Merge branch 'upstream/openpilot/master' into sync-20251114

# Conflicts: # .github/workflows/ci_weekly_run.yaml # .github/workflows/raylib_ui_preview.yaml # .github/workflows/tests.yaml # .gitmodules # README.md # SConstruct # common/api.py # common/params_keys.h # docs/CARS.md # msgq_repo # opendbc_repo # panda # selfdrive/car/tests/test_car_interfaces.py # selfdrive/controls/controlsd.py # selfdrive/controls/lib/latcontrol.py # selfdrive/controls/lib/latcontrol_angle.py # selfdrive/controls/lib/latcontrol_pid.py # selfdrive/controls/lib/latcontrol_torque.py # selfdrive/controls/tests/test_latcontrol.py # selfdrive/monitoring/helpers.py # selfdrive/ui/SConscript # selfdrive/ui/main.cc # selfdrive/ui/qt/body.h # selfdrive/ui/qt/home.cc # selfdrive/ui/qt/home.h # selfdrive/ui/qt/network/networking.cc # selfdrive/ui/qt/network/networking.h # selfdrive/ui/qt/network/wifi_manager.cc # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/qt/offroad/experimental_mode.cc # selfdrive/ui/qt/offroad/firehose.cc # selfdrive/ui/qt/offroad/firehose.h # selfdrive/ui/qt/offroad/onboarding.cc # selfdrive/ui/qt/offroad/onboarding.h # selfdrive/ui/qt/offroad/settings.cc # selfdrive/ui/qt/offroad/settings.h # selfdrive/ui/qt/offroad/software_settings.cc # selfdrive/ui/qt/onroad/alerts.cc # selfdrive/ui/qt/onroad/annotated_camera.h # selfdrive/ui/qt/onroad/buttons.cc # selfdrive/ui/qt/onroad/buttons.h # selfdrive/ui/qt/onroad/driver_monitoring.cc # selfdrive/ui/qt/onroad/hud.cc # selfdrive/ui/qt/onroad/hud.h # selfdrive/ui/qt/onroad/model.cc # selfdrive/ui/qt/onroad/model.h # selfdrive/ui/qt/onroad/onroad_home.cc # selfdrive/ui/qt/onroad/onroad_home.h # selfdrive/ui/qt/request_repeater.h # selfdrive/ui/qt/sidebar.cc # selfdrive/ui/qt/sidebar.h # selfdrive/ui/qt/util.cc # selfdrive/ui/qt/widgets/cameraview.h # selfdrive/ui/qt/widgets/controls.cc # selfdrive/ui/qt/widgets/controls.h # selfdrive/ui/qt/widgets/input.cc # selfdrive/ui/qt/widgets/input.h # selfdrive/ui/qt/widgets/prime.cc # selfdrive/ui/qt/widgets/prime.h # selfdrive/ui/qt/widgets/ssh_keys.h # selfdrive/ui/qt/widgets/toggle.h # selfdrive/ui/qt/widgets/wifi.cc # selfdrive/ui/qt/widgets/wifi.h # selfdrive/ui/qt/window.cc # selfdrive/ui/qt/window.h # selfdrive/ui/tests/cycle_offroad_alerts.py # selfdrive/ui/tests/test_ui/run.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_nl.ts # selfdrive/ui/translations/main_pl.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # selfdrive/ui/ui.cc # selfdrive/ui/ui.h # system/manager/build.py # system/version.py
2026-02-18 13:04:01 +08:00 · 2025-11-16 02:00:29 -05:00
parent cb03d08397 9c19ec8409
commit 08e85808c5
496 changed files with 22367 additions and 59319 deletions
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -16,7 +16,7 @@ simulation:

 ui:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'

 tools:
  - changed-files:
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -23,7 +23,7 @@ jobs:
    - uses: ./.github/workflows/setup-with-retry
    - name: Push badges
      run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"

        rm .gitattributes

--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -11,7 +11,7 @@ concurrency:
  cancel-in-progress: true

 jobs:
-  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+  tests:
+    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
--- a/.github/workflows/raylib_ui_preview.yaml
+++ b/.github/workflows/raylib_ui_preview.yaml
@@ -1,4 +1,4 @@
-name: "ui preview"
+name: "raylib ui preview"
 on:
  push:
    branches:
@@ -8,14 +8,16 @@ on:
    branches:
      - 'master'
    paths:
+      - 'selfdrive/assets/**'
      - 'selfdrive/ui/**'
+      - 'system/ui/**'
  workflow_dispatch:

 env:
-  UI_JOB_NAME: "Create UI Report"
+  UI_JOB_NAME: "Create raylib UI Report"
  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"

 jobs:
  preview:
@@ -52,7 +54,7 @@ jobs:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          run_id: ${{ steps.get_run_id.outputs.run_id }}
          search_artifacts: true
-          name: report-1-${{ env.REPORT_NAME }}
+          name: raylib-report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui

      - name: Getting master ui
@@ -60,23 +62,23 @@ jobs:
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui
-          ref: openpilot_master_ui
+          path: ${{ github.workspace }}/master_ui_raylib
+          ref: openpilot_master_ui_raylib

      - name: Saving new master ui
        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui
+        working-directory: ${{ github.workspace }}/master_ui_raylib
        run: |
-          git checkout --orphan=new_master_ui
+          git checkout --orphan=new_master_ui_raylib
          git rm -rf *
-          git branch -D openpilot_master_ui
-          git branch -m openpilot_master_ui
+          git branch -D openpilot_master_ui_raylib
+          git branch -m openpilot_master_ui_raylib
          git config user.name "GitHub Actions Bot"
          git config user.email "<>"
          mv ${{ github.workspace }}/pr_ui/*.png .
          git add .
-          git commit -m "screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui --force
+          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
+          git push origin openpilot_master_ui_raylib --force

      - name: Finding diff
        if: github.event_name == 'pull_request_target'
@@ -94,7 +96,7 @@ jobs:
          for ((i=0; i<${#A[*]}; i=i+1));
          do
            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
+            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
              # This is a new file in PR UI that doesn't exist in master
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
@@ -106,12 +108,12 @@ jobs:

              DIFF="${DIFF}</table>"
              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
+              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif

-              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
+              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png

              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
@@ -149,7 +151,7 @@ jobs:

      - name: Saving proposed ui
        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui
+        working-directory: ${{ github.workspace }}/master_ui_raylib
        run: |
          git config user.name "GitHub Actions Bot"
          git config user.email "<>"
@@ -157,7 +159,7 @@ jobs:
          git rm -rf *
          mv ${{ github.workspace }}/pr_ui/* .
          git add .
-          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
          git push origin ${{ env.BRANCH_NAME }} --force

      - name: Comment Screenshots on PR
@@ -165,9 +167,9 @@ jobs:
        uses: thollander/actions-comment-pull-request@v2
        with:
          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Preview
+            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
+            ## raylib UI Preview
            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots
+          comment_tag: run_id_screenshots_raylib
          pr_number: ${{ github.event.number }}
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -1,4 +1,4 @@
-name: selfdrive
+name: tests

 on:
  push:
@@ -14,7 +14,7 @@ on:
        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -195,8 +195,6 @@ jobs:
                        # Pre-compile Python bytecode so each pytest worker doesn't need to
                        $PYTEST --collect-only -m 'not slow' -qq && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        chmod -R 777 /tmp/comma_download_cache"

  process_replay:
@@ -257,7 +255,7 @@ jobs:
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
      || fromJSON('["ubuntu-24.04"]') }}
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+    if: false  # FIXME: Started to timeout recently
    steps:
    - uses: actions/checkout@v4
      with:
@@ -274,38 +272,28 @@ jobs:
                        source selfdrive/test/setup_vsound.sh && \
                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"

-  create_ui_report:
-    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
-    name: Create UI Report
+  create_raylib_ui_report:
+    name: Create raylib UI Report
    runs-on: ${{
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: FrameReader is broken on CI runners
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: true
      - uses: ./.github/workflows/setup-with-retry
-      - name: caching frames
-        id: frames-cache
-        uses: actions/cache@v4
-        with:
-          path: .ci_cache/comma_download_cache
-          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
      - name: Build openpilot
        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+      - name: Create raylib UI Report
        run: >
-            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                            source selfdrive/test/setup_xvfb.sh &&
-                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
-                            chmod -R 777 /tmp/comma_download_cache"
-      - name: Upload Test Report
+          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                          source selfdrive/test/setup_xvfb.sh &&
+                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
+      - name: Upload Raylib UI Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots
+          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots