
-      background-color: blue;
-    }
-  )");
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
-}
-
-void BodyWindow::updateState(const UIState &s) {
-}
-
-void BodyWindow::offroadTransition(bool offroad) {
-}

selfdrive/ui/qt/home.cc

@@ -45,7 +45,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   });
   slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
-  // QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
   QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
 }
@@ -66,37 +66,45 @@ void HomeWindow::updateState(const UIState &s) {
     body->setEnabled(true);
     slayout->setCurrentWidget(body);
   }
+
+  if (s.scene.started) {
+    showDriverView(s.scene.driver_camera_timer >= 10, true);
+  }
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
   body->setEnabled(false);
-  sidebar->setVisible(false);
+  sidebar->setVisible(offroad);
   if (offroad) {
-    slayout->setCurrentWidget(body);
+    slayout->setCurrentWidget(home);
   } else {
     slayout->setCurrentWidget(onroad);
+    uiState()->scene.map_open = onroad->isMapVisible();
   }
 }
 
-void HomeWindow::showDriverView(bool show) {
+void HomeWindow::showDriverView(bool show, bool started) {
   if (show) {
     emit closeSettings();
     slayout->setCurrentWidget(driver_view);
+    sidebar->setVisible(show == false);
   } else {
-    slayout->setCurrentWidget(body);
+    if (started) {
+      slayout->setCurrentWidget(onroad);
+      sidebar->setVisible(params.getBool("Sidebar"));
+    } else {
+      slayout->setCurrentWidget(home);
+      sidebar->setVisible(show == false);
+    }
   }
-  sidebar->setVisible(false);
 }
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
-  if (body->isVisible()) {
-    showSidebar(true);
-    slayout->setCurrentWidget(home);
-  } else {
   // Handle sidebar collapsing
-    if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
+  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-      sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
-    }
+    uiState()->scene.map_open = onroad->isMapVisible();
+    params.putBool("Sidebar", sidebar->isVisible());
   }
 }
 
@@ -165,9 +173,9 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     left_widget->addWidget(new DriveStats);
     left_widget->setStyleSheet("border-radius: 10px;");
 
-    left_widget->setCurrentIndex(params.getBool("DriveStats") ? 2 : uiState()->hasPrime() ? 0 : 1);
+    left_widget->setCurrentIndex(2);
     connect(uiState(), &UIState::primeChanged, [=](bool prime) {
-      left_widget->setCurrentIndex(prime ? 0 : 1);
+      left_widget->setCurrentIndex(2);
     });
 
     home_layout->addWidget(left_widget, 1);
@@ -222,17 +230,6 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
       font-size: 55px;
     }
   )");
-
-  // Set the model name
-  std::map<int, QString> MODEL_NAME {
-    {0, "New Delhi"},
-    {1, "Blue Diamond V1"},
-    {2, "Blue Diamond V2"},
-    {3, "Farmville"},
-    {4, "New Lemon Pie"},
-  };
-
-  modelName = MODEL_NAME[params.getInt("Model")];
 }
 
 void OffroadHome::showEvent(QShowEvent *event) {
@@ -245,8 +242,10 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }
 
 void OffroadHome::refresh() {
+  QString model = QString::fromStdString(params.get("ModelName"));
+
   date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
-  version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + modelName);
+  version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model);
 
   bool updateAvailable = update_widget->refresh();
   int alerts = alerts_widget->refresh();

selfdrive/ui/qt/home.h

@@ -33,7 +33,6 @@ private:
   Params params;
 
   QTimer* timer;
-  ElidedLabel* date;
   ElidedLabel* version;
   QStackedLayout* center_layout;
   UpdateAlert *update_widget;
@@ -42,7 +41,7 @@ private:
   QPushButton* update_notif;
 
   // FrogPilot variables
-  QString modelName;
+  ElidedLabel* date;
 };
 
 class HomeWindow : public QWidget {
@@ -57,7 +56,7 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
-  void showDriverView(bool show);
+  void showDriverView(bool show, bool started=false);
   void showSidebar(bool show);
   void showMapPanel(bool show);
 
@@ -73,6 +72,9 @@ private:
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
+  // FrogPilot variables
+  Params params;
+
 private slots:
   void updateState(const UIState &s);
 };

selfdrive/ui/qt/maps/map.cc

@@ -18,7 +18,7 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
-MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
+MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
   QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
 
   map_overlay = new QWidget (this);
@@ -57,10 +57,10 @@ void MapWindow::initLayers() {
   if (!m_map->layerExists("modelPathLayer")) {
     qDebug() << "Initializing modelPathLayer";
     QVariantMap modelPath;
-    modelPath["id"] = "modelPathLayer";
+    //modelPath["id"] = "modelPathLayer";
     modelPath["type"] = "line";
     modelPath["source"] = "modelPathSource";
-    m_map->addLayer(modelPath);
+    m_map->addLayer("modelPathLayer", modelPath);
     m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red"));
     m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
     m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
@@ -68,10 +68,9 @@ void MapWindow::initLayers() {
   if (!m_map->layerExists("navLayer")) {
     qDebug() << "Initializing navLayer";
     QVariantMap nav;
-    nav["id"] = "navLayer";
     nav["type"] = "line";
     nav["source"] = "navSource";
-    m_map->addLayer(nav, "road-intersection");
+    m_map->addLayer("navLayer", nav, "road-intersection");
 
     QVariantMap transition;
     transition["duration"] = 400;  // ms
@@ -84,10 +83,9 @@ void MapWindow::initLayers() {
     qDebug() << "Initializing pinLayer";
     m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
     QVariantMap pin;
-    pin["id"] = "pinLayer";
     pin["type"] = "symbol";
     pin["source"] = "pinSource";
-    m_map->addLayer(pin);
+    m_map->addLayer("pinLayer", pin);
     m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
     m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
     m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
@@ -100,10 +98,9 @@ void MapWindow::initLayers() {
     m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
 
     QVariantMap carPos;
-    carPos["id"] = "carPosLayer";
     carPos["type"] = "symbol";
     carPos["source"] = "carPosSource";
-    m_map->addLayer(carPos);
+    m_map->addLayer("carPosLayer", carPos);
     m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map");
     m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow");
     m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
@@ -112,7 +109,6 @@ void MapWindow::initLayers() {
     // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
     m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
   }
-
   if (!m_map->layerExists("buildingsLayer")) {
     qDebug() << "Initializing buildingsLayer";
     QVariantMap buildings;
@@ -121,7 +117,7 @@ void MapWindow::initLayers() {
     buildings["source-layer"] = "building";
     buildings["type"] = "fill-extrusion";
     buildings["minzoom"] = 15;
-    m_map->addLayer(buildings);
+    m_map->addLayer("buildingsLayer", buildings);
     m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"}));
 
     QVariantList fillExtrusionHight = {
@@ -141,7 +137,7 @@ void MapWindow::initLayers() {
     };
 
     QVariantList fillExtrusionOpacity = {
-      "interpolate", 
+      "interpolate",
       QVariantList{"linear"},
       QVariantList{"zoom"},
       15, 0,
@@ -168,8 +164,7 @@ void MapWindow::updateState(const UIState &s) {
   if (sm.updated("modelV2")) {
     // set path color on change, and show map on rising edge of navigate on openpilot
     bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
-                       (sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral()) &&
+                       (sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral());
-                       (!params.get("NavDestination").empty() || params.getInt("PrimeType") != 0);
     if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
       if (loaded_once) {
         m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
@@ -194,12 +189,24 @@ void MapWindow::updateState(const UIState &s) {
     locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough);
 
     if (locationd_valid) {
-      last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
+      last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
       last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
       velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0]));
     }
   }
 
+  // Credit to jakethesnake420
+  if (loaded_once && (sm.rcv_frame("uiPlan") != model_rcv_frame)) {
+    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
+    auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["uiPlan"].getUiPlan().getPosition());
+    QMapLibre::Feature model_path_feature(QMapLibre::Feature::LineStringType, model_path, {}, {});
+    QVariantMap modelV2Path;
+    modelV2Path["type"] =  "geojson";
+    modelV2Path["data"] = QVariant::fromValue<QMapLibre::Feature>(model_path_feature);
+    m_map->updateSource("modelPathSource", modelV2Path);
+    model_rcv_frame = sm.rcv_frame("uiPlan");
+  }
+
   if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
     auto nav_dest = coordinate_from_param("NavDestination");
     bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
@@ -231,10 +238,10 @@ void MapWindow::updateState(const UIState &s) {
   if (locationd_valid) {
     // Update current location marker
     auto point = coordinate_to_collection(*last_position);
-    QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
+    QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {});
     QVariantMap carPosSource;
     carPosSource["type"] = "geojson";
-    carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
+    carPosSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
 
     // Map bearing isn't updated when interacting, keep location marker up to date
@@ -275,16 +282,40 @@ void MapWindow::updateState(const UIState &s) {
     qWarning() << "Updating navLayer with new route";
     auto route = sm["navRoute"].getNavRoute();
     auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
-    QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
+    QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
     QVariantMap navSource;
     navSource["type"] = "geojson";
-    navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+    navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
     m_map->updateSource("navSource", navSource);
     m_map->setLayoutProperty("navLayer", "visibility", "visible");
 
     route_rcv_frame = sm.rcv_frame("navRoute");
     updateDestinationMarker();
   }
+
+  // Map Styling - Credit goes to OPKR!
+  int map_style = uiState()->scene.map_style;
+
+  if (map_style != previous_map_style) {
+    std::unordered_map<int, std::string> styleUrls = {
+      {0, "mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"},  // Stock openpilot
+      {1, "mapbox://styles/mapbox/streets-v11"},  // Mapbox Streets
+      {2, "mapbox://styles/mapbox/outdoors-v11"},  // Mapbox Outdoors
+      {3, "mapbox://styles/mapbox/light-v10"},  // Mapbox Light
+      {4, "mapbox://styles/mapbox/dark-v10"},  // Mapbox Dark
+      {5, "mapbox://styles/mapbox/satellite-v9"},  // Mapbox Satellite
+      {6, "mapbox://styles/mapbox/satellite-streets-v11"},  // Mapbox Satellite Streets
+      {7, "mapbox://styles/mapbox/navigation-day-v1"},  // Mapbox Navigation Day
+      {8, "mapbox://styles/mapbox/navigation-night-v1"},  // Mapbox Navigation Night
+      {9, "mapbox://styles/mapbox/traffic-night-v2"},  // Mapbox Traffic Night
+      {10, "mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp"},  // mike854's (Satellite hybrid)
+    };
+
+    std::unordered_map<int, std::string>::iterator it = styleUrls.find(map_style);
+    m_map->setStyleUrl(QString::fromStdString(it->second));
+  }
+
+  previous_map_style = map_style;
 }
 
 void MapWindow::setError(const QString &err_str) {
@@ -301,24 +332,24 @@ void MapWindow::resizeGL(int w, int h) {
 }
 
 void MapWindow::initializeGL() {
-  m_map.reset(new QMapboxGL(this, m_settings, size(), 1));
+  m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1));
 
   if (last_position) {
     m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
   } else {
-    m_map->setCoordinateZoom(QMapbox::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
+    m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
   }
 
   m_map->setMargins({0, 350, 0, 50});
   m_map->setPitch(MIN_PITCH);
   m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
 
-  QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
     // set global animation duration to 0 ms so visibility changes are instant
-    if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingStyle) {
+    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) {
       m_map->setTransitionOptions(0, 0);
     }
-    if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) {
+    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) {
       loaded_once = true;
     }
   });
@@ -426,10 +457,10 @@ void MapWindow::updateDestinationMarker() {
   auto nav_dest = coordinate_from_param("NavDestination");
   if (nav_dest.has_value()) {
     auto point = coordinate_to_collection(*nav_dest);
-    QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {});
+    QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {});
     QVariantMap pinSource;
     pinSource["type"] = "geojson";
-    pinSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+    pinSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
     m_map->updateSource("pinSource", pinSource);
     m_map->setPaintProperty("pinLayer", "visibility", "visible");
   } else {

selfdrive/ui/qt/maps/map.h

@@ -6,7 +6,8 @@
 #include <QGestureEvent>
 #include <QLabel>
 #include <QMap>
-#include <QMapboxGL>
+#include <QMapLibre/Map>
+#include <QMapLibre/Settings>
 #include <QMouseEvent>
 #include <QOpenGLWidget>
 #include <QPixmap>
@@ -27,7 +28,7 @@ class MapWindow : public QOpenGLWidget {
   Q_OBJECT
 
 public:
-  MapWindow(const QMapboxGLSettings &);
+  MapWindow(const QMapLibre::Settings &);
   ~MapWindow();
 
 private:
@@ -35,8 +36,8 @@ private:
   void paintGL() final;
   void resizeGL(int w, int h) override;
 
-  QMapboxGLSettings m_settings;
+  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapboxGL> m_map;
+  QScopedPointer<QMapLibre::Map> m_map;
 
   void initLayers();
 
@@ -56,8 +57,8 @@ private:
   int interaction_counter = 0;
 
   // Position
-  std::optional<QMapbox::Coordinate> last_valid_nav_dest;
+  std::optional<QMapLibre::Coordinate> last_valid_nav_dest;
-  std::optional<QMapbox::Coordinate> last_position;
+  std::optional<QMapLibre::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;
   bool locationd_valid = false;
@@ -80,6 +81,10 @@ private:
   // FrogPilot variables
   Params params;
 
+  int previous_map_style;
+
+  uint64_t model_rcv_frame = 0;
+
 private slots:
   void updateState(const UIState &s);
 

selfdrive/ui/qt/maps/map_helpers.cc

@@ -16,24 +16,25 @@ QString get_mapbox_token() {
   return MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
 }
 
