iPod stuck on replay

f

scripts/launch_onroad_desktop.sh

@@ -79,6 +79,7 @@ CEM_PID=""
 ALERT_PID=""
 CSC_PID=""
 GALAXY_PID=""
+GPU_SYNC_PID=""
 GALAXY_PORT=""
 GALAXY_URL=""
 ONROAD_TEMP_PREFIX=""
@@ -262,6 +263,9 @@ cleanup() {
   if [[ -n "${GALAXY_PID}" ]]; then
     kill "${GALAXY_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${GPU_SYNC_PID}" ]]; then
+    kill "${GPU_SYNC_PID}" >/dev/null 2>&1 || true
+  fi
 
   for pid in "${UI_PIDS[@]-}"; do
     if [[ -n "${pid}" ]]; then
@@ -286,6 +290,9 @@ cleanup() {
   if [[ -n "${GALAXY_PID}" ]]; then
     wait "${GALAXY_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${GPU_SYNC_PID}" ]]; then
+    wait "${GPU_SYNC_PID}" >/dev/null 2>&1 || true
+  fi
 
   if [[ -n "${ONROAD_TEMP_PREFIX:-}" && "${ONROAD_TEMP_PREFIX}" == desktop-onroad-* ]]; then
     echo "Cleaning up temporary prefix environment (${ONROAD_TEMP_PREFIX})..."
@@ -468,6 +475,11 @@ launch_replay() {
   fi
 }
 
+launch_gpu_param_sync() {
+  "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/onroad_config.py" sync-gpu &
+  GPU_SYNC_PID=$!
+}
+
 launch_nav_demo() {
   echo "Starting fake nav demo publisher..."
   "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/fake_nav_demo.py" &
@@ -687,6 +699,7 @@ fi
 
 echo "Starting replay: ${REPLAY_ARGS[*]}"
 launch_replay
+launch_gpu_param_sync
 
 if [[ "${NAV_DEMO}" == "1" && "${OFFROAD_DEMO}" != "1" ]]; then
   launch_nav_demo

tools/agnos/patch_system_reset_image.py

@@ -261,6 +261,12 @@ def install_bundled_installer(owner: str, branch: str, installer_url: str) -> No
     'CONNECTIVITY_URL = "https://openpilot.comma.ai"\nOPENPILOT_URL = "file:///usr/comma/installer"' + bundled_installer_helper,
   )
 
+  source = replace_exactly(
+    source,
+    'USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"',
+    'USER_AGENT = f"AGNOSSetup-{\'.\'.join(HARDWARE.get_os_version().split(\'.\')[:2])}"',
+  )
+
   source = replace_exactly(
     source,
     '''    # autocomplete incomplete URLs
@@ -273,7 +279,7 @@ def install_bundled_installer(owner: str, branch: str, installer_url: str) -> No
     # installer.comma.ai binary targets Wayland and cannot run in this AGNOS.
     self.installer_url = ("https://installer.comma.ai/firestar5683/StarPilot" if url == OPENPILOT_URL else url)
     self.bundled_installer_target = (("firestar5683", "StarPilot") if url == OPENPILOT_URL else None)
-    match = re.fullmatch(r"(?:https://installer\\.comma\\.ai/)?([A-Za-z0-9_.-]+)/([A-Za-z0-9_.-]+)", url)
+    match = re.fullmatch(r"(?:https://installer\\.comma\\.ai/)?([A-Za-z0-9_-]+)/([A-Za-z0-9_.-]+)", url)
     if match:
       self.bundled_installer_target = match.groups()
       self.installer_url = f"https://installer.comma.ai/{'/'.join(self.bundled_installer_target)}"
@@ -444,6 +450,7 @@ def validate_factory_install_payloads(setup: Path, installer: Path) -> None:
       if "CONNECTIVITY_URL = \"https://openpilot.comma.ai\"" not in source:
         raise RuntimeError(f"Connectivity check changed unexpectedly in {member}")
       for expected in (
+        'USER_AGENT = f"AGNOSSetup-{\'.\'.join(HARDWARE.get_os_version().split(\'.\')[:2])}"',
         "patch_bundled_installer(tmpfile, *self.bundled_installer_target)",
         "install_bundled_installer(*bundled_target, self.installer_url)",
         'self.bundled_installer_target = (("firestar5683", "StarPilot") if url == OPENPILOT_URL else None)',

tools/agnos/test_patch_system_reset_image.py

@@ -1,6 +1,7 @@
 import importlib.util
 import json
 import os
+import re
 import zipfile
 from pathlib import Path
 
