oopsie

scripts/speed_limit_vision/build_manual_review_queue.py

@@ -120,6 +120,7 @@ def parse_args() -> argparse.Namespace:
   parser.add_argument("--transition-step", type=float, default=0.75, help="Seconds between transition-window samples.")
   parser.add_argument("--max-frames-per-route", type=int, default=1200, help="Maximum frames to score per route.")
   parser.add_argument("--max-candidates-per-route", type=int, default=500, help="Maximum review candidates to keep per route.")
+  parser.add_argument("--max-candidates-per-frame", type=int, default=1, help="Maximum detector candidates to keep from a single video frame. 0 keeps all.")
   parser.add_argument("--max-negatives-per-route", type=int, default=60, help="Maximum empty/no-candidate frames to keep per route.")
   parser.add_argument("--min-proposal-confidence", type=float, default=0.025, help="Loose detector confidence floor for review candidates.")
   parser.add_argument("--no-read-min-proposal-confidence", type=float, default=0.12, help="Keep no-value detector boxes above this confidence.")
@@ -375,8 +376,7 @@ def cluster_key(route_id: str, segment: int, time_s: float, frame_shape: tuple[i
   time_bucket = int(math.floor(time_s / max(dedupe_seconds, 0.1)))
   grid_x = int(center_x * 12)
   grid_y = int(center_y * 8)
-  value = candidate["candidate_speed_limit_mph"] or "none"
-  return f"{route_id}|{segment}|{time_bucket}|{candidate['class_id']}|{value}|{grid_x}|{grid_y}"
+  return f"{route_id}|{segment}|{time_bucket}|{candidate['class_id']}|{grid_x}|{grid_y}"
 
 
 def candidate_record_key(route_key: str, segment: int, time_s: float, index: int) -> str:
@@ -423,17 +423,25 @@ def mine_route(route_id: str, daemon: slv.SpeedLimitVisionDaemon, args: argparse
       full_detection = daemon._detect_sign(frame_bgr) if args.include_full_detection else None
       proposals = daemon._collect_detector_classifier_proposals(frame_bgr)
       candidate_index = 0
-      kept_any = False
+      frame_candidates: list[tuple[int, dict[str, object], object]] = []
       for proposal in proposals:
         candidate = analyze_proposal(daemon, frame_bgr, proposal, full_detection, context, args)
         if candidate is None:
           continue
         candidate_index += 1
+        x1, y1, x2, y2 = candidate["crop_bbox"]
+        crop = frame_bgr[y1:y2, x1:x2]
+        frame_candidates.append((candidate_index, candidate, crop))
+
+      frame_candidates.sort(key=lambda item: float(item[1]["review_priority"]), reverse=True)
+      if args.max_candidates_per_frame > 0:
+        frame_candidates = frame_candidates[:args.max_candidates_per_frame]
+      kept_any = bool(frame_candidates)
+
+      for candidate_index, candidate, crop in frame_candidates:
         record_key = candidate_record_key(route_key, segment.segment, time_s, candidate_index)
         frame_path = frame_dir / f"{record_key}.jpg"
         crop_path = crop_dir / f"{record_key}_crop.jpg"
-        x1, y1, x2, y2 = candidate["crop_bbox"]
-        crop = frame_bgr[y1:y2, x1:x2]
         row = {
           "record_key": record_key,
           "route": route_id,

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -560,8 +560,8 @@ IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_WIDTH = 0.035
 IONIQ_6_LOW_SPEED_PID_RESET_SPEED = 0.1 * CV.MPH_TO_MS
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.90
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.18
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.06
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.17
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.03
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.11
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.78
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.10
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5

system/manager/process.py

@@ -24,7 +24,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.watchdog import WATCHDOG_FN
 
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
-PYTHON_PROCESS_START_METHOD = os.getenv("PYTHON_PROCESS_START_METHOD", "subprocess")
 