-QMapboxGLSettings get_mapbox_settings() {
+QMapLibre::Settings get_mapbox_settings() {
-  QMapboxGLSettings settings;
+  QMapLibre::Settings settings;
+  settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
 
   if (!Hardware::PC()) {
     settings.setCacheDatabasePath(MAPS_CACHE_PATH);
     settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
   }
   settings.setApiBaseUrl(MAPS_HOST);
-  settings.setAccessToken(get_mapbox_token());
+  settings.setApiKey(get_mapbox_token());
 
   return settings;
 }
 
-QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) {
+QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in) {
   return QGeoCoordinate(in.first, in.second);
 }
 
-QMapbox::CoordinatesCollections model_to_collection(
+QMapLibre::CoordinatesCollections model_to_collection(
   const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
   const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
   const cereal::XYZTData::Reader &line){
@@ -42,7 +43,7 @@ QMapbox::CoordinatesCollections model_to_collection(
   Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
   Eigen::Matrix3d ecef_from_local = euler2rot(orient);
 
-  QMapbox::Coordinates coordinates;
+  QMapLibre::Coordinates coordinates;
   auto x = line.getX();
   auto y = line.getY();
   auto z = line.getZ();
@@ -52,28 +53,28 @@ QMapbox::CoordinatesCollections model_to_collection(
     coordinates.push_back({point_geodetic.lat, point_geodetic.lon});
   }
 
-  return {QMapbox::CoordinatesCollection{coordinates}};
+  return {QMapLibre::CoordinatesCollection{coordinates}};
 }
 
-QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c) {
+QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c) {
-  QMapbox::Coordinates coordinates{c};
+  QMapLibre::Coordinates coordinates{c};
-  return {QMapbox::CoordinatesCollection{coordinates}};
+  return {QMapLibre::CoordinatesCollection{coordinates}};
 }
 
-QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
+QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
-  QMapbox::Coordinates coordinates;
+  QMapLibre::Coordinates coordinates;
   for (auto const &c : coordinate_list) {
     coordinates.push_back({c.getLatitude(), c.getLongitude()});
   }
-  return {QMapbox::CoordinatesCollection{coordinates}};
+  return {QMapLibre::CoordinatesCollection{coordinates}};
 }
 
-QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list) {
+QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list) {
-  QMapbox::Coordinates coordinates;
+  QMapLibre::Coordinates coordinates;
   for (auto &c : coordinate_list) {
     coordinates.push_back({c.latitude(), c.longitude()});
   }
-  return {QMapbox::CoordinatesCollection{coordinates}};
+  return {QMapLibre::CoordinatesCollection{coordinates}};
 }
 
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
@@ -118,7 +119,7 @@ QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString)
   return path;
 }
 
-std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param) {
+std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param) {
   QString json_str = QString::fromStdString(Params().get(param));
   if (json_str.isEmpty()) return {};
 
@@ -127,7 +128,7 @@ std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &para
 
   QJsonObject json = doc.object();
   if (json["latitude"].isDouble() && json["longitude"].isDouble()) {
-    QMapbox::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
+    QMapLibre::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
     return coord;
   } else {
     return {};

selfdrive/ui/qt/maps/map_helpers.h

@@ -3,8 +3,9 @@
 #include <optional>
 #include <string>
 #include <utility>
+#include <QMapLibre/Map>
+#include <QMapLibre/Settings>
 #include <eigen3/Eigen/Dense>
-#include <QMapboxGL>
 #include <QGeoCoordinate>
 
 #include "common/params.h"
@@ -18,15 +19,15 @@ const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "ht
 const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
 
 QString get_mapbox_token();
-QMapboxGLSettings get_mapbox_settings();
+QMapLibre::Settings get_mapbox_settings();
-QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in);
+QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in);
-QMapbox::CoordinatesCollections model_to_collection(
+QMapLibre::CoordinatesCollections model_to_collection(
   const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
   const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
   const cereal::XYZTData::Reader &line);
-QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c);
+QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c);
-QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
+QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
-QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
+QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
-std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param);
+std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param);
 std::pair<QString, QString> map_format_distance(float d, bool is_metric);

selfdrive/ui/qt/maps/map_panel.cc

@@ -8,7 +8,7 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"
 
-MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : QFrame(parent) {
+MapPanel::MapPanel(const QMapLibre::Settings &mapboxSettings, QWidget *parent) : QFrame(parent) {
   content_stack = new QStackedLayout(this);
   content_stack->setContentsMargins(0, 0, 0, 0);
 
@@ -41,8 +41,3 @@ void MapPanel::toggleMapSettings() {
   emit mapPanelRequested();
   show();
 }
-
-void MapPanel::setVisible(bool visible) {
-  QFrame::setVisible(visible);
-  uiState()->scene.map_open = visible;
-}

selfdrive/ui/qt/maps/map_panel.h

@@ -1,15 +1,14 @@
 #pragma once
 
 #include <QFrame>
-#include <QMapboxGL>
+#include <QMapLibre/Settings>
 #include <QStackedLayout>
 
 class MapPanel : public QFrame {
   Q_OBJECT
 
 public:
-  explicit MapPanel(const QMapboxGLSettings &settings, QWidget *parent = nullptr);
+  explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr);
-  void setVisible(bool visible);
 
 signals:
   void mapPanelRequested();

selfdrive/ui/qt/maps/map_settings.cc

@@ -62,13 +62,7 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
       title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
       heading->addWidget(title);
 
-      // NOO without Prime IP extraction
+      subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
-      if (notPrime) {
-        ipAddress = QString("%1:8082").arg(wifi->getIp4Address());
-        subtitle = new QLabel(tr("Manage at %1").arg(ipAddress), this);
-      } else {
-        subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
-      }
       subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
       heading->addWidget(subtitle);
     }
@@ -99,6 +93,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
 
   setStyleSheet("MapSettings { background-color: #333333; }");
   QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
+
+  wifi = new WifiManager(this);
 }
 
 void MapSettings::showEvent(QShowEvent *event) {
@@ -145,9 +141,9 @@ void MapSettings::refresh() {
 
   setUpdatesEnabled(true);
 
-  // NOO without Prime IP update
+  // Use IP for NOO without Prime
-  if (notPrime) {
+  if (!uiState()->hasPrime()) {
-    ipAddress = QString("%1:8082").arg(wifi->getIp4Address());
+    QString ipAddress = QString("%1:8082").arg(wifi->getIp4Address());
     subtitle->setText(tr("Manage at %1").arg(ipAddress));
   }
 }

selfdrive/ui/qt/maps/map_settings.h

@@ -66,10 +66,9 @@ private:
   std::vector<DestinationWidget *> widgets;
 
   // FrogPilot variables
-  bool notPrime = Params().getInt("PrimeType") == 0;
   QLabel *subtitle;
-  QString ipAddress;
+
-  WifiManager *wifi = new WifiManager(this);
+  WifiManager *wifi;
 
 signals:
   void closeSettings();

selfdrive/ui/qt/network/networking.cc

@@ -82,11 +82,11 @@ void Networking::connectToNetwork(const Network n) {
   if (wifi->isKnownConnection(n.ssid)) {
     wifi->activateWifiConnection(n.ssid);
   } else if (n.security_type == SecurityType::OPEN) {
-    wifi->connect(n);
+    wifi->connect(n, false);
   } else if (n.security_type == SecurityType::WPA) {
     QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
-      wifi->connect(n, pass);
+      wifi->connect(n, false, pass);
     }
   }
 }
@@ -96,7 +96,7 @@ void Networking::wrongPassword(const QString &ssid) {
     const Network &n = wifi->seenNetworks.value(ssid);
     QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
-      wifi->connect(n, pass);
+      wifi->connect(n, false, pass);
     }
   }
 }
@@ -131,7 +131,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(tetheringToggle);
   QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering);
   if (params.getBool("TetheringEnabled")) {
-    tetheringToggle->setVisualOn();
+    tetheringToggle->refresh();
     uiState()->scene.tethering_enabled = true;
   }
 
@@ -196,9 +196,9 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
       hidden_network.ssid = ssid.toUtf8();
       if (!pass.isEmpty()) {
         hidden_network.security_type = SecurityType::WPA;
-        wifi->connect(hidden_network, pass);
+        wifi->connect(hidden_network, true, pass);
       } else {
-        wifi->connect(hidden_network);
+        wifi->connect(hidden_network, true);
       }
       emit requestWifiScreen();
     }

selfdrive/ui/qt/network/wifi_manager.cc

@@ -166,7 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) {
   }
 }
 
-void WifiManager::connect(const Network &n, const QString &password, const QString &username) {
+void WifiManager::connect(const Network &n, const bool is_hidden, const QString &password, const QString &username) {
   setCurrentConnecting(n.ssid);
   forgetConnection(n.ssid);  // Clear all connections that may already exist to the network we are connecting
   Connection connection;
@@ -176,6 +176,7 @@ void WifiManager::connect(const Network &n, const QString &password, const QStri
   connection["connection"]["autoconnect-retries"] = 0;
 
   connection["802-11-wireless"]["ssid"] = n.ssid;
+  connection["802-11-wireless"]["hidden"] = is_hidden;
   connection["802-11-wireless"]["mode"] = "infrastructure";
 
   if (n.security_type == SecurityType::WPA) {

selfdrive/ui/qt/network/wifi_manager.h

@@ -52,7 +52,7 @@ public:
   std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid);
   NetworkType currentNetworkType();
   void updateGsmSettings(bool roaming, QString apn, bool metered);
-  void connect(const Network &ssid, const QString &password = {}, const QString &username = {});
+  void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {});
 
   // Tethering functions
   void setTetheringEnabled(bool enabled);

selfdrive/ui/qt/offroad/onboarding.cc

@@ -183,8 +183,8 @@ void DeclinePage::showEvent(QShowEvent *event) {
 void OnboardingWindow::updateActiveScreen() {
   if (!accepted_terms) {
     setCurrentIndex(0);
-  // } else if (!training_done && !params.getBool("Passive")) {
+  } else if (!training_done) {
-   //  setCurrentIndex(1);
+    setCurrentIndex(1);
   } else {
     emit onboardingDone();
   }
@@ -199,7 +199,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   TermsPage* terms = new TermsPage(this);
   addWidget(terms);
   connect(terms, &TermsPage::acceptedTerms, [=]() {
-    Params().put("HasAcceptedTerms", current_terms_version);
+    params.put("HasAcceptedTerms", current_terms_version);
     accepted_terms = true;
     updateActiveScreen();
   });
@@ -209,7 +209,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   addWidget(tr);
   connect(tr, &TrainingGuide::completedTraining, [=]() {
     training_done = true;
-    Params().put("CompletedTrainingVersion", current_training_version);
+    params.put("CompletedTrainingVersion", current_training_version);
     updateActiveScreen();
   });
 
@@ -230,11 +230,5 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
       background-color: #4F4F4F;
     }
   )");
-  
- // # Oscar sez
-  Params().put("HasAcceptedTerms", current_terms_version);
-  Params().put("CompletedTrainingVersion", current_training_version);
-  accepted_terms = true;
-  emit onboardingDone();
   updateActiveScreen();
 }

selfdrive/ui/qt/offroad/settings.cc

@@ -2,6 +2,8 @@
 
 #include <cassert>
 #include <cmath>
+#include <iomanip>
+#include <iostream>
 #include <string>
 #include <tuple>
 #include <vector>
@@ -25,9 +27,9 @@
 #include "selfdrive/ui/qt/qt_window.h"
 
 #include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
-#include "selfdrive/frogpilot/ui/control_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/control_settings.h"
-#include "selfdrive/frogpilot/ui/vehicle_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h"
-#include "selfdrive/frogpilot/ui/visual_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -97,9 +99,14 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
   long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
                                           tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                             "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
+                                             "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
+
+  // set up uiState update for personality setting
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -110,7 +117,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     toggles[param.toStdString()] = toggle;
 
     // insert longitudinal personality after NDOG toggle
-    if (param == "DisengageOnAccelerator" && !params.getInt("AdjustablePersonalities")) {
+    if (param == "DisengageOnAccelerator") {
       addItem(long_personality_setting);
     }
   }
@@ -129,6 +136,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
 }
 
+void TogglesPanel::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+
+  if (sm.updated("controlsState")) {
+    auto personality = sm["controlsState"].getControlsState().getPersonality();
+    if (personality != s.scene.personality && s.scene.started && isVisible()) {
+      long_personality_setting->setCheckedButton(static_cast<int>(personality));
+    }
+    uiState()->scene.personality = personality;
+  }
+}
+
 void TogglesPanel::expandToggleDescription(const QString &param) {
   toggles[param.toStdString()]->showDescription();
 }
@@ -138,6 +157,13 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
+  auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"];
+  disengage_on_accelerator_toggle->setVisible(!params.getBool("AlwaysOnLateral"));
+  auto driver_camera_toggle = toggles["RecordFront"];
+  driver_camera_toggle->setVisible(!(params.getBool("DeviceManagement") && params.getBool("NoLogging") && params.getBool("NoUploads")));
+  auto nav_settings_left_toggle = toggles["NavSettingLeftSide"];
+  nav_settings_left_toggle->setVisible(!params.getBool("FullMap"));
+
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"
@@ -173,7 +199,12 @@ void TogglesPanel::updateToggles() {
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      experimental_mode_toggle->setEnabled(!params.getBool("ConditionalExperimental"));
+      bool conditional_experimental = params.getBool("ConditionalExperimental");
+      if (conditional_experimental) {
+        params.putBool("ExperimentalMode", true);
+        experimental_mode_toggle->refresh();
+      }
+      experimental_mode_toggle->setEnabled(!conditional_experimental);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
     } else {
@@ -225,15 +256,13 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(resetCalibBtn);
 