@@ -120,7 +121,8 @@ def _setup_source(member: str) -> str:
       'error_msg = "Ensure the entered URL is valid, and the device\'s internet connection is good."\n'
       '      self.download_failed(self.download_url, error_msg)'
     )
-  return f'''OPENPILOT_URL = "https://openpilot.comma.ai"
+  return f'''USER_AGENT = f"AGNOSSetup-{{HARDWARE.get_os_version()}}"
+OPENPILOT_URL = "https://openpilot.comma.ai"
 {connectivity}
 {labels}
   def download(self, url: str):
@@ -178,6 +180,9 @@ def test_patch_setup_zipapp_preserves_prefix_and_custom_flow(tmp_path):
   assert 'ButtonRadio("StarPilot"' in tici
   assert "urllib.request.urlopen(CONNECTIVITY_URL" in tici
   for setup_source in (mici, tici):
+    assert 'USER_AGENT = f"AGNOSSetup-{\'.\'.join(HARDWARE.get_os_version().split(\'.\')[:2])}"' in setup_source
+    assert 're.fullmatch(r"(?:https://installer\\.comma\\.ai/)?([A-Za-z0-9_-]+)/([A-Za-z0-9_.-]+)", url)' in setup_source
+    assert "install.sunnypilot.ai/release-mici" in setup_source
     assert "patch_bundled_installer(tmpfile, *self.bundled_installer_target)" in setup_source
     assert "install_bundled_installer(*bundled_target, self.installer_url)" in setup_source
     assert 'self.bundled_installer_target = (("firestar5683", "StarPilot") if url == OPENPILOT_URL else None)' in setup_source
@@ -188,6 +193,19 @@ def test_patch_setup_zipapp_preserves_prefix_and_custom_flow(tmp_path):
     assert "self.download_url == OPENPILOT_URL" in setup_source
     assert 'url = f"https://installer.comma.ai/{url}"' not in setup_source
 
+  shorthand_pattern = r"(?:https://installer\.comma\.ai/)?([A-Za-z0-9_-]+)/([A-Za-z0-9_.-]+)"
+  assert re.fullmatch(shorthand_pattern, "sunnypilot/release-mici").groups() == ("sunnypilot", "release-mici")
+  assert re.fullmatch(shorthand_pattern, "https://installer.comma.ai/sunnypilot/release-mici").groups() == (
+    "sunnypilot", "release-mici",
+  )
+  for installer_url in (
+    "install.sunnypilot.ai/release-mici",
+    "https://install.sunnypilot.ai/release-mici",
+    "staging.sunnypilot.ai",
+    "dev.sunnypilot.ai",
+  ):
+    assert re.fullmatch(shorthand_pattern, installer_url) is None
+
 
 def test_patch_installer_binary_keeps_elf_layout_and_targets_starpilot(tmp_path):
   source = tmp_path / "installer"

tools/agnos/validate_agnos_runtime.sh

@@ -42,6 +42,8 @@ with zipfile.ZipFile("/usr/comma/setup") as setup:
     source = setup.read(member).decode("utf-8")
     assert 'OPENPILOT_URL = "file:///usr/comma/installer"' in source, member
     assert 'CONNECTIVITY_URL = "https://openpilot.comma.ai"' in source, member
+    assert 'USER_AGENT = f"AGNOSSetup-{\'.\'.join(HARDWARE.get_os_version().split(\'.\')[:2])}"' in source, member
+    assert 're.fullmatch(r"(?:https://installer\\.comma\\.ai/)?([A-Za-z0-9_-]+)/([A-Za-z0-9_.-]+)", url)' in source, member
     assert "StarPilot" in source, member
     assert "install_bundled_installer(*bundled_target, self.installer_url)" in source, member
     assert 'self.bundled_installer_target = (("firestar5683", "StarPilot") if url == OPENPILOT_URL else None)' in source, member
@@ -80,7 +82,7 @@ c548c10b875b8841637017503ac73b1d466a36926df59fc5382221c021738d90  /usr/local/lib
 41b0a5e7807506779f2163d23d5120949efaeeaf96fb9b69758551c9af7c7c1a  /usr/local/lib/libswresample.so.3.5.100
 370d154aaf7e1e9ee433c069348ae885036a9d8cc4c8babfbfae12c8d5b3f2e8  /usr/comma/installer
 934f74ab4b2ac06048418c2857be3a041e192ec03c09979987691c23c91353bd  /usr/comma/setup_keys
-6565acac9eb8167931f6ad50c62254b64f037d21a7944456bd8ec328c7f4af0b  /usr/comma/setup
+d3f66148cb25ce381f5abf33cd9e0a2eb5e7fa20b137eeb1bf226d05534fc32f  /usr/comma/setup
 bcba2b336cf0ca852786f8a58bbce407e0e9fe952c26fc5d903f6d9a34b44b4f  /usr/comma/comma.sh
 HASHES
 

