From 8ba3985c0e60fc3cac6081c84e9f634c992c1723 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:20:00 -0500
Subject: [PATCH 01/99] Show ui by starting with ./ui debug (#129)

* enable UI drawing when manually running ./ui

* get args test

* get args test

* get args test

* get args test

* ohhh

* test

* test

* test

* test

* test

* test

* see if this is cleaner

* this should work!

* remove
---
 selfdrive/ui/ui    |  3 +--
 selfdrive/ui/ui.cc | 15 +++++++++++++++
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index d212c92da72524..b663dce0f4bddb 100755
--- a/selfdrive/ui/ui
+++ b/selfdrive/ui/ui
@@ -1,4 +1,3 @@
 #!/bin/sh
 export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-exec ./_ui
-
+exec ./_ui "$@"
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 675911e60499c1..f2bf698108df40 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -807,8 +807,23 @@ int main(int argc, char* argv[]) {
 
   int draws = 0;
 
+  bool debug_ui = false;
+  if (argc == 2) {
+    if (strcmp(argv[1], "debug") == 0) {
+      debug_ui = true;
+    }
+  }
+
   while (!do_exit) {
     bool should_swap = false;
+    if (debug_ui) {
+      s->started = true;
+      s->status = STATUS_DISENGAGED;
+      s->controls_seen = true;
+      s->vision_seen = true;
+      s->active_app = cereal::UiLayoutState::App::NONE;
+      s->controls_timeout = UI_FREQ;
+    }
     if (!s->started) {
       // Delay a while to avoid 9% cpu usage while car is not started and user is keeping touching on the screen.
       // Don't hold the lock while sleeping, so that vision_connect_thread have chances to get the lock.

From 40f22c15c8ad425b2539872c577b95a9f8f96127 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:22:30 -0500
Subject: [PATCH 02/99] start to add model ui toggle

---
 selfdrive/ui/paint.cc | 27 +++++++++++++++++++++++++++
 selfdrive/ui/ui.cc    |  3 ++-
 selfdrive/ui/ui.hpp   |  1 +
 3 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 9cd5871250ee51..a92d39edea0dc5 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -658,6 +658,32 @@ static void ui_draw_df_button(UIState *s) {
   nvgText(s->vg, btn_x - 34, btn_y + 50 + 15, "profile", NULL);
 }
 
+static void ui_draw_ml_button(UIState *s) {
+  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
+
+  int btn_w = 150;
+  int btn_h = 150;
+  int btn_x = 1920 - btn_w - 200;  // 150 + 50 padding
+  int btn_y = 1080 - btn_h - 50;
+
+  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
+
+
+//  nvgBeginPath(s->vg);
+//  nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 100);
+//  nvgStrokeColor(s->vg, nvgRGBA(12, 79, 130, 255));
+//  nvgStrokeWidth(s->vg, 11);
+//  nvgStroke(s->vg);
+//
+//  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+//  nvgFontSize(s->vg, 80);
+//  nvgText(s->vg, btn_x - 38, btn_y + 30, "LS", NULL);
+//
+//  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+//  nvgFontSize(s->vg, 45);
+//  nvgText(s->vg, btn_x - 34, btn_y + 50 + 15, "mode", NULL);
+}
+
 static void ui_draw_vision_header(UIState *s) {
   const UIScene *scene = &s->scene;
   int ui_viz_rx = scene->ui_viz_rx;
@@ -685,6 +711,7 @@ static void ui_draw_vision_footer(UIState *s) {
   ui_draw_vision_face(s);
   ui_draw_df_button(s);
   ui_draw_ls_button(s);
+  ui_draw_ml_button(s);
 
 #ifdef SHOW_SPEEDLIMIT
   // ui_draw_vision_map(s);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f2bf698108df40..d925e4ce5a9f46 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -271,7 +271,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
 
   s->scene.dfButtonStatus = 0;
   s->scene.lsButtonStatus = 0;
-
+  s->scene.mlButtonStatus = 0;
 
   s->rgb_width = back_bufs.width;
   s->rgb_height = back_bufs.height;
@@ -849,6 +849,7 @@ int main(int argc, char* argv[]) {
     int touch_x = -1, touch_y = -1;
     int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
     if (touched == 1) {
+      printf("touched x: %d, y: %d\n", touch_x, touch_y);
       set_awake(s, true);
       handle_sidebar_touch(s, touch_x, touch_y);
 
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 6a2d6bfe6501d7..4f9095a5a4c5bf 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -126,6 +126,7 @@ typedef struct UIScene {
 
   int dfButtonStatus;
   int lsButtonStatus;
+  int mlButtonStatus;
 
   cereal::HealthData::HwType hwType;
   int satelliteCount;

From 204d707dfdfff88abdf9e270384bbc7329280899 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:23:28 -0500
Subject: [PATCH 03/99] add struct

---
 cereal/log.capnp         | 5 +++++
 cereal/service_list.yaml | 1 +
 selfdrive/ui/ui.cc       | 2 +-
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d1b16bff7905fa..215cfa8127aa19 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2014,6 +2014,10 @@ struct DynamicCameraOffset {
   keepingRight @1 :Bool;
 }
 
+struct ModelLongButton {
+  enabled @0 :Bool;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -2098,5 +2102,6 @@ struct Event {
     laneSpeed @76 :LaneSpeed;
     laneSpeedButton @77 :LaneSpeedButton;
     dynamicCameraOffset @78 :DynamicCameraOffset;
+    modelLongButton @79 :ModelLongButton;
   }
 }
diff --git a/cereal/service_list.yaml b/cereal/service_list.yaml
index 0bc29df212765e..466489740c75a6 100644
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -83,6 +83,7 @@ dynamicFollowButton: [8076, false, 0.]
 laneSpeed: [8077, false, 0.]
 laneSpeedButton: [8078, false, 0.]
 dynamicCameraOffset: [8079, false, 0.]
+modelLongButton: [8080, false, 0.]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index d925e4ce5a9f46..454b2ebff26973 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -227,7 +227,7 @@ static void ui_init(UIState *s) {
                                     , "liveMapData"
 #endif
   });
-  s->pm = new PubMaster({"offroadLayout", "laneSpeedButton", "dynamicFollowButton"});
+  s->pm = new PubMaster({"offroadLayout", "laneSpeedButton", "dynamicFollowButton", "modelLongButton"});
 
   s->ipc_fd = -1;
   s->scene.satelliteCount = -1;

From f2af14712c0e828dc1d86c31327bfcd9ab64b736 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:43:41 -0500
Subject: [PATCH 04/99] try a wider button

---
 selfdrive/ui/paint.cc | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index a92d39edea0dc5..7cdf914a2fac28 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -661,20 +661,22 @@ static void ui_draw_df_button(UIState *s) {
 static void ui_draw_ml_button(UIState *s) {
   int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
 
-  int btn_w = 150;
+  int btn_w = 400;
   int btn_h = 150;
-  int btn_x = 1920 - btn_w - 200;  // 150 + 50 padding
-  int btn_y = 1080 - btn_h - 50;
+//  int btn_x = 1051 - btn_w - 200;  // 150 + 50 padding
+  int btn_x = 1051;  // 150 + 50 padding
+//  int btn_y = 934 - btn_h - 50;
+  int btn_y = 934;
 
-  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
+//  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
 
-//  nvgBeginPath(s->vg);
-//  nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 100);
-//  nvgStrokeColor(s->vg, nvgRGBA(12, 79, 130, 255));
-//  nvgStrokeWidth(s->vg, 11);
-//  nvgStroke(s->vg);
-//
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 25);
+  nvgStrokeColor(s->vg, nvgRGBA(12, 79, 130, 255));
+  nvgStrokeWidth(s->vg, 14);
+  nvgStroke(s->vg);
+
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 80);
 //  nvgText(s->vg, btn_x - 38, btn_y + 30, "LS", NULL);

From c3cb611cab4cbf51b69e6862f0a28a63148ac9bf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:44:48 -0500
Subject: [PATCH 05/99] comment

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 7cdf914a2fac28..156ebd7fba3d5f 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -659,7 +659,7 @@ static void ui_draw_df_button(UIState *s) {
 }
 
 static void ui_draw_ml_button(UIState *s) {
-  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
+//  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
 
   int btn_w = 400;
   int btn_h = 150;

From faed8c8b5c3d1bf90f6c61c9425def639e3e7e5e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:45:04 -0500
Subject: [PATCH 06/99] what is this, get rid of it

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 156ebd7fba3d5f..70d276d55fd568 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -672,7 +672,7 @@ static void ui_draw_ml_button(UIState *s) {
 
 
   nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 25);
+  nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
   nvgStrokeColor(s->vg, nvgRGBA(12, 79, 130, 255));
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);

From 1e131f8ca44d09127d20ecb3643fe0edae08210d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:46:27 -0500
Subject: [PATCH 07/99] now center

---
 selfdrive/ui/paint.cc | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 70d276d55fd568..142ca80d7d8bc0 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -663,10 +663,8 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
-//  int btn_x = 1051 - btn_w - 200;  // 150 + 50 padding
-  int btn_x = 1051;  // 150 + 50 padding
-//  int btn_y = 934 - btn_h - 50;
-  int btn_y = 934;
+  int btn_x = 1051 - btn_w;  // 150 + 50 padding
+  int btn_y = 934 - btn_h;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 9565d6818950ac59eb8d73e936c4b449647ae665 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:47:47 -0500
Subject: [PATCH 08/99] is this better?

---
 selfdrive/ui/paint.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 142ca80d7d8bc0..b04f67951d5c88 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -663,15 +663,15 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
-  int btn_x = 1051 - btn_w;  // 150 + 50 padding
-  int btn_y = 934 - btn_h;
+  int btn_x = 1051 - btn_w / 2;  // 150 + 50 padding
+  int btn_y = 934 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
 
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgStrokeColor(s->vg, nvgRGBA(12, 79, 130, 255));
+  nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 

From 34383b0de86290b6b86c4f27099bf10aad89635c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:52:13 -0500
Subject: [PATCH 09/99] x and y padding

---
 selfdrive/ui/paint.cc | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index b04f67951d5c88..616f77554ba5d9 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -619,8 +619,10 @@ static void ui_draw_driver_view(UIState *s) {
 static void ui_draw_ls_button(UIState *s) {
   int btn_w = 150;
   int btn_h = 150;
-  int btn_x = 1920 - btn_w - 200;  // 150 + 50 padding
-  int btn_y = 1080 - btn_h - 50;
+  int x_padding = 200;
+  int y_padding = 50;
+  int btn_x = 1920 - btn_w - x_padding;
+  int btn_y = 1080 - btn_h - y_padding;
 
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 100);
@@ -640,8 +642,9 @@ static void ui_draw_ls_button(UIState *s) {
 static void ui_draw_df_button(UIState *s) {
   int btn_w = 150;
   int btn_h = 150;
+  int y_padding = 50;
   int btn_x = 1920 - btn_w;
-  int btn_y = 1080 - btn_h - 50;
+  int btn_y = 1080 - btn_h - y_padding;
 
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 100);
@@ -663,8 +666,9 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
+  int y_padding = 50;
   int btn_x = 1051 - btn_w / 2;  // 150 + 50 padding
-  int btn_y = 934 - btn_h / 2;
+  int btn_y = 934 - btn_h / 2 - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 52ac6fb4f4dbb8a1cdbf97d47c241ccd3df9a624 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:53:43 -0500
Subject: [PATCH 10/99] change coords

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 616f77554ba5d9..c0527b5a991b94 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -667,8 +667,8 @@ static void ui_draw_ml_button(UIState *s) {
   int btn_w = 400;
   int btn_h = 150;
   int y_padding = 50;
-  int btn_x = 1051 - btn_w / 2;  // 150 + 50 padding
-  int btn_y = 934 - btn_h / 2 - y_padding;
+  int btn_x = 960 - btn_w / 2;  // 150 + 50 padding
+  int btn_y = 1080 - btn_h / 2 - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 879a5df50cfbce39ea20d04563808b8fa55c3d24 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:54:39 -0500
Subject: [PATCH 11/99] add text

---
 selfdrive/ui/paint.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index c0527b5a991b94..d7dbc150a17790 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -679,9 +679,9 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 
-//  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-//  nvgFontSize(s->vg, 80);
-//  nvgText(s->vg, btn_x - 38, btn_y + 30, "LS", NULL);
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  nvgFontSize(s->vg, 80);
+  nvgText(s->vg, btn_x - 38, btn_y + 30, "Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 6645c1a4fd971604e86459a916d0757003d5adf2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:56:41 -0500
Subject: [PATCH 12/99] coords

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index d7dbc150a17790..477c7a116695c4 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -667,8 +667,8 @@ static void ui_draw_ml_button(UIState *s) {
   int btn_w = 400;
   int btn_h = 150;
   int y_padding = 50;
-  int btn_x = 960 - btn_w / 2;  // 150 + 50 padding
-  int btn_y = 1080 - btn_h / 2 - y_padding;
+  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
+  int btn_y = 910 - btn_h / 2 - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From e60c10280b2629277bb5d410e74a5c168db557d3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 22:58:34 -0500
Subject: [PATCH 13/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 477c7a116695c4..6b0ce46d10bf8d 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -668,7 +668,7 @@ static void ui_draw_ml_button(UIState *s) {
   int btn_h = 150;
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
-  int btn_y = 910 - btn_h / 2 - y_padding;
+  int btn_y = 940 - btn_h / 2 - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From d94d48153a60643f853614a65c031552b4d51ae1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:00:27 -0500
Subject: [PATCH 14/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 6b0ce46d10bf8d..2b8074935ba8bd 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -681,7 +681,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 80);
-  nvgText(s->vg, btn_x - 38, btn_y + 30, "Model Long", NULL);
+  nvgText(s->vg, btn_x, btn_y, "Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 1b3c8bc3e17d4fe08866cb34a22b595d60327d11 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:01:20 -0500
Subject: [PATCH 15/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2b8074935ba8bd..dcb8e01d8eb427 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -668,7 +668,7 @@ static void ui_draw_ml_button(UIState *s) {
   int btn_h = 150;
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
-  int btn_y = 940 - btn_h / 2 - y_padding;
+  int btn_y = 980 - btn_h / 2 - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From bad2104b6b5de504861160fa1c2ca6265e814b31 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:01:52 -0500
Subject: [PATCH 16/99] just want to see how the cordinates work

---
 selfdrive/ui/paint.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index dcb8e01d8eb427..a192cf3613cf35 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,6 +669,8 @@ static void ui_draw_ml_button(UIState *s) {
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
   int btn_y = 980 - btn_h / 2 - y_padding;
+  btn_y = 0;
+  btn_x = 0;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From c93900d0de4a8e6b0f83caa7d271dfbaa8eb21ee Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:03:06 -0500
Subject: [PATCH 17/99] center

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index a192cf3613cf35..1be3c0478c2131 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,8 +669,8 @@ static void ui_draw_ml_button(UIState *s) {
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
   int btn_y = 980 - btn_h / 2 - y_padding;
-  btn_y = 0;
-  btn_x = 0;
+  btn_y = 1920/2;
+  btn_x = 1080/2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 0b6c8f8a398f8e5502464298d799f372600b6e61 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:05:30 -0500
Subject: [PATCH 18/99] got it wrong lol

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 1be3c0478c2131..bd1f6ee107d693 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,8 +669,8 @@ static void ui_draw_ml_button(UIState *s) {
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
   int btn_y = 980 - btn_h / 2 - y_padding;
-  btn_y = 1920/2;
-  btn_x = 1080/2;
+  btn_y = 540;
+  btn_x = 960;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From cec13a146f5c7bce894bcd902677cc5430e70bce Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:06:54 -0500
Subject: [PATCH 19/99] okay, this should center it

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index bd1f6ee107d693..c7bb1671421675 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,8 +669,8 @@ static void ui_draw_ml_button(UIState *s) {
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
   int btn_y = 980 - btn_h / 2 - y_padding;
-  btn_y = 540;
-  btn_x = 960;
+  btn_y = 540 - btn_w / 2;
+  btn_x = 960 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From d8f9d8d43e0d85468c7024f96e33794b893694d4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:07:34 -0500
Subject: [PATCH 20/99] same thing as before but don't change text's coords

---
 selfdrive/ui/paint.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index c7bb1671421675..d21ff0b718e393 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,14 +669,14 @@ static void ui_draw_ml_button(UIState *s) {
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
   int btn_y = 980 - btn_h / 2 - y_padding;
-  btn_y = 540 - btn_w / 2;
-  btn_x = 960 - btn_h / 2;
+  btn_y = 540;
+  btn_x = 960;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
 
   nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
+  nvgRoundedRect(s->vg, btn_x - btn_h / 2, btn_y - btn_w / 2, btn_w, btn_h, 25);
   nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);

From 4d777ce070c1e24d671433c03481f61b5bd4947c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:08:00 -0500
Subject: [PATCH 21/99] same thing as before but don't change text's coords

---
 selfdrive/ui/paint.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index d21ff0b718e393..c7bb1671421675 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,14 +669,14 @@ static void ui_draw_ml_button(UIState *s) {
   int y_padding = 50;
   int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
   int btn_y = 980 - btn_h / 2 - y_padding;
-  btn_y = 540;
-  btn_x = 960;
+  btn_y = 540 - btn_w / 2;
+  btn_x = 960 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
 
   nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, btn_x - btn_h / 2, btn_y - btn_w / 2, btn_w, btn_h, 25);
+  nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
   nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);

From 4717eb38bcae918f89ca57cd8867aabaef15c599 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:08:17 -0500
Subject: [PATCH 22/99] hide text

---
 selfdrive/ui/paint.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index c7bb1671421675..2a260428c0e9a4 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -681,9 +681,9 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  nvgFontSize(s->vg, 80);
-  nvgText(s->vg, btn_x, btn_y, "Model Long", NULL);
+//  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+//  nvgFontSize(s->vg, 80);
+//  nvgText(s->vg, btn_x, btn_y, "Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 0de38d73f508e0444eff79a308231683db50b9a2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:10:23 -0500
Subject: [PATCH 23/99] here we go

---
 selfdrive/ui/paint.cc | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2a260428c0e9a4..479fb74c46a2bf 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -667,10 +667,13 @@ static void ui_draw_ml_button(UIState *s) {
   int btn_w = 400;
   int btn_h = 150;
   int y_padding = 50;
-  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
-  int btn_y = 980 - btn_h / 2 - y_padding;
-  btn_y = 540 - btn_w / 2;
-  btn_x = 960 - btn_h / 2;
+//  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
+//  int btn_y = 980 - btn_h / 2 - y_padding;
+  int btn_x = 960;
+  int btn_y = 540;
+
+  int btn_x_center = 960 - btn_h / 2;
+  int btn_y_center = 540 - btn_w / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
@@ -681,6 +684,12 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, btn_x_center, btn_y_center, btn_w, btn_h, 25);
+  nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
+  nvgStrokeWidth(s->vg, 14);
+  nvgStroke(s->vg);
+
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 80);
 //  nvgText(s->vg, btn_x, btn_y, "Model Long", NULL);

From b6442c8e350c4e6556d556ebfa260864e4710827 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:11:04 -0500
Subject: [PATCH 24/99] here we go

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 479fb74c46a2bf..4d02aec0b823a2 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -666,7 +666,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
-  int y_padding = 50;
+//  int y_padding = 50;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 960;

From cd623531579cc73543940dd2bae24c031391a182 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:12:18 -0500
Subject: [PATCH 25/99] make center greeeeen!

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 4d02aec0b823a2..2e8eb623faf038 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -686,7 +686,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x_center, btn_y_center, btn_w, btn_h, 25);
-  nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
+  nvgStrokeColor(s->vg, nvgRGBA(0, 255, 0, 255));
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 

From c66006cdcb56fd53a913a1ff41e9c0698107aecb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:13:50 -0500
Subject: [PATCH 26/99] ohhh... does this fix it all?

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2e8eb623faf038..2bbf3dd2fe31b7 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -672,8 +672,8 @@ static void ui_draw_ml_button(UIState *s) {
   int btn_x = 960;
   int btn_y = 540;
 
-  int btn_x_center = 960 - btn_h / 2;
-  int btn_y_center = 540 - btn_w / 2;
+  int btn_x_center = 960 - btn_w / 2;
+  int btn_y_center = 540 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 4fb05882fe85bb31e091652194312c6f54590932 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:18:41 -0500
Subject: [PATCH 27/99] coords

---
 selfdrive/ui/paint.cc | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2bbf3dd2fe31b7..ec01b14cf851c9 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,27 +669,17 @@ static void ui_draw_ml_button(UIState *s) {
 //  int y_padding = 50;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
-  int btn_x = 960;
-  int btn_y = 540;
-
-  int btn_x_center = 960 - btn_w / 2;
-  int btn_y_center = 540 - btn_h / 2;
+  int btn_x = 1920 / 2 - btn_w / 2;
+  int btn_y = 1080 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
-
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
   nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 
-  nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, btn_x_center, btn_y_center, btn_w, btn_h, 25);
-  nvgStrokeColor(s->vg, nvgRGBA(0, 255, 0, 255));
-  nvgStrokeWidth(s->vg, 14);
-  nvgStroke(s->vg);
-
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 80);
 //  nvgText(s->vg, btn_x, btn_y, "Model Long", NULL);

From ed44453b09e67126cd150f0fba5ac5f04f7a881f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:19:51 -0500
Subject: [PATCH 28/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index ec01b14cf851c9..4f7d00cedae503 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -670,7 +670,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 1080 - btn_h / 2;
+  int btn_y = 946 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 2cddbb7ce457d31f18fa039e0d02ede81abea249 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:20:36 -0500
Subject: [PATCH 29/99] padding

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 4f7d00cedae503..de6f03ba7d34cb 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -666,11 +666,11 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
-//  int y_padding = 50;
+  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 946 - btn_h / 2;
+  int btn_y = 1080 - btn_h / 2 - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 09ad042a3f9e335945bf2e2a3f6008e9fbbe3b35 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:22:46 -0500
Subject: [PATCH 30/99] padding

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index de6f03ba7d34cb..ec1736561b2ce5 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -666,11 +666,11 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
-  int y_padding = 100;
+  int y_padding = 50;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 1080 - btn_h / 2 - y_padding;
+  int btn_y = 1080 - btn_h - y_padding;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From a589d016f0ec480cb5e1d3f677179041891e62ca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:24:14 -0500
Subject: [PATCH 31/99] coords

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index ec1736561b2ce5..f9657c1c9967e7 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -666,11 +666,11 @@ static void ui_draw_ml_button(UIState *s) {
 
   int btn_w = 400;
   int btn_h = 150;
-  int y_padding = 50;
+//  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 1080 - btn_h - y_padding;
+  int btn_y = 898 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 5c70f532537ef7e801e2b89b2d303b8bb1ff8b99 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:25:31 -0500
Subject: [PATCH 32/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index f9657c1c9967e7..ed2ff2b8d009fb 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -670,7 +670,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 898 - btn_h / 2;
+  int btn_y = 900 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 33b3bf2a04771afcf7787f579b4e27517ccf7d28 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:27:00 -0500
Subject: [PATCH 33/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index ed2ff2b8d009fb..8c7bc9258b6584 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -670,7 +670,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 900 - btn_h / 2;
+  int btn_y = 910 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From 6a1fd218d26e931d8f832df3fb8d8c3c2adb32d1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:27:54 -0500
Subject: [PATCH 34/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 8c7bc9258b6584..53bf60000ade70 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -670,7 +670,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 910 - btn_h / 2;
+  int btn_y = 905 - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 

From b65fd16fee39e776a228c11b7f77f98fa0e39863 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:29:12 -0500
Subject: [PATCH 35/99] coords

---
 selfdrive/ui/paint.cc | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 53bf60000ade70..82e1d1c255ed5d 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -669,8 +669,10 @@ static void ui_draw_ml_button(UIState *s) {
 //  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
-  int btn_x = 1920 / 2 - btn_w / 2;
-  int btn_y = 905 - btn_h / 2;
+  int x = 1920 / 2;
+  int y = 905;
+  int btn_x = x - btn_w / 2;
+  int btn_y = y - btn_h / 2;
 
 //  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
 
@@ -680,9 +682,9 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStrokeWidth(s->vg, 14);
   nvgStroke(s->vg);
 
-//  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-//  nvgFontSize(s->vg, 80);
-//  nvgText(s->vg, btn_x, btn_y, "Model Long", NULL);
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  nvgFontSize(s->vg, 80);
+  nvgText(s->vg, x, y, "Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 2c40cca2615569e7a97dcb1f178832f2f13feadb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:30:15 -0500
Subject: [PATCH 36/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 82e1d1c255ed5d..3341ccc2fa2418 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 80);
-  nvgText(s->vg, x, y, "Model Long", NULL);
+  nvgText(s->vg, x, btn_y, "Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From fc8f004b4c91826b014b6c72595b53361d20c08c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:31:23 -0500
Subject: [PATCH 37/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 3341ccc2fa2418..beef1fa4251bf9 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 80);
-  nvgText(s->vg, x, btn_y, "Model Long", NULL);
+  nvgText(s->vg, x, y + 80/2, "Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 71f451e4eeb133f96d2f445fcfd7e25aa4fec35a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:33:02 -0500
Subject: [PATCH 38/99] coords

---
 selfdrive/ui/paint.cc | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index beef1fa4251bf9..db3a6a8994aa19 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -664,8 +664,8 @@ static void ui_draw_df_button(UIState *s) {
 static void ui_draw_ml_button(UIState *s) {
 //  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
 
-  int btn_w = 400;
-  int btn_h = 150;
+  int btn_w = 450;
+  int btn_h = 100;
 //  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
@@ -683,8 +683,8 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStroke(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  nvgFontSize(s->vg, 80);
-  nvgText(s->vg, x, y + 80/2, "Model Long", NULL);
+  nvgFontSize(s->vg, 65);
+  nvgText(s->vg, x, y, "Toggle Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 10d3ff51df6572a964ecec9bef2e2696652ef956 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:34:02 -0500
Subject: [PATCH 39/99] coords

---
 selfdrive/ui/paint.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index db3a6a8994aa19..495a55e90abfa8 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -664,8 +664,8 @@ static void ui_draw_df_button(UIState *s) {
 static void ui_draw_ml_button(UIState *s) {
 //  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
 
-  int btn_w = 450;
-  int btn_h = 100;
+  int btn_w = 500;
+  int btn_h = 125;
 //  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;

From 185bc4019f00ec3d449686118296b22d3738514f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:36:23 -0500
Subject: [PATCH 40/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 495a55e90abfa8..873cd0bb265bc2 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -679,7 +679,7 @@ static void ui_draw_ml_button(UIState *s) {
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
   nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
-  nvgStrokeWidth(s->vg, 14);
+  nvgStrokeWidth(s->vg, 12);
   nvgStroke(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From 7fde9d22aa1c04790e47f2d3c404ec67ae592363 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:38:27 -0500
Subject: [PATCH 41/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 873cd0bb265bc2..0f3ceae8c25e74 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
-  nvgText(s->vg, x, y, "Toggle Model Long", NULL);
+  nvgText(s->vg, x, y + btn_h / 2, "Toggle Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From d1ed437c5f37c06771f171aec791956be6a3e054 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:39:44 -0500
Subject: [PATCH 42/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 0f3ceae8c25e74..b006c0eab072fc 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
-  nvgText(s->vg, x, y + btn_h / 2, "Toggle Model Long", NULL);
+  nvgText(s->vg, x, y + btn_h / 4 + 65 / 2, "Toggle Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 089e7312ba89afdd0e391584c0a900d3e2f5b228 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:40:33 -0500
Subject: [PATCH 43/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index b006c0eab072fc..0714a2fae1098a 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
-  nvgText(s->vg, x, y + btn_h / 4 + 65 / 2, "Toggle Model Long", NULL);
+  nvgText(s->vg, x, y + btn_h / 4, "Toggle Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From a4fa837805db8ca785da288c13e04fb34ffd410a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:41:26 -0500
Subject: [PATCH 44/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 0714a2fae1098a..15c8d3ff7659ea 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
-  nvgText(s->vg, x, y + btn_h / 4, "Toggle Model Long", NULL);
+  nvgText(s->vg, x, y + btn_h / 6, "Toggle Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 74412a873f66e39fe20a8b43a1024aedc6e8b912 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:42:46 -0500
Subject: [PATCH 45/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 15c8d3ff7659ea..837707ee7cedf4 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -684,7 +684,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
-  nvgText(s->vg, x, y + btn_h / 6, "Toggle Model Long", NULL);
+  nvgText(s->vg, x, y + btn_h / 8, "Toggle Model Long", NULL);
 //
 //  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
 //  nvgFontSize(s->vg, 45);

From 4fd0b1e4c4ba506ef7f2dfa402badc9a0a4b5fa1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:43:41 -0500
Subject: [PATCH 46/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 837707ee7cedf4..df8f5e46779c3e 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -665,7 +665,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
 
   int btn_w = 500;
-  int btn_h = 125;
+  int btn_h = 150;
 //  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;

From f5e630e9cea2eac13497733d1a1bc45f34afef56 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:44:38 -0500
Subject: [PATCH 47/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index df8f5e46779c3e..f7195fcfe0b36f 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -665,7 +665,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
 
   int btn_w = 500;
-  int btn_h = 150;
+  int btn_h = 138;
 //  int y_padding = 100;
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;

From 25408c94c383858162821b81b92c3b51beba97b7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:45:59 -0500
Subject: [PATCH 48/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index f7195fcfe0b36f..2ceb8cc8cd48fd 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -670,7 +670,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int x = 1920 / 2;
-  int y = 905;
+  int y = 920;
   int btn_x = x - btn_w / 2;
   int btn_y = y - btn_h / 2;
 

From 15edbff7559381c79d0d45ca6b2cd05f48ebf7b8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Jul 2020 23:48:18 -0500
Subject: [PATCH 49/99] coords

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2ceb8cc8cd48fd..7e481a3ff4703e 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -670,7 +670,7 @@ static void ui_draw_ml_button(UIState *s) {
 //  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
 //  int btn_y = 980 - btn_h / 2 - y_padding;
   int x = 1920 / 2;
-  int y = 920;
+  int y = 915;
   int btn_x = x - btn_w / 2;
   int btn_y = y - btn_h / 2;
 

From 3a63f1ce5648a16ae37db6903581ece315726943 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:28:26 -0500
Subject: [PATCH 50/99] add uiview.py for debugging the ui and update scons
 nodes

---
 CMakeLists.txt     |  0
 selfdrive/ui/ui.cc | 22 +++++++++++++++++++++-
 2 files changed, 21 insertions(+), 1 deletion(-)
 create mode 100644 CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 454b2ebff26973..3ec08e1879ca8f 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -142,6 +142,26 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
   return false;
 }
 
+static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
+    //lsButton manager
+    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
+        int padding = 40;
+//        int btn_x_1 = 1660 - 200;
+        int btn_x_2 = 1660 - 50;
+        int xs[2] = {1660 - 200, 1660 - 50};
+        if ((btn_x_1 - padding <= touch_x) && (touch_x <= btn_x_2 + padding) && (855 - padding <= touch_y)) {
+            s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
+            s->scene.lsButtonStatus++;
+            if (s->scene.lsButtonStatus > 2) {
+                s->scene.lsButtonStatus = 0;
+            }
+            send_ls(s, s->scene.lsButtonStatus);
+            return true;
+        }
+    }
+    return false;
+}
+
 static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
   if (!s->scene.uilayout_sidebarcollapsed && touch_x <= sbr_w) {
     if (touch_x >= settings_btn_x && touch_x < (settings_btn_x + settings_btn_w)
@@ -853,7 +873,7 @@ int main(int argc, char* argv[]) {
       set_awake(s, true);
       handle_sidebar_touch(s, touch_x, touch_y);
 
-      if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
+      if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y) && !handle_ml_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
         handle_vision_touch(s, touch_x, touch_y);
       }
     }

From 019bbeb4af4b4b902c0d2153d57f3eb635934ed9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:33:58 -0500
Subject: [PATCH 51/99] see if this is correct

---
 selfdrive/ui/ui.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3ec08e1879ca8f..4f1dc5f40d1cb2 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -143,13 +143,13 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
 }
 
 static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
-    //lsButton manager
+    //mlButton manager
+    int btn_w = 500;
+    int btn_h = 138;
     if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
         int padding = 40;
-//        int btn_x_1 = 1660 - 200;
-        int btn_x_2 = 1660 - 50;
-        int xs[2] = {1660 - 200, 1660 - 50};
-        if ((btn_x_1 - padding <= touch_x) && (touch_x <= btn_x_2 + padding) && (855 - padding <= touch_y)) {
+        int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
+        if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (855 - padding <= touch_y)) {
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
             s->scene.lsButtonStatus++;
             if (s->scene.lsButtonStatus > 2) {

From 13595882acd5c8a2d13a14546484b3973f94e522 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:34:21 -0500
Subject: [PATCH 52/99] see if this is correct

---
 selfdrive/ui/ui.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4f1dc5f40d1cb2..72d2f2e570cf07 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -150,6 +150,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
         int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
         if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (855 - padding <= touch_y)) {
+            printf("ml button touched!\n")
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
             s->scene.lsButtonStatus++;
             if (s->scene.lsButtonStatus > 2) {

From c76e5f376a139838aa80606e19bc1ac1c3655387 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:36:57 -0500
Subject: [PATCH 53/99] see if this is correct

---
 selfdrive/ui/ui.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 72d2f2e570cf07..d18e7562a715c3 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -149,7 +149,9 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
         int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
-        if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (855 - padding <= touch_y)) {
+        int y_top = 915;
+        printf("here!\n")
+        if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (y_top <= touch_y)) {
             printf("ml button touched!\n")
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
             s->scene.lsButtonStatus++;

From 501f1a57c11798e4b584526809cf169aa7adb8d9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:38:13 -0500
Subject: [PATCH 54/99] see if this is correct

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index d18e7562a715c3..cc1374dc7f855c 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -150,7 +150,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
         int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
         int y_top = 915;
-        printf("here!\n")
+        printf("here!\n");
         if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (y_top <= touch_y)) {
             printf("ml button touched!\n")
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button

From d98eeaea1fea11af93239fba8ab0500a0ba55088 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:38:24 -0500
Subject: [PATCH 55/99] see if this is correct

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index cc1374dc7f855c..287a7b77ac51ff 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -152,7 +152,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
         int y_top = 915;
         printf("here!\n");
         if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (y_top <= touch_y)) {
-            printf("ml button touched!\n")
+            printf("ml button touched!\n");
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
             s->scene.lsButtonStatus++;
             if (s->scene.lsButtonStatus > 2) {

From fe1975fde0b3bc4b86c21756e66a0c0a9e416b58 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:39:59 -0500
Subject: [PATCH 56/99] debug

---
 selfdrive/ui/ui.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 287a7b77ac51ff..f4bcf51faca79a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -146,6 +146,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     //mlButton manager
     int btn_w = 500;
     int btn_h = 138;
+    printf("hi\n");
     if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
         int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
@@ -153,7 +154,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
         printf("here!\n");
         if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (y_top <= touch_y)) {
             printf("ml button touched!\n");
-            s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
+            s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button todo: unify this
             s->scene.lsButtonStatus++;
             if (s->scene.lsButtonStatus > 2) {
                 s->scene.lsButtonStatus = 0;

From c418e68d4f5c19b6559e96353201c3d7a7a6661f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:40:37 -0500
Subject: [PATCH 57/99] debug

---
 selfdrive/ui/ui.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f4bcf51faca79a..8510109e453558 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -144,8 +144,8 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
 
 static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     //mlButton manager
-    int btn_w = 500;
-    int btn_h = 138;
+//    int btn_w = 500;
+//    int btn_h = 138;
     printf("hi\n");
     if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
         int padding = 40;

From 17d327e022728ee4668dfecc4a0c6c7da1889a9a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:42:01 -0500
Subject: [PATCH 58/99] debug

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8510109e453558..541706c3bcbea0 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -144,7 +144,7 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
 
 static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     //mlButton manager
-//    int btn_w = 500;
+    int btn_w = 500;
 //    int btn_h = 138;
     printf("hi\n");
     if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {

From 10277c8665d3bb959eae1aa025ac8505a10ddca3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:46:56 -0500
Subject: [PATCH 59/99] debug

---
 selfdrive/ui/ui.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 541706c3bcbea0..c70263ec90d9fb 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -147,7 +147,8 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     int btn_w = 500;
 //    int btn_h = 138;
     printf("hi\n");
-    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
+//    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
+    if (true) {
         int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
         int y_top = 915;

From ab0755e23e6e702004bd34b4e261a0fe3d7b6059 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:51:57 -0500
Subject: [PATCH 60/99] debug

---
 selfdrive/ui/ui.cc | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c70263ec90d9fb..ad754783b531be 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -146,14 +146,12 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     //mlButton manager
     int btn_w = 500;
 //    int btn_h = 138;
-    printf("hi\n");
 //    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
     if (true) {
         int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
         int y_top = 915;
-        printf("here!\n");
-        if ((xs[0] - padding <= touch_x) && (touch_x <= xs[1] + padding) && (y_top <= touch_y)) {
+        if (xs[0] <= touch_x && xs[1] >= touch_x && y_top <= touch_y) {
             printf("ml button touched!\n");
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button todo: unify this
             s->scene.lsButtonStatus++;