-  if (!params.getBool("Passive")) {
+  auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
-    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
+  connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-    connect(retrainingBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
+      emit reviewTrainingGuide();
-        emit reviewTrainingGuide();
+    }
-      }
+  });
-    });
+  addItem(retrainingBtn);
-    addItem(retrainingBtn);
-  }
 
   if (Hardware::TICI()) {
     auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
@@ -258,44 +287,251 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(translateBtn);
 
   // Delete driving footage button
-  auto deleteFootageBtn = new ButtonControl(tr("Delete Driving Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all "
+  auto deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all "
     "stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.")
   );
-  connect(deleteFootageBtn, &ButtonControl::clicked, [this]() {
+  connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() {
     if (!ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) return;
     std::thread([&] {
+      deleteDrivingDataBtn->setValue(tr("Deleting footage..."));
       std::system("rm -rf /data/media/0/realdata");
+      deleteDrivingDataBtn->setValue(tr("Deleted!"));
+      std::this_thread::sleep_for(std::chrono::seconds(3));
+      deleteDrivingDataBtn->setValue("");
     }).detach();
   });
-  addItem(deleteFootageBtn);
+  addItem(deleteDrivingDataBtn);
 
   // Panda flashing button
-  auto flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), "Use this button to troubleshoot and update the Panda device's firmware.");
+  auto flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Use this button to troubleshoot and update the Panda device's firmware."));
-  connect(flashPandaBtn, &ButtonControl::clicked, [this]() {
+  connect(flashPandaBtn, &ButtonControl::clicked, [=]() {
-    if (!ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) return;
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) {
-    QProcess process;
+      std::thread([=]() {
-    // Get Panda type
+        flashPandaBtn->setValue(tr("Flashing..."));
-    SubMaster &sm = *(uiState()->sm);
+
-    auto pandaStates = sm["pandaStates"].getPandaStates();
+        QProcess process;
-    // Choose recovery script based on Panda type
+
-    if (pandaStates.size() != 0) {
+        process.setWorkingDirectory("/data/openpilot/panda/board");
-      auto pandaType = pandaStates[0].getPandaType();
+        process.start("/bin/sh", QStringList{"-c", "./recover.py"});
-      bool isRedPanda = (pandaType == cereal::PandaState::PandaType::RED_PANDA ||
+        process.waitForFinished();
-                               pandaType == cereal::PandaState::PandaType::RED_PANDA_V2);
+        process.start("/bin/sh", QStringList{"-c", "./flash.py"});
-      QString recoveryScript = isRedPanda ? "./recover.sh" : "./recover.py";
+        process.waitForFinished();
-      // Run recovery script and flash Panda
+
-      process.setWorkingDirectory("/data/openpilot/panda/board");
+        process.setWorkingDirectory("/data/openpilot/panda/tests");
-      process.start("/bin/sh", QStringList{"-c", recoveryScript});
+        process.start("/bin/sh", QStringList{"-c", "python reflash_internal_panda.py"});
-      process.waitForFinished();
+        process.waitForFinished();
+
+        Hardware::soft_reboot();
+      }).detach();
     }
-    // Run the killall script as a redundancy
-    process.setWorkingDirectory("/data/openpilot/panda");
-    process.start("/bin/sh", QStringList{"-c", "pkill -f boardd; PYTHONPATH=.. python -c \"from panda import Panda; Panda().flash()\""});
-    process.waitForFinished();
-    Hardware::reboot();
   });
   addItem(flashPandaBtn);
 
+  // Reset toggle button
+  auto resetTogglesBtn = new ButtonControl(tr("Reset Toggle Settings"), tr("RESET"), tr("Reset your toggle settings back to default."));
+  connect(resetTogglesBtn, &ButtonControl::clicked, [=]() {
+    if (!ConfirmationDialog::confirm(tr("Are you sure you want to completely reset your toggle settings? This is irreversible!"), tr("Reset"), this)) return;
+    std::thread([&] {
+      resetTogglesBtn->setValue(tr("Resetting toggles..."));
+
+      std::system("find /data/params -type f ! -name 'FrogPilotDrives' ! -name 'FrogPilotMinutes' ! -name 'FrogPilotKilometers' -exec rm {} +");
+      std::system("find /persist/params -type f ! -name 'FrogPilotDrives' ! -name 'FrogPilotMinutes' ! -name 'FrogPilotKilometers' -exec rm {} +");
+
+      Hardware::soft_reboot();
+    }).detach();
+  });
+  addItem(resetTogglesBtn);
+
+  // Backup FrogPilot
+  std::vector<QString> frogpilotBackupOptions{tr("Backup"), tr("Delete"), tr("Restore")};
+  FrogPilotButtonsControl *frogpilotBackup = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Backup, delete, or restore your FrogPilot backups."), "", frogpilotBackupOptions);
+
+  connect(frogpilotBackup, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
+    QDir backupDir("/data/backups");
+
+    if (id == 0) {
+      QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1);
+      if (!nameSelection.isEmpty()) {
+        std::thread([=]() {
+          frogpilotBackup->setValue(tr("Backing up..."));
+
+          std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString();
+
+          std::ostringstream commandStream;
+          commandStream << "mkdir -p " << std::quoted(fullBackupPath)
+                        << " && rsync -av /data/openpilot/ " << std::quoted(fullBackupPath + "/");
+          std::string command = commandStream.str();
+
+          int result = std::system(command.c_str());
+          if (result == 0) {
+            std::cout << "Backup successful to " << fullBackupPath << std::endl;
+            frogpilotBackup->setValue(tr("Success!"));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            frogpilotBackup->setValue("");
+          } else {
+            std::cerr << "Backup failed with error code: " << result << std::endl;
+            frogpilotBackup->setValue(tr("Failed..."));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            frogpilotBackup->setValue("");
+          }
+        }).detach();
+      }
+    } else if (id == 1) {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) return;
+        std::thread([=]() {
+          frogpilotBackup->setValue(tr("Deleting..."));
+          QDir dirToDelete(backupDir.absoluteFilePath(selection));
+          if (dirToDelete.removeRecursively()) {
+            frogpilotBackup->setValue(tr("Deleted!"));
+          } else {
+            frogpilotBackup->setValue(tr("Failed..."));
+          }
+          std::this_thread::sleep_for(std::chrono::seconds(3));
+          frogpilotBackup->setValue("");
+        }).detach();
+      }
+    } else {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) return;
+        std::thread([=]() {
+          frogpilotBackup->setValue(tr("Restoring..."));
+
+          std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString();
+          std::string targetPath = "/data/safe_staging/finalized";
+          std::string consistentFilePath = targetPath + "/.overlay_consistent";
+
+          std::ostringstream commandStream;
+          commandStream << "rsync -av --delete --exclude='.overlay_consistent' " << std::quoted(sourcePath + "/") << " " << std::quoted(targetPath + "/");
+          std::string command = commandStream.str();
+          int result = std::system(command.c_str());
+
+          if (result == 0) {
+            std::cout << "Restore successful from " << sourcePath << " to " << targetPath << std::endl;
+            std::ofstream consistentFile(consistentFilePath);
+            if (consistentFile) {
+              consistentFile.close();
+              std::cout << ".overlay_consistent file created successfully." << std::endl;
+            } else {
+              std::cerr << "Failed to create .overlay_consistent file." << std::endl;
+              frogpilotBackup->setValue(tr("Failed..."));
+              std::this_thread::sleep_for(std::chrono::seconds(3));
+              frogpilotBackup->setValue("");
+            }
+            Hardware::soft_reboot();
+          } else {
+            std::cerr << "Restore failed with error code: " << result << std::endl;
+          }
+        }).detach();
+      }
+    }
+  });
+  addItem(frogpilotBackup);
+
+  // Backup toggles
+  std::vector<QString> toggleBackupOptions{tr("Backup"), tr("Delete"), tr("Restore")};
+  FrogPilotButtonsControl *toggleBackup = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Backup, delete, or restore your toggle backups."), "", toggleBackupOptions);
+
+  connect(toggleBackup, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
+    QDir backupDir("/data/toggle_backups");
+
+    if (id == 0) {
+      QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1);
+      if (!nameSelection.isEmpty()) {
+        std::thread([=]() {
+          toggleBackup->setValue(tr("Backing up..."));
+
+          std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString() + "/";
+
+          std::ostringstream commandStream;
+          commandStream << "mkdir -p " << std::quoted(fullBackupPath)
+                        << " && rsync -av /data/params/d/ " << std::quoted(fullBackupPath);
+          std::string command = commandStream.str();
+
+          int result = std::system(command.c_str());
+          if (result == 0) {
+            std::cout << "Backup successful to " << fullBackupPath << std::endl;
+            toggleBackup->setValue(tr("Success!"));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+          } else {
+            std::cerr << "Backup failed with error code: " << result << std::endl;
+            toggleBackup->setValue(tr("Failed..."));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+          }
+        }).detach();
+      }
+    } else if (id == 1) {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) return;
+        std::thread([=]() {
+          toggleBackup->setValue(tr("Deleting..."));
+          QDir dirToDelete(backupDir.absoluteFilePath(selection));
+          if (dirToDelete.removeRecursively()) {
+            toggleBackup->setValue(tr("Deleted!"));
+          } else {
+            toggleBackup->setValue(tr("Failed..."));
+          }
+          std::this_thread::sleep_for(std::chrono::seconds(3));
+          toggleBackup->setValue("");
+        }).detach();
+      }
+    } else {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) return;
+        std::thread([=]() {
+          toggleBackup->setValue(tr("Restoring..."));
+
+          std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString() + "/";
+          std::string targetPath = "/data/params/d/";
+
+          std::ostringstream commandStream;
+          commandStream << "rsync -av --delete " << std::quoted(sourcePath) << " " << std::quoted(targetPath);
+          std::string command = commandStream.str();
+
+          int result = std::system(command.c_str());
+
+          if (result == 0) {
+            std::cout << "Restore successful from " << sourcePath << " to " << targetPath << std::endl;
+            toggleBackup->setValue(tr("Success!"));
+            paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+            paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+          } else {
+            std::cerr << "Restore failed with error code: " << result << std::endl;
+            toggleBackup->setValue(tr("Failed..."));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+          }
+        }).detach();
+      }
+    }
+  });
+  addItem(toggleBackup);
+
+  auto lockDoorsButton = new ButtonControl(tr("Lock Doors"), tr("LOCK"), tr("Use this button to lock the doors on Toyota/Lexus vehicles."));
+  connect(lockDoorsButton, &ButtonControl::clicked, [this]() {
+    QProcess *process = new QProcess(this);
+    QString scriptPath = "/data/openpilot/frogpilot/controls/lib/lock_doors.py";
+    QStringList arguments{"--lock"};
+    process->start("python3", QStringList() << scriptPath << arguments);
+  });
+  addItem(lockDoorsButton);
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       btn->setEnabled(offroad);
@@ -311,6 +547,11 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   power_layout->addWidget(reboot_btn);
   QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
 
+  QPushButton *softreboot_btn = new QPushButton(tr("Soft Reboot"));
+  softreboot_btn->setObjectName("softreboot_btn");
+  power_layout->addWidget(softreboot_btn);
+  QObject::connect(softreboot_btn, &QPushButton::clicked, this, &DevicePanel::softreboot);
+
   QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
   poweroff_btn->setObjectName("poweroff_btn");
   power_layout->addWidget(poweroff_btn);
@@ -321,6 +562,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   setStyleSheet(R"(
+    #softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
+    #softreboot_btn:pressed { background-color: #ffe224; }
     #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
     #reboot_btn:pressed { background-color: #4a4a4a; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
@@ -366,6 +609,18 @@ void DevicePanel::reboot() {
   }
 }
 
+void DevicePanel::softreboot() {
+  if (!uiState()->engaged()) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to soft reboot?"), tr("Soft Reboot"), this)) {
+      if (!uiState()->engaged()) {
+        params.putBool("DoSoftReboot", true);
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Soft Reboot"), this);
+  }
+}
+
 void DevicePanel::poweroff() {
   if (!uiState()->engaged()) {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
@@ -379,6 +634,15 @@ void DevicePanel::poweroff() {
   }
 }
 
+void SettingsWindow::hideEvent(QHideEvent *event) {
+  closeParentToggle();
+
+  parentToggleOpen = false;
+  subParentToggleOpen = false;
+
+  previousScrollPosition = 0;
+}
+
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
@@ -396,33 +660,34 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
-  sidebar_layout->setMargin(0);
   panel_widget = new QStackedWidget();
 
   // close button
   QPushButton *close_btn = new QPushButton(tr("← Back"));
   close_btn->setStyleSheet(R"(
     QPushButton {
-      font-size: 50px;
+      color: white;
-      padding-bottom: 0px;
-      border 1px grey solid;
       border-radius: 25px;
-      background-color: #292929;
+      background: #292929;
+      font-size: 50px;
       font-weight: 500;
     }
     QPushButton:pressed {
-      background-color: #3B3B3B;
+      color: #ADADAD;
     }
   )");
   close_btn->setFixedSize(300, 125);
   sidebar_layout->addSpacing(10);
   sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
   QObject::connect(close_btn, &QPushButton::clicked, [this]() {
-    if (frogPilotTogglesOpen) {
+    if (subParentToggleOpen) {
-      frogPilotTogglesOpen = false;
+      closeSubParentToggle();
-      this->closeParentToggle();
+      subParentToggleOpen = false;
+    } else if (parentToggleOpen) {
+      closeParentToggle();
+      parentToggleOpen = false;
     } else {
-      this->closeSettings();
+      closeSettings();
     }
   });
 