tools/replay/onroad_config.py

@@ -55,6 +55,47 @@ class ReplayArgs:
   auto_source: bool = False
 
 
+@dataclass
+class ReplayGpuState:
+  """Reconstruct modeld's transient GPU Params from replayed messages."""
+  present: bool = False
+  compiled: bool = False
+  loading: bool = False
+  active: bool = False
+  failed: bool = False
+
+  def update(self, *, present: bool | None = None, event_names: Sequence[str] = (), model_updated: bool = False) -> tuple[bool, bool, bool, bool]:
+    loading_event = "bigModelLoading" in event_names
+    failed_event = "bigModelFailed" in event_names
+
+    if present is not None:
+      self.present = present
+      if not present:
+        self.compiled = False
+        self.loading = False
+        self.active = False
+        self.failed = False
+
+    if loading_event or failed_event:
+      self.present = True
+      self.compiled = True
+
+    if loading_event:
+      self.loading = True
+      self.active = False
+      self.failed = False
+    elif failed_event:
+      self.loading = False
+      self.active = False
+      self.failed = True
+    elif model_updated and self.present and self.compiled and not self.failed:
+      self.compiled = True
+      self.loading = False
+      self.active = True
+
+    return self.present, self.compiled, self.loading, self.active
+
+
 def _truthy_env(name: str) -> bool:
   return os.getenv(name, "").lower() in {"1", "true", "yes", "on"}
 
@@ -291,10 +332,34 @@ def _cmd_seed(args: Sequence[str]) -> int:
   return 0
 
 
+def _cmd_sync_gpu() -> int:
+  from cereal import messaging
+
+  params = Params()
+  sm = messaging.SubMaster(["deviceState", "onroadEvents", "modelV2"])
+  state = ReplayGpuState()
+  last_values: tuple[bool, bool, bool, bool] | None = None
+
+  while True:
+    sm.update(1000)
+    if not any(sm.updated.values()):
+      continue
+
+    present = bool(sm["deviceState"].chestnutPresent) if sm.updated["deviceState"] else None
+    event_names = tuple(str(event.name) for event in sm["onroadEvents"]) if sm.updated["onroadEvents"] else ()
+    values = state.update(present=present, event_names=event_names, model_updated=sm.updated["modelV2"])
+    if values == last_values:
+      continue
+
+    for key, value in zip(("UsbGpuPresent", "UsbGpuCompiled", "UsbGpuLoading", "UsbGpuActive"), values, strict=True):
+      params.put_bool(key, value)
+    last_values = values
+
+
 def main(argv: Sequence[str] | None = None) -> int:
   argv = list(sys.argv[1:] if argv is None else argv)
   if not argv or argv[0] in {"-h", "--help"}:
-    print("Usage: onroad_config.py (select-ui|seed) <replay-args...>", file=sys.stderr)
+    print("Usage: onroad_config.py (select-ui|seed|sync-gpu) <replay-args...>", file=sys.stderr)
     return 2
 
   command = argv[0]
@@ -306,6 +371,8 @@ def main(argv: Sequence[str] | None = None) -> int:
     return _cmd_select_ui(args)
   if command == "seed":
     return _cmd_seed(args)
+  if command == "sync-gpu":
+    return _cmd_sync_gpu()
 
   print(f"Unknown command: {command}", file=sys.stderr)
   return 2

tools/replay/tests/test_onroad_config.py

@@ -81,6 +81,24 @@ def test_select_ui_uses_c3_for_all_big_routes():
   assert onroad_config.select_ui_target(None) == "c3"
 
 
+def test_replay_gpu_state_reconstructs_loading_failure_and_restart():
+  state = onroad_config.ReplayGpuState()
+
+  assert state.update(present=True) == (True, False, False, False)
+  assert state.update(event_names=("selfdriveInitializing", "bigModelLoading")) == (True, True, True, False)
+  assert state.update(event_names=("bigModelFailed",), model_updated=True) == (True, True, False, False)
+  assert state.update(model_updated=True) == (True, True, False, False)
+  assert state.update(event_names=("bigModelLoading",)) == (True, True, True, False)
+  assert state.update(model_updated=True) == (True, True, False, True)
+
+
+def test_replay_gpu_state_detects_active_later_segment():
+  state = onroad_config.ReplayGpuState()
+
+  assert state.update(present=True, model_updated=True) == (True, True, False, True)
+  assert state.update(present=False) == (False, False, False, False)
+
+
 def test_seed_onroad_params_uses_logged_disabled_bool_and_desktop_overrides(monkeypatch):
   monkeypatch.setenv("SP_ONROAD_NAV_DEMO", "1")
   params = FakeParams()