From 3823e585b520c87265a41e1544b4aacc1de80fdf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:52:57 -0500
Subject: [PATCH 61/99] debug

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ad754783b531be..8a3edc4a211dd5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -149,7 +149,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
 //    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
     if (true) {
         int padding = 40;
-        int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w};
+        int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
         int y_top = 915;
         if (xs[0] <= touch_x && xs[1] >= touch_x && y_top <= touch_y) {
             printf("ml button touched!\n");

From c304dd4c29b3789a2012f89dff98a69ccc90de8d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:53:31 -0500
Subject: [PATCH 62/99] debug

---
 selfdrive/ui/ui.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8a3edc4a211dd5..edd14fbd9787c0 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -148,7 +148,6 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
 //    int btn_h = 138;
 //    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
     if (true) {
-        int padding = 40;
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
         int y_top = 915;
         if (xs[0] <= touch_x && xs[1] >= touch_x && y_top <= touch_y) {

From ec074a48e0368adc8c45e198539557b3f6dc271c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:55:06 -0500
Subject: [PATCH 63/99] debug

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index edd14fbd9787c0..203cdbcee53ec6 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -150,7 +150,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     if (true) {
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
         int y_top = 915;
-        if (xs[0] <= touch_x && xs[1] >= touch_x && y_top <= touch_y) {
+        if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
             printf("ml button touched!\n");
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button todo: unify this
             s->scene.lsButtonStatus++;

From 62772ebdcdd1f1b3b6d47d02138fee8370f67643 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:55:56 -0500
Subject: [PATCH 64/99] debug

---
 selfdrive/ui/ui.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 203cdbcee53ec6..1351af57635032 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -877,6 +877,8 @@ int main(int argc, char* argv[]) {
 
       if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y) && !handle_ml_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
         handle_vision_touch(s, touch_x, touch_y);
+      } else {
+        printf("a SA button has been touched\n");
       }
     }
 

From 80f2d4632d53402c1f1e79dbaa9492b7860bcc3c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 02:57:49 -0500
Subject: [PATCH 65/99] debug

---
 selfdrive/ui/ui.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 1351af57635032..bf8e25b0c908b2 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -145,11 +145,12 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
 static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     //mlButton manager
     int btn_w = 500;
+    int btn_h = 138;
 //    int btn_h = 138;
 //    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
     if (true) {
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
-        int y_top = 915;
+        int y_top = 915 - btn_h / 2;
         if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
             printf("ml button touched!\n");
             s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button todo: unify this

From 10169340dbf34fc567f9aa53670be3345d5a344d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:02:20 -0500
Subject: [PATCH 66/99] debug

---
 selfdrive/ui/ui.cc  | 9 +++++----
 selfdrive/ui/ui.hpp | 1 +
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index bf8e25b0c908b2..3e72d91a80da2f 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -99,7 +99,7 @@ static void send_ls(UIState *s, int status) {
 
 static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
   //lsButton manager
-  if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
+  if (s->awake && s->vision_connected && s->status != STATUS_STOPPED || s->ui_debug) {
     int padding = 40;
     int btn_x_1 = 1660 - 200;
     int btn_x_2 = 1660 - 50;
@@ -127,7 +127,7 @@ static void send_df(UIState *s, int status) {
 
 static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
   //dfButton manager
-  if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
+  if (s->awake && s->vision_connected && s->status != STATUS_STOPPED || s->ui_debug) {
     int padding = 40;
     if ((1660 - padding <= touch_x) && (855 - padding <= touch_y)) {
       s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping df button
@@ -147,8 +147,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     int btn_w = 500;
     int btn_h = 138;
 //    int btn_h = 138;
-//    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED) {
-    if (true) {
+    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED || s->ui_debug) {
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
         int y_top = 915 - btn_h / 2;
         if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
@@ -256,6 +255,7 @@ static void ui_init(UIState *s) {
   s->scene.satelliteCount = -1;
   s->started = false;
   s->vision_seen = false;
+  s->ui_debug = true;  // change to true while debugging
 
   // init display
   s->fb = framebuffer_init("ui", 0, true, &s->fb_w, &s->fb_h);
@@ -879,6 +879,7 @@ int main(int argc, char* argv[]) {
       if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y) && !handle_ml_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
         handle_vision_touch(s, touch_x, touch_y);
       } else {
+        s->scene.uilayout_sidebarcollapsed = true;
         printf("a SA button has been touched\n");
       }
     }
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 4f9095a5a4c5bf..792eb1180f096b 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -127,6 +127,7 @@ typedef struct UIScene {
   int dfButtonStatus;
   int lsButtonStatus;
   int mlButtonStatus;
+  bool ui_debug;
 
   cereal::HealthData::HwType hwType;
   int satelliteCount;

From 1edc089872ebe856e7311e24ad475410ffb338fb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:04:40 -0500
Subject: [PATCH 67/99] fix

---
 selfdrive/ui/ui.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 792eb1180f096b..4ea817f058d3bc 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -127,7 +127,6 @@ typedef struct UIScene {
   int dfButtonStatus;
   int lsButtonStatus;
   int mlButtonStatus;
-  bool ui_debug;
 
   cereal::HealthData::HwType hwType;
   int satelliteCount;
@@ -240,6 +239,7 @@ typedef struct UIState {
   bool started;
   bool preview_started;
   bool vision_seen;
+  bool ui_debug;
 
   std::atomic<float> light_sensor;
 

From 2c94168403847de5b04a96803fe3ed8adba57302 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:06:11 -0500
Subject: [PATCH 68/99] fix

---
 selfdrive/ui/ui.cc | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3e72d91a80da2f..ade37229a8d15c 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -99,12 +99,11 @@ static void send_ls(UIState *s, int status) {
 
 static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
   //lsButton manager
-  if (s->awake && s->vision_connected && s->status != STATUS_STOPPED || s->ui_debug) {
+  if ()s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
     int padding = 40;
     int btn_x_1 = 1660 - 200;
     int btn_x_2 = 1660 - 50;
     if ((btn_x_1 - padding <= touch_x) && (touch_x <= btn_x_2 + padding) && (855 - padding <= touch_y)) {
-      s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button
       s->scene.lsButtonStatus++;
       if (s->scene.lsButtonStatus > 2) {
         s->scene.lsButtonStatus = 0;
@@ -127,7 +126,7 @@ static void send_df(UIState *s, int status) {
 
 static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
   //dfButton manager
-  if (s->awake && s->vision_connected && s->status != STATUS_STOPPED || s->ui_debug) {
+  if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
     int padding = 40;
     if ((1660 - padding <= touch_x) && (855 - padding <= touch_y)) {
       s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping df button
@@ -147,7 +146,7 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     int btn_w = 500;
     int btn_h = 138;
 //    int btn_h = 138;
-    if (s->awake && s->vision_connected && s->status != STATUS_STOPPED || s->ui_debug) {
+    if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
         int y_top = 915 - btn_h / 2;
         if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
@@ -879,7 +878,7 @@ int main(int argc, char* argv[]) {
       if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y) && !handle_ml_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
         handle_vision_touch(s, touch_x, touch_y);
       } else {
-        s->scene.uilayout_sidebarcollapsed = true;
+        s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping any SA button
         printf("a SA button has been touched\n");
       }
     }

From 15edac99dde27e65adb3a0e614be3ba9eab87a0d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:06:33 -0500
Subject: [PATCH 69/99] fix

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ade37229a8d15c..a2d3e790c7c0f8 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -99,7 +99,7 @@ static void send_ls(UIState *s, int status) {
 
 static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
   //lsButton manager
-  if ()s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
+  if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
     int padding = 40;
     int btn_x_1 = 1660 - 200;
     int btn_x_2 = 1660 - 50;

From f11e066cc5a76effd28c418e16f3d270592de78b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:11:32 -0500
Subject: [PATCH 70/99] debug

---
 ml_button.py        |  6 +++++
 selfdrive/ui/ui.cc  | 58 +++++++++++++++++++++++----------------------
 selfdrive/ui/ui.hpp |  2 +-
 3 files changed, 37 insertions(+), 29 deletions(-)
 create mode 100644 ml_button.py

diff --git a/ml_button.py b/ml_button.py
new file mode 100644
index 00000000000000..7d1191252df651
--- /dev/null
+++ b/ml_button.py
@@ -0,0 +1,6 @@
+from cereal.messaging import SubMaster
+sm = SubMaster(['modelLongButton'])
+while 1:
+  input()
+  sm.update(0)
+  print(sm['modelLongButton'].status)
\ No newline at end of file
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index a2d3e790c7c0f8..4a8bf9a9dc0a1d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -88,15 +88,6 @@ static void update_offroad_layout_state(UIState *s) {
 #endif
 }
 
-static void send_ls(UIState *s, int status) {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto lsStatus = event.initLaneSpeedButton();
-  lsStatus.setStatus(status);
-  s->pm->send("laneSpeedButton", msg);
-}
-
 static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
   //lsButton manager
   if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
@@ -115,21 +106,11 @@ static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
   return false;
 }
 
-static void send_df(UIState *s, int status) {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto dfStatus = event.initDynamicFollowButton();
-  dfStatus.setStatus(status);
-  s->pm->send("dynamicFollowButton", msg);
-}
-
 static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
   //dfButton manager
   if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
     int padding = 40;
     if ((1660 - padding <= touch_x) && (855 - padding <= touch_y)) {
-      s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping df button
       s->scene.dfButtonStatus++;
       if (s->scene.dfButtonStatus > 3) {
         s->scene.dfButtonStatus = 0;
@@ -145,24 +126,46 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     //mlButton manager
     int btn_w = 500;
     int btn_h = 138;
-//    int btn_h = 138;
     if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
         int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
         int y_top = 915 - btn_h / 2;
         if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
             printf("ml button touched!\n");
-            s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping ls button todo: unify this
-            s->scene.lsButtonStatus++;
-            if (s->scene.lsButtonStatus > 2) {
-                s->scene.lsButtonStatus = 0;
-            }
-            send_ls(s, s->scene.lsButtonStatus);
+            s->scene.mlButtonStatus = !s->scene.mlButtonStatus;
+            send_ml(s, s->scene.mlButtonStatus);
             return true;
         }
     }
     return false;
 }
 
+static void send_ls(UIState *s, int status) {
+  capnp::MallocMessageBuilder msg;
+  auto event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+  auto lsStatus = event.initLaneSpeedButton();
+  lsStatus.setStatus(status);
+  s->pm->send("laneSpeedButton", msg);
+}
+
+static void send_df(UIState *s, int status) {
+  capnp::MallocMessageBuilder msg;
+  auto event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+  auto dfStatus = event.initDynamicFollowButton();
+  dfStatus.setStatus(status);
+  s->pm->send("dynamicFollowButton", msg);
+}
+
+static void send_ml(UIState *s, bool status) {
+  capnp::MallocMessageBuilder msg;
+  auto event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+  auto mlStatus = event.initModelLongButton();
+  mlStatus.setStatus(status);
+  s->pm->send("modelLongButton", msg);
+}
+
 static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
   if (!s->scene.uilayout_sidebarcollapsed && touch_x <= sbr_w) {
     if (touch_x >= settings_btn_x && touch_x < (settings_btn_x + settings_btn_w)
@@ -293,7 +296,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
 
   s->scene.dfButtonStatus = 0;
   s->scene.lsButtonStatus = 0;
-  s->scene.mlButtonStatus = 0;
+  s->scene.mlButtonStatus = false;
 
   s->rgb_width = back_bufs.width;
   s->rgb_height = back_bufs.height;
@@ -879,7 +882,6 @@ int main(int argc, char* argv[]) {
         handle_vision_touch(s, touch_x, touch_y);
       } else {
         s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping any SA button
-        printf("a SA button has been touched\n");
       }
     }
 
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 4ea817f058d3bc..c680a919763b5c 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -126,7 +126,7 @@ typedef struct UIScene {
 
   int dfButtonStatus;
   int lsButtonStatus;
-  int mlButtonStatus;
+  bool mlButtonStatus;
 
   cereal::HealthData::HwType hwType;
   int satelliteCount;

From 79e7e796328b634bb4ad57c51e6d73e7140635e5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:12:52 -0500
Subject: [PATCH 71/99] debug

---
 selfdrive/ui/ui.cc  | 10 +++++-----
 selfdrive/ui/ui.hpp |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4a8bf9a9dc0a1d..d1d2ccb5bf5bbd 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -131,8 +131,8 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
         int y_top = 915 - btn_h / 2;
         if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
             printf("ml button touched!\n");
-            s->scene.mlButtonStatus = !s->scene.mlButtonStatus;
-            send_ml(s, s->scene.mlButtonStatus);
+            s->scene.mlButtonEnabled = !s->scene.mlButtonEnabled;
+            send_ml(s, s->scene.mlButtonEnabled);
             return true;
         }
     }
@@ -157,12 +157,12 @@ static void send_df(UIState *s, int status) {
   s->pm->send("dynamicFollowButton", msg);
 }
 
-static void send_ml(UIState *s, bool status) {
+static void send_ml(UIState *s, bool enabled) {
   capnp::MallocMessageBuilder msg;
   auto event = msg.initRoot<cereal::Event>();
   event.setLogMonoTime(nanos_since_boot());
   auto mlStatus = event.initModelLongButton();
-  mlStatus.setStatus(status);
+  mlStatus.setEnabled(enabled);
   s->pm->send("modelLongButton", msg);
 }
 
@@ -296,7 +296,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
 
   s->scene.dfButtonStatus = 0;
   s->scene.lsButtonStatus = 0;
-  s->scene.mlButtonStatus = false;
+  s->scene.mlButtonEnabled = false;
 
   s->rgb_width = back_bufs.width;
   s->rgb_height = back_bufs.height;
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index c680a919763b5c..c74b8af5ba6943 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -126,7 +126,7 @@ typedef struct UIScene {
 
   int dfButtonStatus;
   int lsButtonStatus;
-  bool mlButtonStatus;
+  bool mlButtonEnabled;
 
   cereal::HealthData::HwType hwType;
   int satelliteCount;

From a46f31104de1b0f74ed934b3b3e2e2fc60f01763 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:14:14 -0500
Subject: [PATCH 72/99] move up?

---
 selfdrive/ui/ui.cc | 54 +++++++++++++++++++++++-----------------------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index d1d2ccb5bf5bbd..8acf1328920a4d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -88,6 +88,33 @@ static void update_offroad_layout_state(UIState *s) {
 #endif
 }
 
+static void send_ls(UIState *s, int status) {
+  capnp::MallocMessageBuilder msg;
+  auto event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+  auto lsStatus = event.initLaneSpeedButton();
+  lsStatus.setStatus(status);
+  s->pm->send("laneSpeedButton", msg);
+}
+
+static void send_df(UIState *s, int status) {
+  capnp::MallocMessageBuilder msg;
+  auto event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+  auto dfStatus = event.initDynamicFollowButton();
+  dfStatus.setStatus(status);
+  s->pm->send("dynamicFollowButton", msg);
+}
+
+static void send_ml(UIState *s, bool enabled) {
+  capnp::MallocMessageBuilder msg;
+  auto event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+  auto mlStatus = event.initModelLongButton();
+  mlStatus.setEnabled(enabled);
+  s->pm->send("modelLongButton", msg);
+}
+
 static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
   //lsButton manager
   if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
@@ -139,33 +166,6 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     return false;
 }
 
-static void send_ls(UIState *s, int status) {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto lsStatus = event.initLaneSpeedButton();
-  lsStatus.setStatus(status);
-  s->pm->send("laneSpeedButton", msg);
-}
-
-static void send_df(UIState *s, int status) {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto dfStatus = event.initDynamicFollowButton();
-  dfStatus.setStatus(status);
-  s->pm->send("dynamicFollowButton", msg);
-}
-
-static void send_ml(UIState *s, bool enabled) {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto mlStatus = event.initModelLongButton();
-  mlStatus.setEnabled(enabled);
-  s->pm->send("modelLongButton", msg);
-}
-
 static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
   if (!s->scene.uilayout_sidebarcollapsed && touch_x <= sbr_w) {
     if (touch_x >= settings_btn_x && touch_x < (settings_btn_x + settings_btn_w)

From bf14d6847c82a0439af7f7d7743ccf75645979e0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:15:46 -0500
Subject: [PATCH 73/99] debug

---
 ml_button.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ml_button.py b/ml_button.py
index 7d1191252df651..96e1819cfe594b 100644
--- a/ml_button.py
+++ b/ml_button.py
@@ -3,4 +3,4 @@
 while 1:
   input()
   sm.update(0)
-  print(sm['modelLongButton'].status)
\ No newline at end of file
+  print(sm['modelLongButton'].enabled)

From 779a6ab4c792821decf226f4acda26a7f0c6ba0b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:16:50 -0500
Subject: [PATCH 74/99] debug

---
 ml_button.py       | 6 ------
 selfdrive/ui/ui.cc | 1 +
 2 files changed, 1 insertion(+), 6 deletions(-)
 delete mode 100644 ml_button.py

diff --git a/ml_button.py b/ml_button.py
deleted file mode 100644
index 96e1819cfe594b..00000000000000
--- a/ml_button.py
+++ /dev/null
@@ -1,6 +0,0 @@
-from cereal.messaging import SubMaster
-sm = SubMaster(['modelLongButton'])
-while 1:
-  input()
-  sm.update(0)
-  print(sm['modelLongButton'].enabled)
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8acf1328920a4d..b8447422a72413 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -881,6 +881,7 @@ int main(int argc, char* argv[]) {
       if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y) && !handle_ml_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
         handle_vision_touch(s, touch_x, touch_y);
       } else {
+        printf("SA button touched!\n");
         s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping any SA button
       }
     }

From 294915843432fdf4d66dff424da3a576e06707e0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:17:14 -0500
Subject: [PATCH 75/99] debug

---
 selfdrive/ui/ui.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b8447422a72413..a33f3abfe1af80 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -874,7 +874,9 @@ int main(int argc, char* argv[]) {
     int touch_x = -1, touch_y = -1;
     int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
     if (touched == 1) {
-      printf("touched x: %d, y: %d\n", touch_x, touch_y);
+      if (s->ui_debug) {
+        printf("touched x: %d, y: %d\n", touch_x, touch_y);
+      }
       set_awake(s, true);
       handle_sidebar_touch(s, touch_x, touch_y);
 

From 998972a3cc2f2b07779ea04fd02fb0c018db5077 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:20:41 -0500
Subject: [PATCH 76/99] add padding

---
 selfdrive/ui/ui.cc | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index a33f3abfe1af80..ef159609040e9b 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -150,19 +150,20 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
 }
 
 static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
-    //mlButton manager
+  //mlButton manager
+  if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
+  int padding = 40;
     int btn_w = 500;
     int btn_h = 138;
-    if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
-        int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
-        int y_top = 915 - btn_h / 2;
-        if (xs[0] <= touch_x && touch_x <= xs[1] && y_top <= touch_y) {
-            printf("ml button touched!\n");
-            s->scene.mlButtonEnabled = !s->scene.mlButtonEnabled;
-            send_ml(s, s->scene.mlButtonEnabled);
-            return true;
-        }
+    int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
+    int y_top = 915 - btn_h / 2;
+    if (xs[0] <= touch_x + padding && touch_x - padding <= xs[1] && y_top - padding <= touch_y) {
+      printf("ml button touched!\n");
+      s->scene.mlButtonEnabled = !s->scene.mlButtonEnabled;
+      send_ml(s, s->scene.mlButtonEnabled);
+      return true;
     }
+  }
     return false;
 }
 
@@ -883,7 +884,6 @@ int main(int argc, char* argv[]) {
       if (!handle_df_touch(s, touch_x, touch_y) && !handle_ls_touch(s, touch_x, touch_y) && !handle_ml_touch(s, touch_x, touch_y)) {  // disables sidebar from popping out when tapping df or ls button
         handle_vision_touch(s, touch_x, touch_y);
       } else {
-        printf("SA button touched!\n");
         s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping any SA button
       }
     }

From 0092f08b50a915eb2b9eb21934430518dee77eca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:36:05 -0500
Subject: [PATCH 77/99] add e2e long

---
 selfdrive/controls/lib/planner.py | 18 +++++++++++++++---
 selfdrive/controls/plannerd.py    |  2 +-
 selfdrive/ui/ui.cc                |  4 +++-
 3 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 4eae35bb347f0f..53366cca2ae726 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -14,6 +14,7 @@
 from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+from selfdrive.controls.lib.long_mpc_model import LongitudinalMpcModel
 
 MAX_SPEED = 255.0
 
@@ -69,6 +70,7 @@ def __init__(self, CP):
 
     self.mpc1 = LongitudinalMpc(1)
     self.mpc2 = LongitudinalMpc(2)
+    self.mpc_model = LongitudinalMpcModel()
 
     self.v_acc_start = 0.0
     self.a_acc_start = 0.0
@@ -86,13 +88,15 @@ def __init__(self, CP):
     self.params = Params()
     self.first_loop = True
 
-  def choose_solution(self, v_cruise_setpoint, enabled):
+  def choose_solution(self, v_cruise_setpoint, enabled, model_enabled):
     if enabled:
       solutions = {'cruise': self.v_cruise}
       if self.mpc1.prev_lead_status:
         solutions['mpc1'] = self.mpc1.v_mpc
       if self.mpc2.prev_lead_status:
         solutions['mpc2'] = self.mpc2.v_mpc
+      if self.mpc_model.valid and model_enabled:
+        solutions['model'] = self.mpc_model.v_mpc
 
       slowest = min(solutions, key=solutions.get)
 
@@ -107,8 +111,11 @@ def choose_solution(self, v_cruise_setpoint, enabled):
       elif slowest == 'cruise':
         self.v_acc = self.v_cruise
         self.a_acc = self.a_cruise
+      elif slowest == 'model':
+        self.v_acc = self.mpc_model.v_mpc
+        self.a_acc = self.mpc_model.a_mpc
 
-    self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
+    self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, self.mpc_model.v_mpc_future, v_cruise_setpoint])
 
   def update(self, sm, pm, CP, VM, PP):
     """Gets called when new radarState is available"""
@@ -161,11 +168,16 @@ def update(self, sm, pm, CP, VM, PP):
 
     self.mpc1.set_cur_state(self.v_acc_start, self.a_acc_start)
     self.mpc2.set_cur_state(self.v_acc_start, self.a_acc_start)
+    self.mpc_model.set_cur_state(self.v_acc_start, self.a_acc_start)
 
     self.mpc1.update(pm, sm['carState'], lead_1, v_cruise_setpoint)
     self.mpc2.update(pm, sm['carState'], lead_2, v_cruise_setpoint)
+    self.mpc_model.update(sm['carState'].vEgo, sm['carState'].aEgo,
+                          sm['model'].longitudinal.distances,
+                          sm['model'].longitudinal.speeds,
+                          sm['model'].longitudinal.accelerations)
 
-    self.choose_solution(v_cruise_setpoint, enabled)
+    self.choose_solution(v_cruise_setpoint, enabled, sm['modelLongButton'].enabled)
 
     # determine fcw
     if self.mpc1.new_lead:
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index b439681a3a2303..5910c11f756474 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -27,7 +27,7 @@ def plannerd_thread(sm=None, pm=None):
   VM = VehicleModel(CP)
 
   if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
+    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters', 'modelLongButton'])
 
   if pm is None:
     pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ef159609040e9b..fd69d7338ca8a0 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -122,6 +122,7 @@ static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
     int btn_x_1 = 1660 - 200;
     int btn_x_2 = 1660 - 50;
     if ((btn_x_1 - padding <= touch_x) && (touch_x <= btn_x_2 + padding) && (855 - padding <= touch_y)) {
+      printf("ls button touched!\n");
       s->scene.lsButtonStatus++;
       if (s->scene.lsButtonStatus > 2) {
         s->scene.lsButtonStatus = 0;
@@ -138,6 +139,7 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
   if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
     int padding = 40;
     if ((1660 - padding <= touch_x) && (855 - padding <= touch_y)) {
+      printf("df button touched!\n");
       s->scene.dfButtonStatus++;
       if (s->scene.dfButtonStatus > 3) {
         s->scene.dfButtonStatus = 0;
@@ -152,7 +154,7 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
 static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
   //mlButton manager
   if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
-  int padding = 40;
+    int padding = 40;
     int btn_w = 500;
     int btn_h = 138;
     int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};

From 108025e558fdd26531b68693cf03525881ea50c9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:48:55 -0500
Subject: [PATCH 78/99] add modelLongAlert and debug