@@ -435,20 +700,19 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
   QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);
 
-  // FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
+  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
-  // QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openSubParentToggle, this, [this]() {subParentToggleOpen = true;});
-  // QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {parentToggleOpen = true;});
 
   FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this);
-  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {parentToggleOpen = true;});
-  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
     {tr("Network"), new Networking(this)},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
-    // {tr("Controls"), frogpilotControls},
+    {tr("Controls"), frogpilotControls},
     {tr("Navigation"), new FrogPilotNavigationPanel(this)},
     {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
     {tr("Visuals"), frogpilotVisuals},
@@ -484,21 +748,24 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     ScrollView *panel_frame = new ScrollView(panel, this);
     panel_widget->addWidget(panel_frame);
 
-    if (name == tr("Controls") || name == tr("Visuals")) {
+    if (name == tr("Controls")) {
       QScrollBar *scrollbar = panel_frame->verticalScrollBar();
 
       QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
-        if (!frogPilotTogglesOpen) {
+        if (!parentToggleOpen) {
           previousScrollPosition = value;
         }
       });
 
       QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
-        panel_frame->restorePosition(previousScrollPosition);
+        if (!parentToggleOpen) {
+          panel_frame->restorePosition(previousScrollPosition);
+        }
       });
     }
 
     QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      closeParentToggle();
       previousScrollPosition = 0;
       btn->setChecked(true);
       panel_widget->setCurrentWidget(w);

selfdrive/ui/qt/offroad/settings.h

@@ -11,6 +11,7 @@
 #include <QWidget>
 
 
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -25,6 +26,9 @@ public:
 protected:
   void showEvent(QShowEvent *event) override;
 
+  // FrogPilot widgets
+  void hideEvent(QHideEvent *event) override;
+
 signals:
   void closeSettings();
   void reviewTrainingGuide();
@@ -33,7 +37,9 @@ signals:
 
   // FrogPilot signals
   void closeParentToggle();
+  void closeSubParentToggle();
   void updateMetric();
+
 private:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
@@ -41,7 +47,9 @@ private:
   QStackedWidget *panel_widget;
 
   // FrogPilot variables
-  bool frogPilotTogglesOpen;
+  bool parentToggleOpen;
+  bool subParentToggleOpen;
+
   int previousScrollPosition;
 };
 
@@ -56,10 +64,14 @@ signals:
 private slots:
   void poweroff();
   void reboot();
+  void softreboot();
   void updateCalibDescription();
 
 private:
   Params params;
+
+  // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
 };
 
 class TogglesPanel : public ListWidget {
@@ -75,6 +87,9 @@ signals:
 public slots:
   void expandToggleDescription(const QString &param);
 
+private slots:
+  void updateState(const UIState &s);
+
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;
@@ -97,7 +112,6 @@ private:
 
   QLabel *onroadLbl;
   LabelControl *versionLbl;
-  ButtonControl *errorLogBtn;
   ButtonControl *installBtn;
   ButtonControl *downloadBtn;
   ButtonControl *targetBranchBtn;
@@ -106,11 +120,6 @@ private:
   ParamWatcher *fs_watch;
 
   // FrogPilot variables
-  void automaticUpdate();
+  Params paramsMemory{"/dev/shm/params"};
-
+  UIScene &scene;
-  ButtonControl *updateTime;
-
-  int deviceShutdown;
-  int schedule;
-  int time;
 };

selfdrive/ui/qt/offroad/software_settings.cc

@@ -2,8 +2,6 @@
 
 #include <cassert>
 #include <cmath>
-#include <iomanip>
-#include <sstream>
 #include <string>
 
 #include <QDebug>
@@ -18,13 +16,14 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "system/hardware/hw.h"
 
+#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h"
 
 void SoftwarePanel::checkForUpdates() {
-  std::system("pkill -SIGUSR1 -f selfdrive.updated");
+  std::system("pkill -SIGUSR1 -f selfdrive.updated.updated");
 }
 
-SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
+SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent), scene(uiState()->scene) {
-  onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off."));
+  onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off or in park."));
   onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;");
   addItem(onroadLbl);
 
@@ -32,40 +31,17 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   versionLbl = new LabelControl(tr("Current Version"), "");
   addItem(versionLbl);
 
-  // update scheduler
+  // automatic updates toggle
-  std::vector<QString> scheduleOptions{tr("Manually"), tr("Daily"), tr("Weekly")};
+  ParamControl *automaticUpdatesToggle = new ParamControl("AutomaticUpdates", tr("Automatically Update FrogPilot"),
-  ButtonParamControl *preferredSchedule = new ButtonParamControl("UpdateSchedule", tr("Update Scheduler"),
+                                                       tr("FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi."), "");
-                                          tr("Choose the update frequency for FrogPilot's automatic updates.\n\n"
+  connect(automaticUpdatesToggle, &ToggleControl::toggleFlipped, [this]() {
-                                          "This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' experience.\n\n"
+    std::thread([this]() {
-                                          "Weekly updates start at midnight every Sunday."),
+      paramsMemory.putBool("FrogPilotTogglesUpdated", true);
-                                          "",
+      std::this_thread::sleep_for(std::chrono::seconds(1));
-                                          scheduleOptions);
+      paramsMemory.putBool("FrogPilotTogglesUpdated", false);
-  schedule = params.getInt("UpdateSchedule");
+    }).detach();
-  addItem(preferredSchedule);
-
-  updateTime = new ButtonControl(tr("Update Time"), tr("SELECT"));
-  QStringList hours;
-  for (int h = 0; h < 24; h++) {
-    int displayHour = (h % 12 == 0) ? 12 : h % 12;
-    QString meridiem = (h < 12) ? "AM" : "PM";
-    hours << QString("%1:00 %2").arg(displayHour).arg(meridiem)
-          << QString("%1:30 %2").arg(displayHour).arg(meridiem);
-  }
-   QObject::connect(updateTime, &ButtonControl::clicked, [=]() {
-    int currentHourIndex = params.getInt("UpdateTime");
-    QString currentHourLabel = hours[currentHourIndex];
-
-    QString selection = MultiOptionDialog::getSelection(tr("Select a time to automatically update"), hours, currentHourLabel, this);
-    if (!selection.isEmpty()) {
-      int selectedHourIndex = hours.indexOf(selection);
-      params.putInt("UpdateTime", selectedHourIndex);
-      updateTime->setValue(selection);
-    }
   });
-  time = params.getInt("UpdateTime");
+  addItem(automaticUpdatesToggle);
-  deviceShutdown = params.getInt("DeviceShutdown") * 3600;
-  updateTime->setValue(hours[time]);
-  addItem(updateTime);
 
   // download update btn
   downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
@@ -74,8 +50,9 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     if (downloadBtn->text() == tr("CHECK")) {
       checkForUpdates();
     } else {
-      std::system("pkill -SIGHUP -f selfdrive.updated");
+      std::system("pkill -SIGHUP -f selfdrive.updated.updated");
     }
+    paramsMemory.putBool("ManualUpdateInitiated", true);
   });
   addItem(downloadBtn);
 
@@ -92,6 +69,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
     auto current = params.get("GitBranch");
     QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+    if (!Params("/persist/params").getBool("FrogsGoMoo")) {
+      branches.removeAll("FrogPilot-Development");
+      branches.removeAll("FrogPilot-New");
+      branches.removeAll("MAKE-PRS-HERE");
+    }
     for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
       auto i = branches.indexOf(b);
       if (i >= 0) {
@@ -122,7 +104,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   addItem(uninstallBtn);
 
   // error log button
-  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), "View the error log for debugging purposes when openpilot crashes.");
+  auto errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for openpilot crashes."));
   connect(errorLogBtn, &ButtonControl::clicked, [=]() {
     std::string txt = util::read_file("/data/community/crashes/error.txt");
     ConfirmationDialog::rich(QString::fromStdString(txt), this);
@@ -131,8 +113,6 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
 
   fs_watch = new ParamWatcher(this);
   QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    schedule = params.getInt("UpdateSchedule");
-    time = params.getInt("UpdateTime");
     updateLabels();
   });
 
@@ -141,8 +121,6 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     updateLabels();
   });
 
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &SoftwarePanel::automaticUpdate);
-
   updateLabels();
 }
 
@@ -160,16 +138,15 @@ void SoftwarePanel::updateLabels() {
   fs_watch->addParam("UpdaterState");
   fs_watch->addParam("UpdateAvailable");
 
-  fs_watch->addParam("UpdateSchedule");
-  fs_watch->addParam("UpdateTime");
-
   if (!isVisible()) {
     return;
   }
 
-  // updater only runs offroad
+  // updater only runs offroad or when parked
-  onroadLbl->setVisible(is_onroad);
+  bool parked = scene.parked;
-  downloadBtn->setVisible(!is_onroad);
+
+  onroadLbl->setVisible(is_onroad && !parked);
+  downloadBtn->setVisible(!is_onroad || parked);
 
   // download update
   QString updater_state = QString::fromStdString(params.get("UpdaterState"));
@@ -201,82 +178,9 @@ void SoftwarePanel::updateLabels() {
   versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
   versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));
 
-  installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable"));
+  installBtn->setVisible((!is_onroad || parked) && params.getBool("UpdateAvailable"));
   installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
   installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
 
-  updateTime->setVisible(params.getInt("UpdateSchedule"));
-
   update();
 }
-
-void SoftwarePanel::automaticUpdate() {
-  static int timer = 0;
-  static std::chrono::system_clock::time_point lastOffroadTime;
-
-  if (!is_onroad) {
-    timer = (timer == 0) ? 0 : std::chrono::duration_cast<std::chrono::seconds>(std::chrono::system_clock::now() - lastOffroadTime).count();
-    lastOffroadTime = std::chrono::system_clock::now();
-  } else {
-    timer = 0;
-  }
-
-  bool isWifiConnected = (*uiState()->sm)["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI;
-  if (schedule == 0 || is_onroad || !isWifiConnected || isVisible()) return;
-
-  static bool isDownloadCompleted = false;
-  if (isDownloadCompleted && params.getBool("UpdateAvailable")) {
-    params.putBool(timer > deviceShutdown ? "DoShutdown" : "DoReboot", true);
-    return;
-  }
-
-  int updateHour = time / 2;
-  int updateMinute = (time % 2) * 30;
-
-  if (updateHour >= 1 && updateHour <= 11 && time >= 24) {
-    updateHour += 12;
-  } else if (updateHour == 12 && time < 24) {
-    updateHour = 0;
-  }
-
-  std::time_t currentTimeT = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
-  std::tm now = *std::localtime(&currentTimeT);
-
-  static bool updateCheckedToday = false;
-  static int lastCheckedDay = now.tm_yday;
-  if (lastCheckedDay != now.tm_yday) {
-    updateCheckedToday = false;
-    lastCheckedDay = now.tm_yday;
-  }
-
-  if (now.tm_hour != updateHour || now.tm_min < updateMinute) return;
-
-  std::string lastUpdateStr = params.get("Updated");
-  std::tm lastUpdate = {};
-  std::istringstream iss(lastUpdateStr);
-
-  if (iss >> std::get_time(&lastUpdate, "%Y-%m-%d %H:%M:%S")) {
-    lastUpdate.tm_year -= 1900;
-    lastUpdate.tm_mon -= 1;
-  }
-  std::time_t lastUpdateTimeT = std::mktime(&lastUpdate);
-
-  if (lastUpdate.tm_yday == now.tm_yday) {
-    return;
-  }
-
-  if (!isDownloadCompleted) {
-    std::chrono::hours durationSinceLastUpdate = std::chrono::duration_cast<std::chrono::hours>(std::chrono::system_clock::now() - std::chrono::system_clock::from_time_t(lastUpdateTimeT));
-    int daysSinceLastUpdate = durationSinceLastUpdate.count() / 24;
-
-    if ((schedule == 1 && daysSinceLastUpdate >= 1) || (schedule == 2 && (now.tm_yday / 7) != (std::localtime(&lastUpdateTimeT)->tm_yday / 7))) {
-      if (downloadBtn->text() == tr("CHECK") && !updateCheckedToday) {
-        checkForUpdates();
-        updateCheckedToday = true;
-      } else {
-        std::system("pkill -SIGHUP -f selfdrive.updated");
-        isDownloadCompleted = true;
-      }
-    }
-  }
-}

selfdrive/ui/qt/onroad.h

@@ -2,7 +2,8 @@
 
 #include <memory>
 
-#include <QElapsedTimer>
+#include <QMovie>
+#include <QLabel>
 #include <QPushButton>
 #include <QStackedLayout>
 #include <QWidget>
@@ -16,7 +17,6 @@
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
 
-// FrogPilot global variables
 static double fps;
 
 // ***** onroad widgets *****
@@ -42,13 +42,14 @@ class Compass : public QWidget {
 public:
   explicit Compass(QWidget *parent = nullptr);
 
-  void initializeStaticElements();
+  void updateState();
-  void updateState(int bearing_deg);
 
 protected:
   void paintEvent(QPaintEvent *event) override;
 
 private:
+  UIScene &scene;
+
   int bearingDeg;
   int circleOffset;
   int compassSize;
@@ -56,10 +57,37 @@ private:
   int innerCompass;
   int x;
   int y;
+
   QPixmap compassInnerImg;
   QPixmap staticElements;
 };
 
