always offroad ui

selfdrive/assets/icons_mici/settings/device/always_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e459241d896824f5e8207d568847acab3dedd41caae7af59d4c17e043663b0c9
+size 4035

selfdrive/assets/icons_mici/settings/device/disable_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a0fca872d4586f578d246890b83674cdb7ecb03f58b2b0379b4b64a5816053
+size 3908

selfdrive/ui/mici/layouts/main.py

@@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
 
 ONROAD_DELAY = 2.5  # seconds
 

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

@@ -14,6 +14,9 @@ from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings_layouts.device import DeviceLayoutMiciSP as DeviceLayoutMici
+
 
 class PanelType(IntEnum):
   TOGGLES = 0

selfdrive/ui/sunnypilot/mici/layouts/home.py

@@ -0,0 +1,52 @@
+import time
+
+from cereal import log
+import pyray as rl
+from collections.abc import Callable
+
+from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.text import wrap_text
+from openpilot.system.version import training_version, RELEASE_BRANCHES
+
+class MiciHomeLayoutSP(MiciHomeLayout):
+  def __init__(self):
+    super().__init__()
+
+  def _render_bottom_status_bar(self):
+    super()._render_bottom_status_bar()
+
+    ITEM_SPACING = 18
+    Y_CENTER = 28
+
+    if ui_state.always_offroad:
+      text = "always offroad"
+      font_size = 28
+      padding_x = 10
+      padding_y = 10
+      font = gui_app.font(FontWeight.BOLD)
+
+      # Measure text size
+      text_width = measure_text_cached(font, text, font_size).x
+      text_height = font_size
+      pos_x = self._rect.x + self.rect.width - ITEM_SPACING - text_width - 5
+
+      # Calculate rectangle dimensions
+      rect_width = text_width + padding_x * 2
+      rect_height = text_height + padding_y * 2
+
+      # Draw rounded rectangle background (red)
+      bg_rect = rl.Rectangle(pos_x, self._rect.y + self.rect.height - rect_height / 2 - Y_CENTER, rect_width,
+                             rect_height)
+      rl.draw_rectangle_rounded(bg_rect, 0.5, 10, rl.Color(245, 56, 56, 175))
+
+      # Draw white text centered on the rectangle
+      text_x = pos_x + padding_x
+      text_y = self._rect.y + self.rect.height - rect_height / 2 - Y_CENTER + padding_y
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), font_size, 0, rl.WHITE)
+
+

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

@@ -7,9 +7,12 @@ See the LICENSE.md file in the root directory for more details.
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
 
 ICON_SIZE = 70
 
@@ -38,10 +41,30 @@ class SettingsLayoutSP(OP.SettingsLayout):
       OP.PanelType.MODELS: OP.PanelInfo("models", ModelsLayoutMici(back_callback=lambda: self._set_current_panel(None))),
     })
 
+    self.disable_always_offroad_btn = BigCircleButton("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png",
+                                                      red=False, icon_size=(120, 120))
+    self.disable_always_offroad_btn.set_click_callback(self._disable_always_offroad)
+
     items = self._scroller._items.copy()
 
+    items.insert(0, self.disable_always_offroad_btn)
     items.insert(1, sunnylink_btn)
     items.insert(2, models_btn)
     self._scroller._items.clear()
     for item in items:
       self._scroller.add_widget(item)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Show "disable always offroad" button only when in always offroad mode
+    self.disable_always_offroad_btn.set_visible(ui_state.always_offroad)
+
+  def _disable_always_offroad(self):
+    def _do_disable():
+      ui_state.params.put_bool("OffroadMode", False)
+      self.disable_always_offroad_btn.set_visible(False)
+
+    dlg = BigConfirmationDialogV2(f"slide to exit always offroad", "icons_mici/settings/device/lkas.png",
+                                  red=True, confirm_callback=_do_disable)
+    gui_app.set_modal_overlay(dlg)

selfdrive/ui/sunnypilot/mici/layouts/settings_layouts/device.py

@@ -0,0 +1,60 @@
+from collections.abc import Callable
+
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+
+
+class DeviceLayoutMiciSP(DeviceLayoutMici):
+  def __init__(self, back_callback: Callable):
+    super().__init__(back_callback)
+
+    self._enable_offroad = BigCircleButton("../../sunnypilot/selfdrive/assets/icons_mici/always_offroad.png",
+                                                      red=True, icon_size=(120, 120))
+    self._enable_offroad.set_click_callback(self._handle_always_offroad)
+
+    self._disable_offroad = BigCircleButton("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png",
+                                                      red=False, icon_size=(120, 120))
+    self._disable_offroad.set_click_callback(self._handle_always_offroad)
+
+    items = self._scroller._items.copy()
+
+    items.insert(len(self._scroller._items) - 2, self._enable_offroad)
+    items.insert(len(self._scroller._items) - 2, self._disable_offroad)
+
+    self._scroller._items.clear()
+    for item in items:
+      self._scroller.add_widget(item)
+
+  def _handle_always_offroad(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(BigDialog(tr("disengage"),tr("\nto enable always offroad")))
+      return
+
+    def _enable_always_offroad():
+      if not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", True)
+        ui_state.always_offroad = True
+
+    def _disable_always_offroad():
+      ui_state.params.put_bool("OffroadMode", False)
+      ui_state.always_offroad = False
+
+    if ui_state.params.get_bool("OffroadMode"):
+      dlg = BigConfirmationDialogV2(f"slide to exit always offroad", "icons_mici/settings/device/lkas.png",
+                                  red=True, confirm_callback=_disable_always_offroad)
+    else:
+      dlg = BigConfirmationDialogV2(tr("slide to enable always offroad"), "icons_mici/settings/device/lkas.png",
+                                  red=True, confirm_callback=_enable_always_offroad)
+    gui_app.set_modal_overlay(dlg)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Handle Always Offroad buttons
+    always_offroad = ui_state.always_offroad
+    self._enable_offroad.set_visible(not always_offroad)
+    self._disable_offroad.set_visible(always_offroad)

selfdrive/ui/sunnypilot/ui_state.py

@@ -143,6 +143,8 @@ class UIStateSP:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.always_offroad = self.params.get_bool("OffroadMode")
+
 
 
 class DeviceSP:

sunnypilot/selfdrive/assets/icons_mici/always_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e459241d896824f5e8207d568847acab3dedd41caae7af59d4c17e043663b0c9
+size 4035

sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a0fca872d4586f578d246890b83674cdb7ecb03f58b2b0379b4b64a5816053
+size 3908