---
 selfdrive/controls/controlsd.py  | 16 ++++++++++++++--
 selfdrive/controls/lib/events.py |  6 ++++++
 selfdrive/debug/cycle_alerts.py  |  5 ++++-
 3 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e2163274830af3..b083949f05c6a4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -55,11 +55,13 @@ def __init__(self, sm=None, pm=None, can_sock=None):
     if self.sm is None:
       self.sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
-    self.sm_smiskol = messaging.SubMaster(['radarState', 'dynamicFollowData', 'liveTracks', 'dynamicFollowButton', 'laneSpeed', 'dynamicCameraOffset'])
+    self.sm_smiskol = messaging.SubMaster(['radarState', 'dynamicFollowData', 'liveTracks', 'dynamicFollowButton',
+                                           'laneSpeed', 'dynamicCameraOffset', 'modelLongButton'])
 
     self.op_params = opParams()
     self.df_manager = dfManager(self.op_params)
-    self.hide_auto_df_alerts = self.op_params.get('hide_auto_df_alerts', False) 
+    self.hide_auto_df_alerts = self.op_params.get('hide_auto_df_alerts', False)
+    self.last_model_long = False
 
     self.can_sock = can_sock
     if can_sock is None:
@@ -276,6 +278,15 @@ def data_sample(self):
   def add_stock_additions_alerts(self, CS):
     frame = self.sm.frame
     # alert priority is defined by code location, keeping is highest, then lane speed alert, then auto-df alert
+    if self.sm_smiskol['modelLongButton'].enabled != self.last_model_long:
+      if self.last_model_long:
+        extra_text_1 = 'disabled!'
+        extra_text_2 = ''
+      else:
+        extra_text_1 = 'enabled!'
+        extra_text_2 = 'Remain alert'
+      self.AM.add_custom(frame, 'modelLongAlert', self.enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
+
     if self.sm_smiskol['dynamicCameraOffset'].keepingLeft:
       self.AM.add_custom(frame, 'laneSpeedKeeping', self.enabled, extra_text_1='LEFT', extra_text_2='Oncoming traffic in right lane')
       return
@@ -486,6 +497,7 @@ def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
     alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
     self.AM.add_many(self.sm.frame, alerts, self.enabled)
     self.add_stock_additions_alerts(CS)
+    self.last_model_long = self.sm_smiskol['modelLongButton'].enabled
     self.AM.process_alerts(self.sm.frame)
     CC.hudControl.visualAlert = self.AM.visual_alert
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index d3a5b35e2626ca..dde02b71176626 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -525,6 +525,12 @@ def wrong_car_mode_alert(CP, sm, metric):
                               duration_hud_alert=0.),
   },
 
+  "modelLongAlert": Alert(
+    "Model longitudinal ",
+    "",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+
   "dfButtonAlert": Alert(
     "Using profile: ",
     "",
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 63b7d758c5901f..2731fd8599eabf 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -10,7 +10,10 @@
 from selfdrive.controls.lib.events import EVENTS, Alert
 
 def now_millis(): return time.time() * 1000
-
+for _, et in EVENTS.items():
+  print(et)
+  for _, a in et.items():
+    print(a)
 ALERTS = [a for _, et in EVENTS.items() for _, a in et.items() if isinstance(a, Alert)]
 
 #from cereal import car

From ef46fb9cf4f1ed701825c5e0fc6456f355806b1f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:50:36 -0500
Subject: [PATCH 79/99] add modelLongAlert and debug

---
 selfdrive/controls/lib/events.py | 12 +++++++-----
 selfdrive/debug/cycle_alerts.py  |  4 ++++
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index dde02b71176626..fc852ee3c6d67f 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -525,11 +525,13 @@ def wrong_car_mode_alert(CP, sm, metric):
                               duration_hud_alert=0.),
   },
 
-  "modelLongAlert": Alert(
-    "Model longitudinal ",
-    "",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+  "modelLongAlert": {
+    ET.WARNING: Alert(
+      "Model longitudinal ",
+      "",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+  },
 
   "dfButtonAlert": Alert(
     "Using profile: ",
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 2731fd8599eabf..3d99d409d391ee 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -12,6 +12,10 @@
 def now_millis(): return time.time() * 1000
 for _, et in EVENTS.items():
   print(et)
+  try:
+    et.items()
+  except:
+    continue
   for _, a in et.items():
     print(a)
 ALERTS = [a for _, et in EVENTS.items() for _, a in et.items() if isinstance(a, Alert)]

From 5da8c60cf63d8e971292d76953c13d994b63225b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:50:56 -0500
Subject: [PATCH 80/99] debug

---
 selfdrive/controls/lib/events.py | 70 ++++++++++++++++----------------
 1 file changed, 35 insertions(+), 35 deletions(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index fc852ee3c6d67f..65675d8e345c0a 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -533,41 +533,41 @@ def wrong_car_mode_alert(CP, sm, metric):
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
   },
 
-  "dfButtonAlert": Alert(
-    "Using profile: ",
-    "",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
-
-  "lsButtonAlert": Alert(
-    "Lane Speed set to: ",
-    "",
-    AlertStatus.normal, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
-
-  "dfButtonAlertSilent": Alert(
-    "Dynamic follow: ",
-    "",
-    AlertStatus.normal, AlertSize.small,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0.2, 0., 2.),
-
-  "laneSpeedAlert": Alert(
-    "",
-    "",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 0.1),
-
-  "laneSpeedAlertSilent": Alert(
-    "",
-    "",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
-
-  "laneSpeedKeeping": Alert(
-    "KEEPING ",
-    "",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
+  # "dfButtonAlert": Alert(
+  #   "Using profile: ",
+  #   "",
+  #   AlertStatus.normal, AlertSize.mid,
+  #   Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+  #
+  # "lsButtonAlert": Alert(
+  #   "Lane Speed set to: ",
+  #   "",
+  #   AlertStatus.normal, AlertSize.small,
+  #   Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+  #
+  # "dfButtonAlertSilent": Alert(
+  #   "Dynamic follow: ",
+  #   "",
+  #   AlertStatus.normal, AlertSize.small,
+  #   Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0.2, 0., 2.),
+  #
+  # "laneSpeedAlert": Alert(
+  #   "",
+  #   "",
+  #   AlertStatus.normal, AlertSize.mid,
+  #   Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 0.1),
+  #
+  # "laneSpeedAlertSilent": Alert(
+  #   "",
+  #   "",
+  #   AlertStatus.normal, AlertSize.mid,
+  #   Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
+  #
+  # "laneSpeedKeeping": Alert(
+  #   "KEEPING ",
+  #   "",
+  #   AlertStatus.normal, AlertSize.mid,
+  #   Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
 
   EventName.posenetInvalid: {
     ET.WARNING: Alert(

From 161f8e00bdfa28e68d74bb55bd5fb85e0a7eff57 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:51:47 -0500
Subject: [PATCH 81/99] debug

---
 selfdrive/debug/cycle_alerts.py | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 3d99d409d391ee..11d6c28381cc22 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -10,14 +10,6 @@
 from selfdrive.controls.lib.events import EVENTS, Alert
 
 def now_millis(): return time.time() * 1000
-for _, et in EVENTS.items():
-  print(et)
-  try:
-    et.items()
-  except:
-    continue
-  for _, a in et.items():
-    print(a)
 ALERTS = [a for _, et in EVENTS.items() for _, a in et.items() if isinstance(a, Alert)]
 
 #from cereal import car

From ceb32854e50a28b03fb762c636acd2bf36b40686 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 03:59:02 -0500
Subject: [PATCH 82/99] maybe this will enable sound?

---
 selfdrive/controls/controlsd.py        | 14 ++---
 selfdrive/controls/lib/alertmanager.py |  4 +-
 selfdrive/controls/lib/events.py       | 82 +++++++++++++++-----------
 3 files changed, 56 insertions(+), 44 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b083949f05c6a4..b2cca0cd742bc6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -285,18 +285,18 @@ def add_stock_additions_alerts(self, CS):
       else:
         extra_text_1 = 'enabled!'
         extra_text_2 = 'Remain alert'
-      self.AM.add_custom(frame, 'modelLongAlert', self.enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
+      self.AM.add_custom(frame, 'modelLongAlert', ET.WARNING, self.enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
 
     if self.sm_smiskol['dynamicCameraOffset'].keepingLeft:
-      self.AM.add_custom(frame, 'laneSpeedKeeping', self.enabled, extra_text_1='LEFT', extra_text_2='Oncoming traffic in right lane')
+      self.AM.add_custom(frame, 'laneSpeedKeeping', ET.WARNING, self.enabled, extra_text_1='LEFT', extra_text_2='Oncoming traffic in right lane')
       return
     elif self.sm_smiskol['dynamicCameraOffset'].keepingRight:
-      self.AM.add_custom(frame, 'laneSpeedKeeping', self.enabled, extra_text_1='RIGHT', extra_text_2='Oncoming traffic in left lane')
+      self.AM.add_custom(frame, 'laneSpeedKeeping', ET.WARNING, self.enabled, extra_text_1='RIGHT', extra_text_2='Oncoming traffic in left lane')
       return
 
     ls_state = self.sm_smiskol['laneSpeed'].state
     if ls_state != '':
-      self.AM.add_custom(frame, 'lsButtonAlert', self.enabled, extra_text_1=ls_state)
+      self.AM.add_custom(frame, 'lsButtonAlert', ET.WARNING, self.enabled, extra_text_1=ls_state)
       return
 
     faster_lane = self.sm_smiskol['laneSpeed'].fastestLane
@@ -304,7 +304,7 @@ def add_stock_additions_alerts(self, CS):
       ls_alert = 'laneSpeedAlert'
       if not self.sm_smiskol['laneSpeed'].new:
         ls_alert += 'Silent'
-      self.AM.add_custom(frame, ls_alert, self.enabled, extra_text_1='{} lane faster'.format(faster_lane).upper(), extra_text_2='Change lanes to faster {} lane'.format(faster_lane))
+      self.AM.add_custom(frame, ls_alert, ET.WARNING, self.enabled, extra_text_1='{} lane faster'.format(faster_lane).upper(), extra_text_2='Change lanes to faster {} lane'.format(faster_lane))
       return
 
     df_out = self.df_manager.update()
@@ -314,10 +314,10 @@ def add_stock_additions_alerts(self, CS):
         # only show auto alert if engaged, not hiding auto, and time since lane speed alert not showing
         if CS.cruiseState.enabled and not self.hide_auto_df_alerts:
           df_alert += 'Silent'
-          self.AM.add_custom(frame, df_alert, self.enabled, extra_text_1=df_out.model_profile_text + ' (auto)')
+          self.AM.add_custom(frame, df_alert, ET.WARNING, self.enabled, extra_text_1=df_out.model_profile_text + ' (auto)')
           return
       else:
-        self.AM.add_custom(frame, df_alert, self.enabled, extra_text_1=df_out.user_profile_text, extra_text_2='Dynamic follow: {} profile active'.format(df_out.user_profile_text))
+        self.AM.add_custom(frame, df_alert, ET.WARNING, self.enabled, extra_text_1=df_out.user_profile_text, extra_text_2='Dynamic follow: {} profile active'.format(df_out.user_profile_text))
         return
 
   def state_transition(self, CS):
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index 4e6e47e43aef8a..d38164e9974269 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -22,8 +22,8 @@ def add_many(self, frame, alerts, enabled=True):
     for a in alerts:
       self.add(frame, a, enabled=enabled)
 
-  def add_custom(self, frame, alert_name, enabled=True, extra_text_1='', extra_text_2=''):
-    alert = EVENTS[alert_name]
+  def add_custom(self, frame, alert_name, event_type, enabled=True, extra_text_1='', extra_text_2=''):
+    alert = EVENTS[alert_name][event_type]
     added_alert = copy.copy(alert)
     added_alert.start_time = frame * DT_CTRL
     added_alert.alert_text_1 += extra_text_1
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 65675d8e345c0a..0c60357e3279cb 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -533,41 +533,53 @@ def wrong_car_mode_alert(CP, sm, metric):
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
   },
 
-  # "dfButtonAlert": Alert(
-  #   "Using profile: ",
-  #   "",
-  #   AlertStatus.normal, AlertSize.mid,
-  #   Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
-  #
-  # "lsButtonAlert": Alert(
-  #   "Lane Speed set to: ",
-  #   "",
-  #   AlertStatus.normal, AlertSize.small,
-  #   Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
-  #
-  # "dfButtonAlertSilent": Alert(
-  #   "Dynamic follow: ",
-  #   "",
-  #   AlertStatus.normal, AlertSize.small,
-  #   Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0.2, 0., 2.),
-  #
-  # "laneSpeedAlert": Alert(
-  #   "",
-  #   "",
-  #   AlertStatus.normal, AlertSize.mid,
-  #   Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 0.1),
-  #
-  # "laneSpeedAlertSilent": Alert(
-  #   "",
-  #   "",
-  #   AlertStatus.normal, AlertSize.mid,
-  #   Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
-  #
-  # "laneSpeedKeeping": Alert(
-  #   "KEEPING ",
-  #   "",
-  #   AlertStatus.normal, AlertSize.mid,
-  #   Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
+  "dfButtonAlert": {
+    ET.WARNING: Alert(
+      "Using profile: ",
+      "",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+  },
+
+  "lsButtonAlert": {
+    ET.WARNING: Alert(
+      "Lane Speed set to: ",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+  },
+
+  "dfButtonAlertSilent": {
+    ET.WARNING: Alert(
+      "Dynamic follow: ",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0.2, 0., 2.),
+  },
+
+  "laneSpeedAlert": {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 0.1),
+  },
+
+  "laneSpeedAlertSilent": {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
+  },
+
+  "laneSpeedKeeping": {
+    ET.WARNING: Alert(
+      "KEEPING ",
+      "",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
+  },
 
   EventName.posenetInvalid: {
     ET.WARNING: Alert(

From b34ee1e3c97fbf7789751e00f8007d9d2185a4f6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 04:03:20 -0500
Subject: [PATCH 83/99] update alerts

---
 selfdrive/controls/lib/events.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 0c60357e3279cb..4e5ab5dcffbfdd 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -530,7 +530,7 @@ def wrong_car_mode_alert(CP, sm, metric):
       "Model longitudinal ",
       "",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, .4, 0., 2.),
   },
 
   "dfButtonAlert": {
@@ -538,7 +538,7 @@ def wrong_car_mode_alert(CP, sm, metric):
       "Using profile: ",
       "",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, .4, 0., 2.),
   },
 
   "lsButtonAlert": {
@@ -546,7 +546,7 @@ def wrong_car_mode_alert(CP, sm, metric):
       "Lane Speed set to: ",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 2.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, .4, 0., 2.),
   },
 
   "dfButtonAlertSilent": {
@@ -554,7 +554,7 @@ def wrong_car_mode_alert(CP, sm, metric):
       "Dynamic follow: ",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0.2, 0., 2.),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, 0., 2.),
   },
 
   "laneSpeedAlert": {
@@ -562,7 +562,7 @@ def wrong_car_mode_alert(CP, sm, metric):
       "",
       "",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, 0.2, 0., 0.1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, .4, 0., .1),
   },
 
   "laneSpeedAlertSilent": {
@@ -570,7 +570,7 @@ def wrong_car_mode_alert(CP, sm, metric):
       "",
       "",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.2, 0., 0.1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, 0., .1),
   },
 
   "laneSpeedKeeping": {

From 6ea1311c131710577d7e86f8baceb5060d07f4b1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:03:07 -0500
Subject: [PATCH 84/99] color code outline

---
 selfdrive/ui/paint.cc | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 7e481a3ff4703e..2c7013fccdd6f0 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -678,7 +678,11 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgStrokeColor(s->vg, nvgRGBA(130, 12, 128, 255));
+  if (s->scene.mlButtonEnabled) {
+    nvgStrokeColor(s->vg, nvgRGBA(55, 184, 104, 255));
+  } else {
+    nvgStrokeColor(s->vg, nvgRGBA(184, 55, 55, 255));
+  }
   nvgStrokeWidth(s->vg, 12);
   nvgStroke(s->vg);
 

From d4350b1c0af6ec6da0ed2fd1668e48eee04eb412 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:05:39 -0500
Subject: [PATCH 85/99] add background

---
 selfdrive/ui/paint.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2c7013fccdd6f0..8a12f864b13b05 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -686,6 +686,11 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStrokeWidth(s->vg, 12);
   nvgStroke(s->vg);
 
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
+  nvgStrokeColor(s->vg, nvgRGBA(130, 12, 104, 128));
+  nvgStroke(s->vg);
+
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
   nvgText(s->vg, x, y + btn_h / 8, "Toggle Model Long", NULL);

From ddb4ecdcd17dd670dbc1aea28aedfa72a8f419ba Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:06:53 -0500
Subject: [PATCH 86/99] add background

---
 selfdrive/ui/paint.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 8a12f864b13b05..5ba8767d00b8f9 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -678,7 +678,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  if (s->scene.mlButtonEnabled) {
+  if (s->scene.mlButtonEnabled) {  // change outline color based on status of button
     nvgStrokeColor(s->vg, nvgRGBA(55, 184, 104, 255));
   } else {
     nvgStrokeColor(s->vg, nvgRGBA(184, 55, 55, 255));
@@ -686,9 +686,9 @@ static void ui_draw_ml_button(UIState *s) {
   nvgStrokeWidth(s->vg, 12);
   nvgStroke(s->vg);
 
-  nvgBeginPath(s->vg);
+  nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgStrokeColor(s->vg, nvgRGBA(130, 12, 104, 128));
+  nvgFillColor(s->vg, nvgRGBA(130, 12, 104, 128));
   nvgStroke(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From 1f37bd1f2507ce504871e31e252a72bf5d6e4a02 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:08:00 -0500
Subject: [PATCH 87/99] add background

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 5ba8767d00b8f9..65b8cc7bce1fa8 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -689,7 +689,7 @@ static void ui_draw_ml_button(UIState *s) {
   nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
   nvgFillColor(s->vg, nvgRGBA(130, 12, 104, 128));
-  nvgStroke(s->vg);
+  nvgFill(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);

From b673711125dd5d7457bfc54cf936f289ed1b5db5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:09:07 -0500
Subject: [PATCH 88/99] add background

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 65b8cc7bce1fa8..d51d562326f1f4 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -688,7 +688,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgFillColor(s->vg, nvgRGBA(130, 12, 104, 128));
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 128));
   nvgFill(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From ff72c0da830291a847f90064ea0fa7abed13f791 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:10:04 -0500
Subject: [PATCH 89/99] add background

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index d51d562326f1f4..50e33845eba61d 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -688,7 +688,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 128));
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 64));
   nvgFill(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From 58d1ac7582be863ca541338b60962b2114bf2ab8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:11:13 -0500
Subject: [PATCH 90/99] add background

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 50e33845eba61d..37a9affdcfba94 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -688,7 +688,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 64));
+  nvgFillColor(s->vg, nvgRGBA(100, 100, 100, 64));
   nvgFill(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From 65f6aeaa2dacedaf359181c406d4baaf98f36ae1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:12:01 -0500
Subject: [PATCH 91/99] add background

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 37a9affdcfba94..33d9f3f0ff5d7c 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -688,7 +688,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgFillColor(s->vg, nvgRGBA(100, 100, 100, 64));
+  nvgFillColor(s->vg, nvgRGBA(75, 75, 75, 128));
   nvgFill(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From ff9ed59f0a0cdfe7b40530236707fb67d351544c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:13:21 -0500
Subject: [PATCH 92/99] add background

---
 selfdrive/ui/paint.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 33d9f3f0ff5d7c..e63b88d4a48eb7 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -688,7 +688,7 @@ static void ui_draw_ml_button(UIState *s) {
 
   nvgBeginPath(s->vg);  // dark background for readability
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
-  nvgFillColor(s->vg, nvgRGBA(75, 75, 75, 128));
+  nvgFillColor(s->vg, nvgRGBA(75, 75, 75, 75));
   nvgFill(s->vg);
 
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));

From f137b09ef340c64d995fe635f11d6d6a924ec3b4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:17:43 -0500
Subject: [PATCH 93/99] clean up

---
 CMakeLists.txt                   |  0
 selfdrive/controls/controlsd.py  | 10 +++-------
 selfdrive/controls/lib/events.py |  2 +-
 selfdrive/debug/cycle_alerts.py  |  1 +
 selfdrive/ui/ui.cc               | 20 +-------------------
 5 files changed, 6 insertions(+), 27 deletions(-)
 delete mode 100644 CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b2cca0cd742bc6..d68f5cb1f65682 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -279,13 +279,9 @@ def add_stock_additions_alerts(self, CS):
     frame = self.sm.frame
     # alert priority is defined by code location, keeping is highest, then lane speed alert, then auto-df alert
     if self.sm_smiskol['modelLongButton'].enabled != self.last_model_long:
-      if self.last_model_long:
-        extra_text_1 = 'disabled!'
-        extra_text_2 = ''
-      else:
-        extra_text_1 = 'enabled!'
-        extra_text_2 = 'Remain alert'
-      self.AM.add_custom(frame, 'modelLongAlert', ET.WARNING, self.enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
+      extra_text_1 = 'disabled!' if self.last_model_long else 'enabled!'
+      self.AM.add_custom(frame, 'modelLongAlert', ET.WARNING, self.enabled, extra_text_1=extra_text_1)
+      return
 
     if self.sm_smiskol['dynamicCameraOffset'].keepingLeft:
       self.AM.add_custom(frame, 'laneSpeedKeeping', ET.WARNING, self.enabled, extra_text_1='LEFT', extra_text_2='Oncoming traffic in right lane')
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 4e5ab5dcffbfdd..af0eacd4ce2060 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -528,7 +528,7 @@ def wrong_car_mode_alert(CP, sm, metric):
   "modelLongAlert": {
     ET.WARNING: Alert(
       "Model longitudinal ",
-      "",
+      "Remain alert",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeWarning1, .4, 0., 2.),
   },
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 11d6c28381cc22..63b7d758c5901f 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -10,6 +10,7 @@
 from selfdrive.controls.lib.events import EVENTS, Alert
 
 def now_millis(): return time.time() * 1000
+
 ALERTS = [a for _, et in EVENTS.items() for _, a in et.items() if isinstance(a, Alert)]
 
 #from cereal import car
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index fd69d7338ca8a0..e5aeb395a6a363 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -122,7 +122,6 @@ static bool handle_ls_touch(UIState *s, int touch_x, int touch_y) {
     int btn_x_1 = 1660 - 200;
     int btn_x_2 = 1660 - 50;
     if ((btn_x_1 - padding <= touch_x) && (touch_x <= btn_x_2 + padding) && (855 - padding <= touch_y)) {
-      printf("ls button touched!\n");
       s->scene.lsButtonStatus++;
       if (s->scene.lsButtonStatus > 2) {
         s->scene.lsButtonStatus = 0;
@@ -139,7 +138,6 @@ static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
   if ((s->awake && s->vision_connected && s->status != STATUS_STOPPED) || s->ui_debug) {
     int padding = 40;
     if ((1660 - padding <= touch_x) && (855 - padding <= touch_y)) {
-      printf("df button touched!\n");
       s->scene.dfButtonStatus++;
       if (s->scene.dfButtonStatus > 3) {
         s->scene.dfButtonStatus = 0;
@@ -160,7 +158,6 @@ static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
     int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
     int y_top = 915 - btn_h / 2;
     if (xs[0] <= touch_x + padding && touch_x - padding <= xs[1] && y_top - padding <= touch_y) {
-      printf("ml button touched!\n");
       s->scene.mlButtonEnabled = !s->scene.mlButtonEnabled;
       send_ml(s, s->scene.mlButtonEnabled);
       return true;
@@ -260,7 +257,7 @@ static void ui_init(UIState *s) {
   s->scene.satelliteCount = -1;
   s->started = false;
   s->vision_seen = false;
-  s->ui_debug = true;  // change to true while debugging
+  s->ui_debug = false;  // change to true while debugging
 
   // init display
   s->fb = framebuffer_init("ui", 0, true, &s->fb_w, &s->fb_h);
@@ -835,23 +832,8 @@ int main(int argc, char* argv[]) {
 
   int draws = 0;
 
-  bool debug_ui = false;
-  if (argc == 2) {
-    if (strcmp(argv[1], "debug") == 0) {
-      debug_ui = true;
-    }
-  }
-
   while (!do_exit) {
     bool should_swap = false;
-    if (debug_ui) {
-      s->started = true;
-      s->status = STATUS_DISENGAGED;
-      s->controls_seen = true;
-      s->vision_seen = true;
-      s->active_app = cereal::UiLayoutState::App::NONE;
-      s->controls_timeout = UI_FREQ;
-    }
     if (!s->started) {
       // Delay a while to avoid 9% cpu usage while car is not started and user is keeping touching on the screen.
       // Don't hold the lock while sleeping, so that vision_connect_thread have chances to get the lock.