+class DistanceButton : public QPushButton {
+public:
+  explicit DistanceButton(QWidget *parent = nullptr);
+
+  void buttonPressed();
+  void buttonReleased();
+  void updateState();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+
+private:
+  Params paramsMemory{"/dev/shm/params"};
+
+  UIScene &scene;
+
+  bool trafficModeActive;
+
+  int personality;
+
+  QElapsedTimer transitionTimer;
+
+  QVector<std::pair<QPixmap, QString>> profile_data;
+  QVector<std::pair<QPixmap, QString>> profile_data_kaofui;
+};
+
 class ExperimentalButton : public QPushButton {
   Q_OBJECT
 
@@ -78,14 +106,24 @@ private:
   bool engageable;
 
   // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
   UIScene &scene;
 
-  std::map<int, QPixmap> wheelImages;
+  QMap<int, QPixmap> wheelImages;
+  QMap<int, QMovie*> wheelImagesGif;
 
+  QMovie engage_gif;
+  QLabel *gifLabel;
+
+  bool docRandomEventTriggered;
   bool firefoxRandomEventTriggered;
   bool rotatingWheel;
+  bool treeFiddyRandomEventTriggered;
+  bool weebRandomEventTriggered;
+
   int steeringAngleDeg;
   int wheelIcon;
+  int wheelIconGif;
   int y_offset;
 };
 
@@ -102,28 +140,25 @@ private:
   QPixmap settings_img;
 };
 
-// FrogPilot buttons
+class PedalIcons : public QWidget {
-class PersonalityButton : public QPushButton {
+  Q_OBJECT
-public:
-  explicit PersonalityButton(QWidget *parent = 0);
 
-  void checkUpdate();
+public:
-  void handleClick();
+  explicit PedalIcons(QWidget *parent = 0);
   void updateState();
 
 private:
   void paintEvent(QPaintEvent *event) override;
 
-  Params params;
+  QPixmap brake_pedal_img;
-  Params paramsMemory{"/dev/shm/params"};
+  QPixmap gas_pedal_img;
 
   UIScene &scene;
 
-  int personalityProfile = 0;
+  bool accelerating;
+  bool decelerating;
 
-  QElapsedTimer transitionTimer;
+  float acceleration;
-
-  QVector<std::pair<QPixmap, QString>> profile_data;
 };
 
 // container window for the NVG UI
@@ -163,79 +198,86 @@ private:
   bool wide_cam_requested = false;
 
   // FrogPilot widgets
+  void initializeFrogPilotWidgets();
+  void paintFrogPilotWidgets(QPainter &p);
+  void updateFrogPilotWidgets();
+
   void drawLeadInfo(QPainter &p);
+  void drawSLCConfirmation(QPainter &p);
   void drawStatusBar(QPainter &p);
   void drawTurnSignals(QPainter &p);
-  void initializeFrogPilotWidgets();
-  void updateFrogPilotWidgets(QPainter &p);
 
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
-
   UIScene &scene;
 
   Compass *compass_img;
-  PersonalityButton *personality_btn;
+  DistanceButton *distance_btn;
+  PedalIcons *pedal_icons;
   ScreenRecorder *recorder_btn;
 
   QHBoxLayout *bottom_layout;
 
-  bool accelerationPath;
+  bool alwaysOnLateralActive;
-  bool adjacentPath;
+  bool bigMapOpen;
-  bool alwaysOnLateral;
   bool blindSpotLeft;
   bool blindSpotRight;
   bool compass;
-  bool conditionalExperimental;
   bool experimentalMode;
-  bool hideSpeed;
   bool leadInfo;
   bool mapOpen;
-  bool muteDM;
+  bool onroadDistanceButton;
-  bool onroadAdjustableProfiles;
-  bool reverseCruise;
   bool roadNameUI;
-  bool showDriverCamera;
+  bool showAlwaysOnLateralStatusBar;
+  bool showConditionalExperimentalStatusBar;
   bool showSLCOffset;
   bool slcOverridden;
+  bool speedLimitController;
+  bool trafficModeActive;
   bool turnSignalLeft;
   bool turnSignalRight;
-  bool useSI;
   bool useViennaSLCSign;
-  double maxAcceleration;
+  bool vtscControllingCurve;
+
   float cruiseAdjustment;
+  float distanceConversion;
+  float laneDetectionWidth;
   float laneWidthLeft;
   float laneWidthRight;
-  float slcOverriddenSpeed;
-  float slcSpeedLimit;
   float slcSpeedLimitOffset;
-  int bearingDeg;
+  float speedConversion;
+
+  int alertSize;
   int cameraView;
-  int conditionalSpeed;
-  int conditionalSpeedLead;
   int conditionalStatus;
+  int currentHolidayTheme;
   int customColors;
   int customSignals;
-  int desiredFollow;
   int obstacleDistance;
   int obstacleDistanceStock;
-  int stoppedEquivalence;
   int totalFrames = 8;
-  QTimer *animationTimer;
+
+  QString leadDistanceUnit;
+  QString leadSpeedUnit;
+
   size_t animationFrameIndex;
 
-  inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
+  std::unordered_map<int, std::tuple<QString, QColor, std::map<double, QBrush>>> themeConfiguration;
-
+  std::unordered_map<int, std::tuple<QString, QColor, std::map<double, QBrush>>> holidayThemeConfiguration;
-  std::unordered_map<int, std::pair<QString, std::pair<QColor, std::map<double, QBrush>>>> themeConfiguration;
   std::vector<QPixmap> signalImgVector;
 
+  QTimer *animationTimer;
+
+  inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
+  inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
+
 protected:
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
   void updateFrameMat() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
+  void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd, const float v_ego);
   void drawHud(QPainter &p);
   void drawDriverState(QPainter &painter, const UIState *s);
   void paintEvent(QPaintEvent *event) override;
@@ -270,6 +312,8 @@ private:
 
   // FrogPilot variables
   UIScene &scene;
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
 
   QPoint timeoutPoint = QPoint(420, 69);
   QTimer clickTimer;

selfdrive/ui/qt/python_helpers.py

@@ -0,0 +1,20 @@
+import os
+from cffi import FFI
+
+import sip
+
+from openpilot.common.ffi_wrapper import suffix
+from openpilot.common.basedir import BASEDIR
+
+
+def get_ffi():
+  lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
+
+  ffi = FFI()
+  ffi.cdef("void set_main_window(void *w);")
+  return ffi, ffi.dlopen(lib)
+
+
+def set_main_window(widget):
+  ffi, lib = get_ffi()
+  lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))

selfdrive/ui/qt/setup/reset.cc

@@ -57,7 +57,7 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
 
   main_layout->addSpacing(60);
 
-  body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot."));
+  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
   body->setWordWrap(true);
   body->setStyleSheet("font-size: 80px; font-weight: light;");
   main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
@@ -97,11 +97,6 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
     body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."));
   }
 
-  // automatically start if we're just finishing up an ABL reset
-  if (mode == ResetMode::FORMAT) {
-    startReset();
-  }
-
   setStyleSheet(R"(
     * {
       font-family: Inter;
@@ -129,8 +124,6 @@ int main(int argc, char *argv[]) {
   if (argc > 1) {
     if (strcmp(argv[1], "--recover") == 0) {
       mode = ResetMode::RECOVER;
-    } else if (strcmp(argv[1], "--format") == 0) {
-      mode = ResetMode::FORMAT;
     }
   }
 

selfdrive/ui/qt/setup/reset.h

@@ -5,7 +5,6 @@
 enum ResetMode {
   USER_RESET, // user initiated a factory reset from openpilot
   RECOVER,    // userdata is corrupt for some reason, give a chance to recover
-  FORMAT,     // finish up an ABL factory reset
 };
 
 class Reset : public QWidget {

selfdrive/ui/qt/setup/setup.cc

@@ -20,7 +20,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 const std::string USER_AGENT = "AGNOSSetup-";
-const QString DASHCAM_URL = "https://dashcam.comma.ai";
+const QString OPENPILOT_URL = "https://openpilot.comma.ai";
 
 bool is_elf(char *fname) {
   FILE *fp = fopen(fname, "rb");
@@ -201,20 +201,7 @@ QWidget * Setup::network_setup() {
   QPushButton *cont = new QPushButton();
   cont->setObjectName("navBtn");
   cont->setProperty("primary", true);
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
+  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-    auto w = currentWidget();
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(w);
-    }
-  });
   blayout->addWidget(cont);
 
   // setup timer for testing internet connection
@@ -229,11 +216,11 @@ QWidget * Setup::network_setup() {
     }
     repaint();
   });
-  request->sendRequest(DASHCAM_URL);
+  request->sendRequest(OPENPILOT_URL);
   QTimer *timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, [=]() {
     if (!request->active() && cont->isVisible()) {
-      request->sendRequest(DASHCAM_URL);
+      request->sendRequest(OPENPILOT_URL);
     }
   });
   timer->start(1000);
@@ -241,6 +228,106 @@ QWidget * Setup::network_setup() {
   return widget;
 }
 
+QWidget * radio_button(QString title, QButtonGroup *group) {
+  QPushButton *btn = new QPushButton(title);
+  btn->setCheckable(true);
+  group->addButton(btn);
+  btn->setStyleSheet(R"(
+    QPushButton {
+      height: 230;
+      padding-left: 100px;
+      padding-right: 100px;
+      text-align: left;
+      font-size: 80px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+    QPushButton:checked {
+      background-color: #465BEA;
+    }
+  )");
+
+  // checkmark icon
+  QPixmap pix(":/img_circled_check.svg");
+  btn->setIcon(pix);
+  btn->setIconSize(QSize(0, 0));
+  btn->setLayoutDirection(Qt::RightToLeft);
+  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
+    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
+  });
+  return btn;
+}
+
+QWidget * Setup::software_selection() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+  main_layout->setSpacing(0);
+
+  // title
+  QLabel *title = new QLabel(tr("Choose Software to Install"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+
+  main_layout->addSpacing(50);
+
+  // openpilot + custom radio buttons
+  QButtonGroup *group = new QButtonGroup(widget);
+  group->setExclusive(true);
+
+  QWidget *openpilot = radio_button(tr("openpilot"), group);
+  main_layout->addWidget(openpilot);
+
+  main_layout->addSpacing(30);
+
+  QWidget *custom = radio_button(tr("Custom Software"), group);
+  main_layout->addWidget(custom);
+
+  main_layout->addStretch();
+
+  // back + continue buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *back = new QPushButton(tr("Back"));
+  back->setObjectName("navBtn");
+  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
+  blayout->addWidget(back);
+
+  QPushButton *cont = new QPushButton(tr("Continue"));
+  cont->setObjectName("navBtn");
+  cont->setEnabled(false);
+  cont->setProperty("primary", true);
+  blayout->addWidget(cont);
+
+  QObject::connect(cont, &QPushButton::clicked, [=]() {
+    auto w = currentWidget();
+    QTimer::singleShot(0, [=]() {
+      setCurrentWidget(downloading_widget);
+    });
+    QString url = OPENPILOT_URL;
+    if (group->checkedButton() != openpilot) {
+      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
+    }
+    if (!url.isEmpty()) {
+      QTimer::singleShot(1000, this, [=]() {
+        download(url);
+      });
+    } else {
+      setCurrentWidget(w);
+    }
+  });
+
+  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
+    btn->setChecked(true);
+    cont->setEnabled(true);
+  });
+
+  return widget;
+}
+
 QWidget * Setup::downloading() {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
@@ -326,6 +413,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
 
   addWidget(getting_started());
   addWidget(network_setup());
+  addWidget(software_selection());
 
   downloading_widget = downloading();
   addWidget(downloading_widget);

selfdrive/ui/qt/setup/setup.h

@@ -17,6 +17,7 @@ private:
   QWidget *low_voltage();
   QWidget *getting_started();
   QWidget *network_setup();
+  QWidget *software_selection();
   QWidget *downloading();
   QWidget *download_failed(QLabel *url, QLabel *body);
 

selfdrive/ui/qt/setup/updater.cc

@@ -54,12 +54,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
         background-color: #3049F4;
       }
     )");
-    
+    QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
-    QObject::connect(connect, &QPushButton::clicked, [=]() {
-        countdownTimer->stop();
-        setCurrentWidget(wifi);
-    });
-
     hlayout->addWidget(install);
   }
 
@@ -119,20 +114,6 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
   addWidget(wifi);
   addWidget(progress);
 
-  // Initialize the countdown timer and value
-  countdownValue = 5; // 5 seconds countdown
-  countdownTimer = new QTimer(this);
-  countdownTimer->setInterval(1000); // 1 second interval
-
-  // Connect the timer's timeout signal to update the countdown and button text
-  QObject::connect(countdownTimer, &QTimer::timeout, this, &Updater::updateCountdown);
-
-  // Start the countdown
-  countdownTimer->start();
-
-  // Set initial button text
-  install->setText(tr("Install (5)"));
-
   setStyleSheet(R"(
     * {
       color: white;
@@ -163,16 +144,6 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
   )");
 }
 
-void Updater::updateCountdown() {
-    countdownValue--;
-    if (countdownValue > 0) {
-        install->setText(tr("Install (%1)").arg(countdownValue));
-    } else {
-        countdownTimer->stop();
-        installUpdate(); // Assuming this is the method that starts the update
-    }
-}
-
 void Updater::installUpdate() {
   setCurrentWidget(progress);
   QObject::connect(&proc, &QProcess::readyReadStandardOutput, this, &Updater::readProgress);

selfdrive/ui/qt/setup/updater.h

@@ -26,7 +26,4 @@ private:
   QProgressBar *bar;
   QPushButton *reboot;
   QWidget *prompt, *wifi, *progress;
-  QTimer *countdownTimer;
-  int countdownValue;
-
 };

selfdrive/ui/qt/sidebar.cc

@@ -43,16 +43,40 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   isCPU = params.getBool("ShowCPU");
   isGPU = params.getBool("ShowGPU");
 
+  isIP = params.getBool("ShowIP");
+
   isMemoryUsage = params.getBool("ShowMemoryUsage");
   isStorageLeft = params.getBool("ShowStorageLeft");
   isStorageUsed = params.getBool("ShowStorageUsed");
 
-  isNumericalTemp = params.getBool("NumericalTemp");
+  holidayThemeConfiguration = {
-  isFahrenheit = params.getBool("Fahrenheit");
+    {0, {"stock", {QColor(255, 255, 255)}}},
+    {1, {"april_fools", {QColor(255, 165, 0)}}},
+    {2, {"christmas", {QColor(0, 72, 255)}}},
+    {3, {"cinco_de_mayo", {QColor(0, 104, 71)}}},
+    {4, {"easter", {QColor(200, 150, 200)}}},
+    {5, {"fourth_of_july", {QColor(0, 72, 255)}}},
+    {6, {"halloween", {QColor(255, 0, 0)}}},
+    {7, {"new_years_day", {QColor(23, 134, 68)}}},
+    {8, {"st_patricks_day", {QColor(0, 128, 0)}}},
+    {9, {"thanksgiving", {QColor(255, 0, 0)}}},
+    {10, {"valentines_day", {QColor(23, 134, 68)}}},
+    {11, {"world_frog_day", {QColor(23, 134, 68)}}},
+  };
+
+  for (auto &[key, themeData] : holidayThemeConfiguration) {
+    QString &themeName = themeData.first;
+    QString base = themeName == "stock" ? "../assets/images" : QString("../frogpilot/assets/holiday_themes/%1/images").arg(themeName);
+    std::vector<QString> paths = {base + "/button_home.png", base + "/button_flag.png", base + "/button_settings.png"};
+
+    holiday_home_imgs[key] = loadPixmap(paths[0], home_btn.size());
+    holiday_flag_imgs[key] = loadPixmap(paths[1], home_btn.size());
+    holiday_settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
+  }
 
   themeConfiguration = {
     {0, {"stock", {QColor(255, 255, 255)}}},
-    {1, {"frog_theme", {QColor(0, 72, 255)}}},
+    {1, {"frog_theme", {QColor(23, 134, 68)}}},
     {2, {"tesla_theme", {QColor(0, 72, 255)}}},
     {3, {"stalin_theme", {QColor(255, 0, 0)}}}
   };
@@ -70,7 +94,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   home_img = home_imgs[scene.custom_icons];
   flag_img = flag_imgs[scene.custom_icons];
   settings_img = settings_imgs[scene.custom_icons];
-
   currentColors = themeConfiguration[scene.custom_colors].second;
 }
 
@@ -78,35 +101,52 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
   // Declare the click boxes
   QRect cpuRect = {30, 496, 240, 126};
   QRect memoryRect = {30, 654, 240, 126};
+  QRect networkRect = {30, 196, 240, 126};
   QRect tempRect = {30, 338, 240, 126};
 
   static int showChip = 0;
   static int showMemory = 0;
+  static int showNetwork = 0;
   static int showTemp = 0;
 
   // Swap between the respective metrics upon tap
   if (cpuRect.contains(event->pos())) {
     showChip = (showChip + 1) % 3;
+
     isCPU = (showChip == 1);
     isGPU = (showChip == 2);
+
     params.putBoolNonBlocking("ShowCPU", isCPU);
     params.putBoolNonBlocking("ShowGPU", isGPU);
+
     update();
   } else if (memoryRect.contains(event->pos())) {
     showMemory = (showMemory + 1) % 4;
+
     isMemoryUsage = (showMemory == 1);
     isStorageLeft = (showMemory == 2);
     isStorageUsed = (showMemory == 3);
+
     params.putBoolNonBlocking("ShowMemoryUsage", isMemoryUsage);
     params.putBoolNonBlocking("ShowStorageLeft", isStorageLeft);
     params.putBoolNonBlocking("ShowStorageUsed", isStorageUsed);
+
+    update();
+  } else if (networkRect.contains(event->pos())) {
+    showNetwork = (showNetwork + 1) % 2;
+    isIP = (showNetwork == 1);
+    params.putBoolNonBlocking("ShowIP", isIP);
+
     update();
   } else if (tempRect.contains(event->pos())) {
     showTemp = (showTemp + 1) % 3;
-    isNumericalTemp = (showTemp != 0);
+
-    isFahrenheit = (showTemp == 2);
+    scene.fahrenheit = showTemp == 2;
-    params.putBoolNonBlocking("Fahrenheit", isFahrenheit);
+    scene.numerical_temp = showTemp != 0;
-    params.putBoolNonBlocking("NumericalTemp", isNumericalTemp);
+
+    params.putBoolNonBlocking("Fahrenheit", showTemp == 2);
+    params.putBoolNonBlocking("NumericalTemp", showTemp != 0);
+
     update();
   } else if (onroad && home_btn.contains(event->pos())) {
     flag_pressed = true;
@@ -147,17 +187,24 @@ void Sidebar::updateState(const UIState &s) {
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
   // FrogPilot properties
-  home_img = home_imgs[scene.custom_icons];
+  if (scene.current_holiday_theme != 0) {
-  flag_img = flag_imgs[scene.custom_icons];
+    home_img = holiday_home_imgs[scene.current_holiday_theme];
-  settings_img = settings_imgs[scene.custom_icons];
+    flag_img = holiday_flag_imgs[scene.current_holiday_theme];
-
+    settings_img = holiday_settings_imgs[scene.current_holiday_theme];
-  currentColors = themeConfiguration[scene.custom_colors].second;
+    currentColors = holidayThemeConfiguration[scene.current_holiday_theme].second;
+  } else {
+    home_img = home_imgs[scene.custom_icons];
+    flag_img = flag_imgs[scene.custom_icons];
+    settings_img = settings_imgs[scene.custom_icons];
+    currentColors = themeConfiguration[scene.custom_colors].second;
+  }
 
   auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
 
+  bool isNumericalTemp = scene.numerical_temp;
+
   int maxTempC = deviceState.getMaxTempC();
-  QString max_temp = isFahrenheit ? QString::number(maxTempC * 9 / 5 + 32) + "°F" : QString::number(maxTempC) + "°C";
+  QString max_temp = scene.fahrenheit ? QString::number(maxTempC * 9 / 5 + 32) + "°F" : QString::number(maxTempC) + "°C";
-  QColor theme_color = currentColors[0];
 
   // FrogPilot metrics
   if (isCPU || isGPU) {
@@ -171,11 +218,11 @@ void Sidebar::updateState(const UIState &s) {
     QString metric = isGPU ? gpu : cpu;
     int usage = isGPU ? gpu_usage : cpu_usage;
 
-    ItemStatus cpuStatus = {{tr(isGPU ? "GPU" : "CPU"), metric}, theme_color};
+    ItemStatus cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), metric}, currentColors[0]};
     if (usage >= 85) {
-      cpuStatus = {{tr(isGPU ? "GPU" : "CPU"), metric}, danger_color};
+      cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), metric}, danger_color};
     } else if (usage >= 70) {
-      cpuStatus = {{tr(isGPU ? "GPU" : "CPU"), metric}, warning_color};
+      cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), metric}, warning_color};
     }
     setProperty("cpuStatus", QVariant::fromValue(cpuStatus));
   }
@@ -186,10 +233,10 @@ void Sidebar::updateState(const UIState &s) {
     int storage_used = frogpilotDeviceState.getUsedSpace();
 
     QString memory = QString::number(memory_usage) + "%";
-    QString storage = QString::number(isStorageLeft ? storage_left : storage_used) + " GB";
+    QString storage = QString::number(isStorageLeft ? storage_left : storage_used) + tr(" GB");
 
     if (isMemoryUsage) {
-      ItemStatus memoryStatus = {{tr("MEMORY"), memory}, theme_color};
+      ItemStatus memoryStatus = {{tr("MEMORY"), memory}, currentColors[0]};
       if (memory_usage >= 85) {
         memoryStatus = {{tr("MEMORY"), memory}, danger_color};
       } else if (memory_usage >= 70) {
@@ -197,11 +244,11 @@ void Sidebar::updateState(const UIState &s) {
       }
       setProperty("memoryStatus", QVariant::fromValue(memoryStatus));
     } else {
-      ItemStatus storageStatus = {{tr(isStorageLeft ? "LEFT" : "USED"), storage}, theme_color};
+      ItemStatus storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, currentColors[0]};
-      if (10 <= storage_left && storage_left < 25) {
+      if (25 > storage_left && storage_left >= 10) {
-        storageStatus = {{tr(isStorageLeft ? "LEFT" : "USED"), storage}, warning_color};
+        storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, warning_color};
-      } else if (storage_left < 10) {
+      } else if (10 > storage_left) {
-        storageStatus = {{tr(isStorageLeft ? "LEFT" : "USED"), storage}, danger_color};
+        storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, danger_color};
       }
       setProperty("storageStatus", QVariant::fromValue(storageStatus));
     }
@@ -213,7 +260,7 @@ void Sidebar::updateState(const UIState &s) {
     connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
     connectStatus = nanos_since_boot() - last_ping < 80e9
-                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, theme_color}
+                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, currentColors[0]}
                         : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
@@ -221,13 +268,13 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("HIGH")}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("GOOD")}, theme_color};
+    tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("GOOD")}, currentColors[0]};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
     tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("OK")}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, theme_color};
+  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, currentColors[0]};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
@@ -253,14 +300,24 @@ void Sidebar::paintEvent(QPaintEvent *event) {
   // network
   int x = 58;
   const QColor gray(0x54, 0x54, 0x54);
-  for (int i = 0; i < 5; ++i) {
+  p.setFont(InterFont(35));
-    p.setBrush(i < net_strength ? Qt::white : gray);
+
-    p.drawEllipse(x, 196, 27, 27);
+  if (isIP) {
-    x += 37;
+    p.setPen(QColor(0xff, 0xff, 0xff));
+    p.save();
+    p.setFont(InterFont(30));
+    QRect ipBox = QRect(50, 196, 225, 27);
+    p.drawText(ipBox, Qt::AlignLeft | Qt::AlignVCenter, uiState()->wifi->getIp4Address());
+    p.restore();
+  } else {
+    for (int i = 0; i < 5; ++i) {
+      p.setBrush(i < net_strength ? Qt::white : gray);
+      p.drawEllipse(x, 196, 27, 27);
+      x += 37;
+    }
+    p.setPen(QColor(0xff, 0xff, 0xff));
   }
 
-  p.setFont(InterFont(35));
-  p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(50, 247, 100, 50);
   p.drawText(r, Qt::AlignCenter, net_type);
 

selfdrive/ui/qt/sidebar.h

@@ -71,17 +71,22 @@ private:
 
   ItemStatus cpu_status, memory_status, storage_status;
 
+  bool isCPU;
+  bool isGPU;
+  bool isIP;
+  bool isMemoryUsage;
+  bool isStorageLeft;
+  bool isStorageUsed;
+
   std::unordered_map<int, std::pair<QString, std::vector<QColor>>> themeConfiguration;
   std::unordered_map<int, QPixmap> flag_imgs;
   std::unordered_map<int, QPixmap> home_imgs;
   std::unordered_map<int, QPixmap> settings_imgs;
-  std::vector<QColor> currentColors;
 
-  bool isCPU;
+  std::unordered_map<int, std::pair<QString, std::vector<QColor>>> holidayThemeConfiguration;
-  bool isFahrenheit;
+  std::unordered_map<int, QPixmap> holiday_flag_imgs;
-  bool isGPU;
+  std::unordered_map<int, QPixmap> holiday_home_imgs;
-  bool isMemoryUsage;
+  std::unordered_map<int, QPixmap> holiday_settings_imgs;
-  bool isNumericalTemp;
+
-  bool isStorageLeft;
+  std::vector<QColor> currentColors;
-  bool isStorageUsed;
 };

selfdrive/ui/qt/spinner.cc

@@ -11,7 +11,7 @@
 #include <QString>
 #include <QTransform>
 
-#include "system/hardware/hw.h" 
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 
@@ -88,7 +88,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
     }
     QProgressBar::chunk {
       border-radius: 10px;
-      background-color: rgba(179, 0, 0, 255);
+      background-color: rgba(23, 134, 68, 255);
     }
   )");
 

selfdrive/ui/qt/text.cc

@@ -4,32 +4,11 @@
 #include <QScrollBar>
 #include <QVBoxLayout>
 #include <QWidget>
-#include <QProcess>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/network/wifi_manager.h"
-
-// wifi connection screen
-// wifi = new QWidget;
-// {
-//   QVBoxLayout *layout = new QVBoxLayout(wifi);
-//   layout->setContentsMargins(100, 100, 100, 100);
-
-//   Networking *networking = new Networking(this, false);
-//   networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
-//   layout->addWidget(networking, 1);
-
-//   QPushButton *back = new QPushButton(tr("Back"));
-//   back->setObjectName("navBtn");
-//   back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
-//   QObject::connect(back, &QPushButton::clicked, [=]() {
-//     setCurrentWidget(prompt);
-//   });
-//   layout->addWidget(back, 0, Qt::AlignLeft);
-// }
 
 int main(int argc, char *argv[]) {
   initApp(argc, argv);
@@ -52,36 +31,11 @@ int main(int argc, char *argv[]) {
     scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
   });
 