From 185b9f612f08f10f6cc8b5f11e92015a5583b368 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 05:21:17 -0500
Subject: [PATCH 94/99] clean up

---
 selfdrive/ui/paint.cc | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index e63b88d4a48eb7..491430409582c4 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -662,20 +662,13 @@ static void ui_draw_df_button(UIState *s) {
 }
 
 static void ui_draw_ml_button(UIState *s) {
-//  int test_button = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
-
   int btn_w = 500;
   int btn_h = 138;
-//  int y_padding = 100;
-//  int btn_x = 1027 - btn_w / 2;  // 150 + 50 padding
-//  int btn_y = 980 - btn_h / 2 - y_padding;
   int x = 1920 / 2;
   int y = 915;
   int btn_x = x - btn_w / 2;
   int btn_y = y - btn_h / 2;
 
-//  ui_draw_image(s->vg, btn_x, btn_y, btn_w, btn_h, test_button, 1.0f);
-
   nvgBeginPath(s->vg);
   nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
   if (s->scene.mlButtonEnabled) {  // change outline color based on status of button
@@ -694,10 +687,6 @@ static void ui_draw_ml_button(UIState *s) {
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
   nvgFontSize(s->vg, 65);
   nvgText(s->vg, x, y + btn_h / 8, "Toggle Model Long", NULL);
-//
-//  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-//  nvgFontSize(s->vg, 45);
-//  nvgText(s->vg, btn_x - 34, btn_y + 50 + 15, "mode", NULL);
 }
 
 static void ui_draw_vision_header(UIState *s) {

From a7c06d70a7f19c6ad158e0261e87547b4b012895 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 22:39:37 -0500
Subject: [PATCH 95/99] add uiview

---
 selfdrive/ui/ui_debug  |  1 +
 selfdrive/ui/uiview.py | 66 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 67 insertions(+)
 create mode 100755 selfdrive/ui/ui_debug
 create mode 100644 selfdrive/ui/uiview.py

diff --git a/selfdrive/ui/ui_debug b/selfdrive/ui/ui_debug
new file mode 100755
index 00000000000000..e02cbf0cf8cf87
--- /dev/null
+++ b/selfdrive/ui/ui_debug
@@ -0,0 +1 @@
+python ./uiview.py
diff --git a/selfdrive/ui/uiview.py b/selfdrive/ui/uiview.py
new file mode 100644
index 00000000000000..bdaeb1644dcc57
--- /dev/null
+++ b/selfdrive/ui/uiview.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+import os
+import sys
+import time
+import signal
+import subprocess
+import multiprocessing
+import cereal.messaging as messaging
+
+from common.params import Params
+from common.basedir import BASEDIR
+
+KILL_TIMEOUT = 15
+
+
+def send_controls_packet(pm):
+  while True:
+    dat = messaging.new_message('controlsState')
+    dat.controlsState.rearViewCam = False
+    pm.send('controlsState', dat)
+    time.sleep(1 / 100.)
+
+
+def send_thermal_packet(pm):
+  while True:
+    dat = messaging.new_message('thermal')
+    dat.thermal.started = True
+    pm.send('thermal', dat)
+    time.sleep(1 / 2.)  # 2 hz
+
+
+def main():
+  pm = messaging.PubMaster(['controlsState', 'thermal'])
+
+  controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm])
+  controls_sender.start()
+  thermal_sender = multiprocessing.Process(target=send_thermal_packet, args=[pm])
+  thermal_sender.start()
+
+  # TODO: refactor with manager start/kill
+  proc_cam = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
+  proc_ui = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/ui/ui"), cwd=os.path.join(BASEDIR, "selfdrive/ui"))
+
+  def terminate(signalNumber, frame):
+    print('got SIGTERM, exiting..')
+    proc_cam.send_signal(signal.SIGINT)
+    kill_start = time.time()
+    while proc_cam.poll() is None:
+      if time.time() - kill_start > KILL_TIMEOUT:
+        from selfdrive.swaglog import cloudlog
+        cloudlog.critical("FORCE REBOOTING PHONE!")
+        os.system("date >> /sdcard/unkillable_reboot")
+        os.system("reboot")
+        raise RuntimeError
+      continue
+    proc_ui.send_signal(signal.SIGINT)
+    thermal_sender.terminate()
+    controls_sender.terminate()
+    exit()
+
+  signal.signal(signal.SIGTERM, terminate)
+  signal.signal(signal.SIGINT, terminate)  # catch ctrl-c as well
+
+
+if __name__ == '__main__':
+  main()

From 6969214ff0de9156fc443ef0c01a8e7a8d2f6988 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 22:42:59 -0500
Subject: [PATCH 96/99] don't need this

---
 selfdrive/ui/uiview.py | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/selfdrive/ui/uiview.py b/selfdrive/ui/uiview.py
index bdaeb1644dcc57..37be520362e5ad 100644
--- a/selfdrive/ui/uiview.py
+++ b/selfdrive/ui/uiview.py
@@ -1,13 +1,11 @@
 #!/usr/bin/env python3
 import os
-import sys
 import time
 import signal
 import subprocess
 import multiprocessing
 import cereal.messaging as messaging
 
-from common.params import Params
 from common.basedir import BASEDIR
 
 KILL_TIMEOUT = 15
@@ -31,7 +29,6 @@ def send_thermal_packet(pm):
 
 def main():
   pm = messaging.PubMaster(['controlsState', 'thermal'])
-
   controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm])
   controls_sender.start()
   thermal_sender = multiprocessing.Process(target=send_thermal_packet, args=[pm])
@@ -44,15 +41,6 @@ def main():
   def terminate(signalNumber, frame):
     print('got SIGTERM, exiting..')
     proc_cam.send_signal(signal.SIGINT)
-    kill_start = time.time()
-    while proc_cam.poll() is None:
-      if time.time() - kill_start > KILL_TIMEOUT:
-        from selfdrive.swaglog import cloudlog
-        cloudlog.critical("FORCE REBOOTING PHONE!")
-        os.system("date >> /sdcard/unkillable_reboot")
-        os.system("reboot")
-        raise RuntimeError
-      continue
     proc_ui.send_signal(signal.SIGINT)
     thermal_sender.terminate()
     controls_sender.terminate()

From 0799a656cafe5b507ff0a2db8b66ef783c43e47a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 22:46:13 -0500
Subject: [PATCH 97/99] remove uiview

---
 selfdrive/ui/ui_debug  |  1 -
 selfdrive/ui/uiview.py | 54 ------------------------------------------
 2 files changed, 55 deletions(-)
 delete mode 100755 selfdrive/ui/ui_debug
 delete mode 100644 selfdrive/ui/uiview.py

diff --git a/selfdrive/ui/ui_debug b/selfdrive/ui/ui_debug
deleted file mode 100755
index e02cbf0cf8cf87..00000000000000
--- a/selfdrive/ui/ui_debug
+++ /dev/null
@@ -1 +0,0 @@
-python ./uiview.py
diff --git a/selfdrive/ui/uiview.py b/selfdrive/ui/uiview.py
deleted file mode 100644
index 37be520362e5ad..00000000000000
--- a/selfdrive/ui/uiview.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import signal
-import subprocess
-import multiprocessing
-import cereal.messaging as messaging
-
-from common.basedir import BASEDIR
-
-KILL_TIMEOUT = 15
-
-
-def send_controls_packet(pm):
-  while True:
-    dat = messaging.new_message('controlsState')
-    dat.controlsState.rearViewCam = False
-    pm.send('controlsState', dat)
-    time.sleep(1 / 100.)
-
-
-def send_thermal_packet(pm):
-  while True:
-    dat = messaging.new_message('thermal')
-    dat.thermal.started = True
-    pm.send('thermal', dat)
-    time.sleep(1 / 2.)  # 2 hz
-
-
-def main():
-  pm = messaging.PubMaster(['controlsState', 'thermal'])
-  controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm])
-  controls_sender.start()
-  thermal_sender = multiprocessing.Process(target=send_thermal_packet, args=[pm])
-  thermal_sender.start()
-
-  # TODO: refactor with manager start/kill
-  proc_cam = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
-  proc_ui = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/ui/ui"), cwd=os.path.join(BASEDIR, "selfdrive/ui"))
-
-  def terminate(signalNumber, frame):
-    print('got SIGTERM, exiting..')
-    proc_cam.send_signal(signal.SIGINT)
-    proc_ui.send_signal(signal.SIGINT)
-    thermal_sender.terminate()
-    controls_sender.terminate()
-    exit()
-
-  signal.signal(signal.SIGTERM, terminate)
-  signal.signal(signal.SIGINT, terminate)  # catch ctrl-c as well
-
-
-if __name__ == '__main__':
-  main()

From e925ef4ebb7ee92232495b03702908865ef4614f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 22:55:55 -0500
Subject: [PATCH 98/99] add back

---
 selfdrive/ui/uiview.py | 54 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 54 insertions(+)
 create mode 100644 selfdrive/ui/uiview.py

diff --git a/selfdrive/ui/uiview.py b/selfdrive/ui/uiview.py
new file mode 100644
index 00000000000000..37be520362e5ad
--- /dev/null
+++ b/selfdrive/ui/uiview.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import os
+import time
+import signal
+import subprocess
+import multiprocessing
+import cereal.messaging as messaging
+
+from common.basedir import BASEDIR
+
+KILL_TIMEOUT = 15
+
+
+def send_controls_packet(pm):
+  while True:
+    dat = messaging.new_message('controlsState')
+    dat.controlsState.rearViewCam = False
+    pm.send('controlsState', dat)
+    time.sleep(1 / 100.)
+
+
+def send_thermal_packet(pm):
+  while True:
+    dat = messaging.new_message('thermal')
+    dat.thermal.started = True
+    pm.send('thermal', dat)
+    time.sleep(1 / 2.)  # 2 hz
+
+
+def main():
+  pm = messaging.PubMaster(['controlsState', 'thermal'])
+  controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm])
+  controls_sender.start()
+  thermal_sender = multiprocessing.Process(target=send_thermal_packet, args=[pm])
+  thermal_sender.start()
+
+  # TODO: refactor with manager start/kill
+  proc_cam = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
+  proc_ui = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/ui/ui"), cwd=os.path.join(BASEDIR, "selfdrive/ui"))
+
+  def terminate(signalNumber, frame):
+    print('got SIGTERM, exiting..')
+    proc_cam.send_signal(signal.SIGINT)
+    proc_ui.send_signal(signal.SIGINT)
+    thermal_sender.terminate()
+    controls_sender.terminate()
+    exit()
+
+  signal.signal(signal.SIGTERM, terminate)
+  signal.signal(signal.SIGINT, terminate)  # catch ctrl-c as well
+
+
+if __name__ == '__main__':
+  main()

From d1031531c479a64a88184bb9b3b11014a02418a5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jul 2020 22:56:44 -0500
Subject: [PATCH 99/99] remove

---
 selfdrive/ui/uiview.py | 54 ------------------------------------------
 1 file changed, 54 deletions(-)
 delete mode 100644 selfdrive/ui/uiview.py

diff --git a/selfdrive/ui/uiview.py b/selfdrive/ui/uiview.py
deleted file mode 100644
index 37be520362e5ad..00000000000000
--- a/selfdrive/ui/uiview.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import signal
-import subprocess
-import multiprocessing
-import cereal.messaging as messaging
-
-from common.basedir import BASEDIR
-
-KILL_TIMEOUT = 15
-
-
-def send_controls_packet(pm):
-  while True:
-    dat = messaging.new_message('controlsState')
-    dat.controlsState.rearViewCam = False
-    pm.send('controlsState', dat)
-    time.sleep(1 / 100.)
-
-
-def send_thermal_packet(pm):
-  while True:
-    dat = messaging.new_message('thermal')
-    dat.thermal.started = True
-    pm.send('thermal', dat)
-    time.sleep(1 / 2.)  # 2 hz
-
-
-def main():
-  pm = messaging.PubMaster(['controlsState', 'thermal'])
-  controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm])
-  controls_sender.start()
-  thermal_sender = multiprocessing.Process(target=send_thermal_packet, args=[pm])
-  thermal_sender.start()
-
-  # TODO: refactor with manager start/kill
-  proc_cam = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
-  proc_ui = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/ui/ui"), cwd=os.path.join(BASEDIR, "selfdrive/ui"))
-
-  def terminate(signalNumber, frame):
-    print('got SIGTERM, exiting..')
-    proc_cam.send_signal(signal.SIGINT)
-    proc_ui.send_signal(signal.SIGINT)
-    thermal_sender.terminate()
-    controls_sender.terminate()
-    exit()
-
-  signal.signal(signal.SIGTERM, terminate)
-  signal.signal(signal.SIGINT, terminate)  # catch ctrl-c as well
-
-
-if __name__ == '__main__':
-  main()