-
-  QPushButton *btnupdate = new QPushButton();
-#ifdef __aarch64__
-  btnupdate->setText(QObject::tr("Update"));
-  QObject::connect(btnupdate, &QPushButton::clicked, [=]() {
-    QProcess process;
-    label->setText("Attempting to connect to wifi");
-    // TODO: make this work, then copy the compiled binary into git
-    // wifi = new WifiManager(null);
-    // connect(wifi, &WifiManager::refreshSignal, [=]() {
-    //   label->setText("Performing update");
-    //   process.setWorkingDirectory("/data/openpilot/");
-    //   process.start("/bin/bash", QStringList{"-c", "update.sh"});
-    //   process.waitForFinished();
-    //   label->setText("Rebooting");
-    //   Hardware::reboot(); 
-    // });
-    // wifi->start();
-  });
-#else
-  btnupdate->setText(QObject::tr("Exit"));
-  QObject::connect(btnupdate, &QPushButton::clicked, &a, &QApplication::quit);
-#endif
-  main_layout->addWidget(btnupdate, 0, 0, Qt::AlignLeft | Qt::AlignBottom);
-
   QPushButton *btn = new QPushButton();
 #ifdef __aarch64__
   btn->setText(QObject::tr("Reboot"));
   QObject::connect(btn, &QPushButton::clicked, [=]() {
-    Hardware::reboot(); // bbot this is the dreaded crash reboot button
+    Hardware::reboot();
   });
 #else
   btn->setText(QObject::tr("Exit"));

selfdrive/ui/qt/util.cc

@@ -5,6 +5,7 @@
 #include <vector>
 
 #include <QApplication>
+#include <QDir>
 #include <QFile>
 #include <QFileInfo>
 #include <QHash>
@@ -25,7 +26,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("OscarPilot");
+  return QObject::tr("FrogPilot");
 }
 
 QString getUserAgent() {
@@ -114,6 +115,11 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
 
   qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
 
+  // ensure the current dir matches the exectuable's directory
+  QApplication tmp(argc, argv);
+  QString appDir = QCoreApplication::applicationDirPath();
+  QDir::setCurrent(appDir);
+
   setQtSurfaceFormat();
 }
 

selfdrive/ui/qt/widgets/cameraview.cc

@@ -41,6 +41,8 @@ const char frame_fragment_shader[] =
   "out vec4 colorOut;\n"
   "void main() {\n"
   "  colorOut = texture(uTexture, vTexCoord);\n"
+  // gamma to improve worst case visibility when dark
+  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
   "}\n";
 #else
 #ifdef __APPLE__
@@ -217,7 +219,6 @@ void CameraWidget::updateFrameMat() {
     if (active_stream_type == VISION_STREAM_DRIVER) {
       if (stream_width > 0 && stream_height > 0) {
         frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
-        frame_mat.v[0] *= -1.0;
       }
     } else {
       // Project point at "infinity" to compute x and y offsets

selfdrive/ui/qt/widgets/controls.h

@@ -127,15 +127,15 @@ public:
     QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped);
   }
 
-  void setVisualOn() {
-    toggle.togglePosition();
-  }
-
   void setEnabled(bool enabled) {
     toggle.setEnabled(enabled);
     toggle.update();
   }
 
+  void refresh() {
+    toggle.togglePosition();
+  }
+
 signals:
   void toggleFlipped(bool state);
 
@@ -206,7 +206,7 @@ public:
         background-color: #4a4a4a;
       }
       QPushButton:checked:enabled {
-        background-color: #0048FF;
+        background-color: #33Ab4C;
       }
       QPushButton:disabled {
         color: #33E4E4E4;
@@ -227,10 +227,8 @@ public:
       button_group->addButton(button, i);
     }
 
-    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
+    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
-      if (checked) {
+      params.put(key, std::to_string(id));
-        params.put(key, std::to_string(id));
-      }
     });
   }
 
@@ -240,6 +238,19 @@ public:
     }
   }
 
+  void setCheckedButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
 private:
   std::string key;
   Params params;

selfdrive/ui/qt/widgets/drive_stats.cc

@@ -5,7 +5,6 @@
 #include <QJsonObject>
 #include <QVBoxLayout>
 
-#include "common/params.h"
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
 
@@ -16,19 +15,19 @@ static QLabel* newLabel(const QString& text, const QString &type) {
 }
 
 DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
-  metric_ = Params().getBool("IsMetric");
+  metric_ = params.getBool("IsMetric");
 
   QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 50, 50, 60);
+  main_layout->setContentsMargins(50, 25, 50, 20);
 
-  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
+  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels, bool FrogPilot=false) {
     QGridLayout* grid_layout = new QGridLayout;
     grid_layout->setVerticalSpacing(10);
     grid_layout->setContentsMargins(0, 10, 0, 10);
 
     int row = 0;
-    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
+    grid_layout->addWidget(newLabel(title, FrogPilot ? "frogpilot_title" : "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+    grid_layout->addItem(new QSpacerItem(0, 10), row++, 0, 1, 1);
 
     grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
@@ -39,11 +38,12 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
     grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
 
     main_layout->addLayout(grid_layout);
+    main_layout->addStretch(1);
   };
 
   add_stats_layouts(tr("ALL TIME"), all_);
-  main_layout->addStretch();
   add_stats_layouts(tr("PAST WEEK"), week_);
+  add_stats_layouts(tr("FROGPILOT"), frogPilot_, true);
 
   if (auto dongleId = getDongleId()) {
     QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
@@ -57,13 +57,25 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
       border-radius: 10px;
     }
 
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
+    QLabel[type="title"] { font-size: 50px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
+    QLabel[type="frogpilot_title"] { font-size: 50px; font-weight: 500; color: #178643; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
+    QLabel[type="number"] { font-size: 65px; font-weight: 400; }
+    QLabel[type="unit"] { font-size: 50px; font-weight: 300; color: #A0A0A0; }
   )");
 }
 
 void DriveStats::updateStats() {
+  QJsonObject json = stats_.object();
+
+  auto updateFrogPilot = [this](const QJsonObject& obj, StatsLabels& labels) {
+    labels.routes->setText(QString::number(paramsStorage.getInt("FrogPilotDrives")));
+    labels.distance->setText(QString::number(int(paramsStorage.getFloat("FrogPilotKilometers") * (metric_ ? 1 : KM_TO_MILE))));
+    labels.distance_unit->setText(getDistanceUnit());
+    labels.hours->setText(QString::number(int(paramsStorage.getFloat("FrogPilotMinutes") / 60)));
+  };
+
+  updateFrogPilot(json["frogpilot"].toObject(), frogPilot_);
+
   auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
     labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
     labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
@@ -71,7 +83,6 @@ void DriveStats::updateStats() {
     labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
   };
 
-  QJsonObject json = stats_.object();
   update(json["all"].toObject(), all_);
   update(json["week"].toObject(), week_);
 }
@@ -89,9 +100,6 @@ void DriveStats::parseResponse(const QString& response, bool success) {
 }
 
 void DriveStats::showEvent(QShowEvent* event) {
-  bool metric = Params().getBool("IsMetric");
+  metric_ = params.getBool("IsMetric");
-  if (metric_ != metric) {
+  updateStats();
-    metric_ = metric;
-    updateStats();
-  }
 }

selfdrive/ui/qt/widgets/drive_stats.h

@@ -3,6 +3,8 @@
 #include <QJsonDocument>
 #include <QLabel>
 
+#include "common/params.h"
+
 class DriveStats : public QFrame {
   Q_OBJECT
 
@@ -15,10 +17,12 @@ private:
   inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
 
   bool metric_;
+  Params params;
+  Params paramsStorage{"/persist/params"};
   QJsonDocument stats_;
   struct StatsLabels {
     QLabel *routes, *distance, *distance_unit, *hours;
-  } all_, week_;
+  } all_, week_, frogPilot_;
 
 private slots:
   void parseResponse(const QString &response, bool success);

selfdrive/ui/qt/widgets/offroad_alerts.cc

@@ -37,13 +37,9 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   disable_check_btn->setFixedSize(625, 125);
   footer_layout->addWidget(disable_check_btn, 1, Qt::AlignBottom | Qt::AlignCenter);
   QObject::connect(disable_check_btn, &QPushButton::clicked, [=]() {
-    if (!params.getBool("FireTheBabysitter")) {
+    params.putBool("SnoozeUpdate", true);
-      params.putBool("FireTheBabysitter", true);
+    params.putBool("DeviceManagement", true);
-    }
+    params.putBool("OfflineMode", true);
-    if (!params.getBool("OfflineMode")) {
-      params.putBool("OfflineMode", true);
-    }
-    Hardware::reboot();
   });
   QObject::connect(disable_check_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
   disable_check_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)");

selfdrive/ui/qt/widgets/scrollview.h

@@ -10,6 +10,7 @@ public:
 
   // FrogPilot functions
   void restorePosition(int previousScrollPosition);
+
 protected:
   void hideEvent(QHideEvent *e) override;
 };

selfdrive/ui/qt/widgets/toggle.cc

@@ -75,7 +75,7 @@ void Toggle::setEnabled(bool value) {
   enabled = value;
   if (value) {
     circleColor.setRgb(0xfafafa);
-    green.setRgb(0x0048FF);
+    green.setRgb(0x33ab4c);
   } else {
     circleColor.setRgb(0x888888);
     green.setRgb(0x227722);

selfdrive/ui/qt/widgets/wifi.cc

@@ -81,6 +81,34 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
   }
   stack->addWidget(uploading);
 
+  QWidget *notUploading = new QWidget;
+  QVBoxLayout *not_uploading_layout = new QVBoxLayout(notUploading);
+  not_uploading_layout->setContentsMargins(64, 56, 64, 56);
+  not_uploading_layout->setSpacing(36);
+  {
+    QHBoxLayout *title_layout = new QHBoxLayout;
+    {
+      QLabel *title = new QLabel(tr("Uploading disabled"));
+      title->setStyleSheet("font-size: 64px; font-weight: 600;");
+      title->setWordWrap(true);
+      title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum);
+      title_layout->addWidget(title);
+      title_layout->addStretch();
+
+      QLabel *icon = new QLabel;
+      QPixmap pixmap("../frogpilot/assets/other_images/icon_wifi_uploading_disabled.svg");
+      icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation));
+      title_layout->addWidget(icon);
+    }
+    not_uploading_layout->addLayout(title_layout);
+
+    QLabel *desc = new QLabel(tr("Toggle off the 'Disable Uploading' toggle to enable uploads."));
+    desc->setStyleSheet("font-size: 48px; font-weight: 400;");
+    desc->setWordWrap(true);
+    not_uploading_layout->addWidget(desc);
+  }
+  stack->addWidget(notUploading);
+
   setStyleSheet(R"(
     WiFiPromptWidget {
       background-color: #333333;
@@ -99,5 +127,6 @@ void WiFiPromptWidget::updateState(const UIState &s) {
   auto network_type = sm["deviceState"].getDeviceState().getNetworkType();
   auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI ||
       network_type == cereal::DeviceState::NetworkType::ETHERNET;
-  stack->setCurrentIndex(uploading ? 1 : 0);
+  bool uploading_disabled = params.getBool("DeviceManagement") && params.getBool("NoUploads");
+  stack->setCurrentIndex(uploading_disabled ? 2 : uploading ? 1 : 0);
 }

selfdrive/ui/qt/widgets/wifi.h

@@ -18,6 +18,10 @@ signals:
 public slots:
   void updateState(const UIState &s);
 
+private:
+  // FrogPilot variables
+  Params params;
+
 protected:
   QStackedLayout *stack;
 };

selfdrive/ui/qt/window.cc

@@ -13,14 +13,14 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
 
-  oscarSettingsWindow = new OscarSettingsWindow(this); 
+  settingsWindow = new SettingsWindow(this);
-  main_layout->addWidget(oscarSettingsWindow);
+  main_layout->addWidget(settingsWindow);
-  QObject::connect(oscarSettingsWindow, &OscarSettingsWindow::closeSettings, this, &MainWindow::closeSettings);
+  QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
-  // QObject::connect(oscarSettingsWindow, &OscarSettingsWindow::reviewTrainingGuide, [=]() {
+  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
-    // onboardingWindow->showTrainingGuide();
+    onboardingWindow->showTrainingGuide();
-    // main_layout->setCurrentWidget(onboardingWindow);
+    main_layout->setCurrentWidget(onboardingWindow);
-  // });
+  });
-  QObject::connect(oscarSettingsWindow, &OscarSettingsWindow::showDriverView, [=] {
+  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
     homeWindow->showDriverView(true);
   });
 
@@ -38,11 +38,11 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
       closeSettings();
     }
   });
-  // QObject::connect(device(), &Device::interactiveTimeout, [=]() {
+  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-  //   if (main_layout->currentWidget() == oscarSettingsWindow) {
+    if (main_layout->currentWidget() == settingsWindow) {
-  //     closeSettings();
+      closeSettings();
-  //   }
+    }
-  // });
+  });
 
   // load fonts
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
@@ -66,8 +66,8 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
 }
 
 void MainWindow::openSettings(int index, const QString &param) {
-  main_layout->setCurrentWidget(oscarSettingsWindow);
+  main_layout->setCurrentWidget(settingsWindow);
-  oscarSettingsWindow->setCurrentPanel(index, param);
+  settingsWindow->setCurrentPanel(index, param);
 }
 
 void MainWindow::closeSettings() {
@@ -93,12 +93,7 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
     case QEvent::MouseMove: {
       // ignore events when device is awakened by resetInteractiveTimeout
       ignore = !device()->isAwake();
-      // if (main_layout->currentWidget() == oscarSettingsWindow) {
+      device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
-        // Not working...
-        // device()->resetInteractiveTimeout(60 * 5);   // 5 minute timeout if looking at settings window
-      // } else {
-        device()->resetInteractiveTimeout();   // Default 30 seconds otherwise
-      // }
       break;
     }
     default:

selfdrive/ui/qt/window.h

@@ -6,7 +6,6 @@
 #include "selfdrive/ui/qt/home.h"
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
-#include "selfdrive/oscarpilot/settings/settings.h"
 
 class MainWindow : public QWidget {
   Q_OBJECT
@@ -21,7 +20,7 @@ private:
 
   QStackedLayout *main_layout;
   HomeWindow *homeWindow;
-  OscarSettingsWindow *oscarSettingsWindow;
+  SettingsWindow *settingsWindow;
   OnboardingWindow *onboardingWindow;
 
   // FrogPilot variables

selfdrive/ui/soundd.py

@@ -1,10 +1,9 @@
 import math
 import numpy as np
+import os
 import time
-import threading
 import wave
 
-from typing import Dict, Optional, Tuple
 
 from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
@@ -29,7 +28,7 @@ DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 
-sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
+sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
   AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
   AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
@@ -42,11 +41,21 @@ sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 
-  AudibleAlert.firefox: ("firefox.wav", None, MAX_VOLUME),
+  # Random Events
+  AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME),
+  AudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME),
+  AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME),
+  AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME),
+  AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME),
+  AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME),
+  AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME),
+
+  # Other
+  AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
 }
 
 def check_controls_timeout_alert(sm):
-  controls_missing = time.monotonic() - sm.rcv_time['controlsState']
+  controls_missing = time.monotonic() - sm.recv_time['controlsState']
 
   if controls_missing > CONTROLS_TIMEOUT:
     if sm['controlsState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
@@ -61,9 +70,20 @@ class Soundd:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
-    self.update_frogpilot_params()
+    self.previous_sound_directory = None
+    self.random_events_directory = BASEDIR + "/selfdrive/frogpilot/assets/random_events/sounds/"
 
-    self.load_sounds()
+    self.random_events_map = {
+      AudibleAlert.angry: MAX_VOLUME,
+      AudibleAlert.doc: MAX_VOLUME,
+      AudibleAlert.fart: MAX_VOLUME,
+      AudibleAlert.firefox: MAX_VOLUME,
+      AudibleAlert.nessie: MAX_VOLUME,
+      AudibleAlert.noice: MAX_VOLUME,
+      AudibleAlert.uwu: MAX_VOLUME,
+    }
+
+    self.update_frogpilot_params()
 
     self.current_alert = AudibleAlert.none
     self.current_volume = MIN_VOLUME
@@ -74,13 +94,22 @@ class Soundd:
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
   def load_sounds(self):
-    self.loaded_sounds: Dict[int, np.ndarray] = {}
+    self.loaded_sounds: dict[int, np.ndarray] = {}
 
     # Load all sounds
     for sound in sound_list:
+      if sound == AudibleAlert.goat and not self.goat_scream:
+        continue
+
       filename, play_count, volume = sound_list[sound]
 
-      wavefile = wave.open(self.sound_directory + filename, 'r')
+      if sound in self.random_events_map:
+        wavefile = wave.open(self.random_events_directory + filename, 'r')
+      else:
+        try:
+          wavefile = wave.open(self.sound_directory + filename, 'r')
+        except FileNotFoundError:
+          wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
 
       assert wavefile.getnchannels() == 1
       assert wavefile.getsampwidth() == 2
@@ -156,9 +185,15 @@ class Soundd:
       while True:
         sm.update(0)
 
-        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none and not self.alert_volume_control: # only update volume filter when not playing alert
           self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
-          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) if not self.silent_mode else 0
+          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
+
+        elif self.alert_volume_control and self.current_alert in self.volume_map:
+          self.current_volume = self.volume_map[self.current_alert] / 100.0
+
+        elif self.current_alert in self.random_events_map:
+          self.current_volume = self.random_events_map[self.current_alert]
 
         self.get_audible_alert(sm)
 
@@ -166,28 +201,67 @@ class Soundd:
 
         assert stream.active
 
-    # Update FrogPilot parameters
+        # Update FrogPilot parameters
-    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+        if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
-      updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
+          self.update_frogpilot_params()
-      updateFrogPilotParams.start()
 
   def update_frogpilot_params(self):
-    self.silent_mode = self.params.get_bool("SilentMode")
+    self.alert_volume_control = self.params.get_bool("AlertVolumeControl")
+
+    self.volume_map = {
+      AudibleAlert.engage: self.params.get_int("EngageVolume"),
+      AudibleAlert.disengage: self.params.get_int("DisengageVolume"),
+      AudibleAlert.refuse: self.params.get_int("RefuseVolume"),
+
+      AudibleAlert.prompt: self.params.get_int("PromptVolume"),
+      AudibleAlert.promptRepeat: self.params.get_int("PromptVolume"),
+      AudibleAlert.promptDistracted: self.params.get_int("PromptDistractedVolume"),
+
+      AudibleAlert.warningSoft: self.params.get_int("WarningSoftVolume"),
+      AudibleAlert.warningImmediate: self.params.get_int("WarningImmediateVolume"),
+
+      AudibleAlert.goat: self.params.get_int("PromptVolume"),
+    }
 
     custom_theme = self.params.get_bool("CustomTheme")
     custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0
+    self.goat_scream = custom_sounds == 1 and self.params.get_bool("GoatScream")
 
     theme_configuration = {
-      0: "stock",
       1: "frog_theme",
       2: "tesla_theme",
       3: "stalin_theme"
     }
 
-    theme_name = theme_configuration.get(custom_sounds, "stock")
+    holiday_themes = custom_theme and self.params.get_bool("HolidayThemes")
-    self.sound_directory = (f"{BASEDIR}/selfdrive/frogpilot/assets/custom_themes/{theme_name}/sounds/" if custom_sounds else f"{BASEDIR}/selfdrive/assets/sounds/")
+    current_holiday_theme = self.params_memory.get_int("CurrentHolidayTheme") if holiday_themes else 0
 
-    self.load_sounds()
+    holiday_theme_configuration = {
+      1: "april_fools",
+      2: "christmas",
+      3: "cinco_de_mayo",
+      4: "easter",
+      5: "fourth_of_july",
+      6: "halloween",
+      7: "new_years_day",
+      8: "st_patricks_day",
+      9: "thanksgiving",
+      10: "valentines_day",
+      11: "world_frog_day",
+    }
+
+    if current_holiday_theme != 0:
+      theme_name = holiday_theme_configuration.get(current_holiday_theme)
+      self.sound_directory = BASEDIR + ("/selfdrive/frogpilot/assets/holiday_themes/" + theme_name + "/sounds/")
+      self.goat_scream = False
+    else:
+      theme_name = theme_configuration.get(custom_sounds)
+      self.sound_directory = BASEDIR + ("/selfdrive/frogpilot/assets/custom_themes/" + theme_name + "/sounds/" if custom_sounds != 0 else "/selfdrive/assets/sounds/")
+
+    if self.sound_directory != self.previous_sound_directory:
+      self.load_sounds()
+
+    self.previous_sound_directory = self.sound_directory
 
 def main():
   s = Soundd()

selfdrive/ui/spinner

@@ -1,7 +1,7 @@
 #!/bin/sh
 
-if [ -f /TICI ] && [ ! -f qt/spinner ]; then
+if [ -f /TICI ] && [ ! -f _spinner ]; then
-  cp qt/spinner_larch64 qt/spinner
+  cp qt/spinner_larch64 _spinner
 fi
 
-exec ./qt/spinner "$1"
+exec ./_spinner "$1"

selfdrive/ui/tests/.gitignore

@@ -0,0 +1,6 @@
+test
+playsound
+test_sound
+test_translations
+ui_snapshot
+test_ui/report

selfdrive/ui/tests/body.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+import time
+import cereal.messaging as messaging
+
+if __name__ == "__main__":
+  while True:
+    pm = messaging.PubMaster(['carParams', 'carState'])
+    batt = 1.
+    while True:
+      msg = messaging.new_message('carParams')
+      msg.carParams.carName = "COMMA BODY"
+      msg.carParams.notCar = True
+      pm.send('carParams', msg)
+
+      for b in range(100, 0, -1):
+        msg = messaging.new_message('carState')
+        msg.carState.charging = True
+        msg.carState.fuelGauge = b / 100.
+        pm.send('carState', msg)
+        time.sleep(0.1)
+
+      time.sleep(1)

selfdrive/ui/tests/create_test_translations.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+set -e
+
+UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/..
+TEST_TEXT="(WRAPPED_SOURCE_TEXT)"
+TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts
+TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm
+
+# translation strings
+UNFINISHED="<translation type=\"unfinished\"><\/translation>"
+TRANSLATED="<translation>$TEST_TEXT<\/translation>"
+
+mkdir -p $UI_DIR/translations
+rm -f $TEST_TS_FILE $TEST_QM_FILE
+lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE
+sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE
+lrelease $TEST_TS_FILE

selfdrive/ui/tests/cycle_offroad_alerts.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import os
+import sys
+import time
+import json
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+
+if __name__ == "__main__":
+  params = Params()
+
+  with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+    offroad_alerts = json.load(f)
+
+  t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
+  while True:
+    print("setting alert update")
+    params.put_bool("UpdateAvailable", True)
+    r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
+    r = r[:r.find('\n\n')]  # Slice latest release notes
+    params.put("UpdaterNewReleaseNotes", r + "\n")
+
+    time.sleep(t)
+    params.put_bool("UpdateAvailable", False)
+
+    # cycle through normal alerts
+    for a in offroad_alerts:
+      print("setting alert:", a)
+      set_offroad_alert(a, True)
+      time.sleep(t)
+      set_offroad_alert(a, False)
+
+    print("no alert")
+    time.sleep(t)

selfdrive/ui/tests/playsound.cc

@@ -0,0 +1,30 @@
+#include <QApplication>
+#include <QSoundEffect>
+#include <QTimer>
+#include <QDebug>
+
+int main(int argc, char **argv) {
+
+  QApplication a(argc, argv);
+
+  QTimer::singleShot(0, [=]{
+    QSoundEffect s;
+    const char *vol = getenv("VOLUME");
+    s.setVolume(vol ? atof(vol) : 1.0);
+    for (int i = 1; i < argc; i++) {
+      QString fn = argv[i];
+      qDebug() << "playing" << fn;
+
+      QEventLoop loop;
+      s.setSource(QUrl::fromLocalFile(fn));
+      QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit);
+      loop.exec();
+      s.play();
+      QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit);
+      loop.exec();
+    }
+    QCoreApplication::exit();
+  });
+
+  return a.exec();
+}

selfdrive/ui/tests/test_runner.cc

@@ -0,0 +1,25 @@
+#define CATCH_CONFIG_RUNNER
+#include "catch2/catch.hpp"
+
+#include <QApplication>
+#include <QDebug>
+#include <QDir>
+#include <QTranslator>
+
+int main(int argc, char **argv) {
+  // unit tests for Qt
+  QApplication app(argc, argv);
+
+  QString language_file = "main_test_en";
+  qDebug() << "Loading language:" << language_file;
+
+  QTranslator translator;
+  QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations");
+  if (!translator.load(language_file, translationsPath)) {
+    qDebug() << "Failed to load translation file!";
+  }
+  app.installTranslator(&translator);
+
+  const int res = Catch::Session().run(argc, argv);
+  return (res < 0xff ? res : 0xff);
+}

selfdrive/ui/tests/test_soundd.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+import unittest
+
+from cereal import car
+from cereal import messaging
+from cereal.messaging import SubMaster, PubMaster
+from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert
+
+import time
+
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+
+class TestSoundd(unittest.TestCase):
+  def test_check_controls_timeout_alert(self):
+    sm = SubMaster(['controlsState'])
+    pm = PubMaster(['controlsState'])
+
+    for _ in range(100):
+      cs = messaging.new_message('controlsState')
+      cs.controlsState.enabled = True
+
+      pm.send("controlsState", cs)
+
+      time.sleep(0.01)
+
+      sm.update(0)
+
+      self.assertFalse(check_controls_timeout_alert(sm))
+
+    for _ in range(CONTROLS_TIMEOUT * 110):
+      sm.update(0)
+      time.sleep(0.01)
+
+    self.assertTrue(check_controls_timeout_alert(sm))
+
+  # TODO: add test with micd for checking that soundd actually outputs sounds
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/ui/tests/test_translations.cc

@@ -0,0 +1,48 @@
+#include "catch2/catch.hpp"
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/window.h"
+
+const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)";  // what each string should be translated to
+QRegExp RE_NUM("\\d*");
+
+QStringList getParentWidgets(QWidget* widget){
+  QStringList parentWidgets;
+  while (widget->parentWidget() != Q_NULLPTR) {
+    widget = widget->parentWidget();
+    parentWidgets.append(widget->metaObject()->className());
+  }
+  return parentWidgets;
+}
+
+template <typename T>
+void checkWidgetTrWrap(MainWindow &w) {
+  for (auto widget : w.findChildren<T>()) {
+  const QString text = widget->text();
+    bool isNumber = RE_NUM.exactMatch(text);
+    bool wrapped = text.contains(TEST_TEXT);
+    QString parentWidgets = getParentWidgets(widget).join("->");
+
+    if (!text.isEmpty() && !isNumber && !wrapped) {
+      FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
+    }
+
+    // warn if source string wrapped, but UI adds text
+    // TODO: add way to ignore this
+    if (wrapped && text != TEST_TEXT) {
+      WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
+    }
+  }
+}
+
+// Tests all strings in the UI are wrapped with tr()
+TEST_CASE("UI: test all strings wrapped") {
+  Params().remove("LanguageSetting");
+  Params().remove("HardwareSerial");
+  Params().remove("DongleId");
+  qputenv("TICI", "1");
+
+  MainWindow w;
+  checkWidgetTrWrap<QPushButton*>(w);
+  checkWidgetTrWrap<QLabel*>(w);
+}