 DEBUG_ENV_KEYS = (
   "XDG_RUNTIME_DIR",
@@ -644,7 +643,7 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, nice=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, nice=None, start_method=None):
     self.name = name
     self.module = module
     self.should_run = should_run
@@ -652,6 +651,7 @@ class PythonProcess(ManagerProcess):
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
     self.nice = nice
+    self.start_method = start_method
     self.launcher = launcher
 
   def prepare(self) -> None:
@@ -682,14 +682,15 @@ class PythonProcess(ManagerProcess):
     name = self.name if "modeld" not in self.name else "MainProcess"
 
     cloudlog.info(f"starting python {self.module}")
-    if PYTHON_PROCESS_START_METHOD == "subprocess":
+    start_method = self.start_method or os.getenv("PYTHON_PROCESS_START_METHOD", "fork")
+    if start_method == "subprocess":
       launcher_code = (
         "from openpilot.system.manager.process import launcher; "
         f"launcher({self.module!r}, {self.name!r}, {self.nice!r})"
       )
       self.proc = SubprocessProcess(subprocess.Popen([sys.executable, "-c", launcher_code]))
     else:
-      self.proc = multiprocessing.get_context(PYTHON_PROCESS_START_METHOD).Process(
+      self.proc = multiprocessing.get_context(start_method).Process(
         name=name,
         target=self.launcher,
         args=(self.module, self.name, self.nice),

system/manager/process_config.py

@@ -7,10 +7,42 @@ from types import SimpleNamespace
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE, PC, TICI
-from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 UI_WATCHDOG_MAX_DT = int(os.getenv("UI_WATCHDOG_MAX_DT", "10"))
+device_type = HARDWARE.get_device_type()
+
+
+def _env_bool(name: str) -> bool | None:
+  value = os.getenv(name)
+  if value is None:
+    return None
+  return value.strip().lower() in ("1", "true", "yes", "on")
+
+
+def python_ui_enabled(device_type: str) -> bool:
+  for env_name in ("USE_PYTHON_UI", "USE_RAYLIB_UI"):
+    enabled = _env_bool(env_name)
+    if enabled is not None:
+      return enabled
+
+  native_ui = _env_bool("USE_NATIVE_UI")
+  if native_ui is not None:
+    return not native_ui
+
+  return device_type not in ("tici", "tizi")
+
+
+def python_process_start_method(uses_python_ui: bool, is_pc: bool = PC) -> str:
+  # Native/QT UI devices rely on fork copy-on-write to keep onroad memory low.
+  # Python/raylib UI uses subprocess to avoid fork/import-lock boot hangs.
+  return "fork" if is_pc or not uses_python_ui else "subprocess"
+
+
+PYTHON_UI = python_ui_enabled(device_type)
+os.environ.setdefault("PYTHON_PROCESS_START_METHOD", python_process_start_method(PYTHON_UI))
+
+from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 def driverview(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
   return started or params.get_bool("IsDriverViewEnabled")
@@ -143,12 +175,10 @@ procs += [
   PythonProcess("galaxy", "starpilot.system.galaxy.galaxy", always_run, nice=19),
 ]
 
-device_type = HARDWARE.get_device_type()
-if device_type in ("tici", "tizi"):
-  procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
-else:
-  # C4 (mici) runs the Python raylib UI path.
+if PYTHON_UI:
   procs.append(PythonProcess("ui", "selfdrive.ui.ui", always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
+else:
+  procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
 
 procs += [
   PythonProcess("device_syncd", "starpilot.system.device_syncd", always_run),

system/manager/test/test_manager.py

@@ -9,7 +9,7 @@ from cereal import car
 from openpilot.common.params import Params, ParamKeyFlag
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
-from openpilot.system.manager.process_config import managed_processes, procs
+from openpilot.system.manager.process_config import managed_processes, procs, python_process_start_method, python_ui_enabled
 from openpilot.system.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
@@ -111,6 +111,18 @@ class TestManager:
     assert names.index("the_galaxy") < ui_idx
     assert names.index("galaxy") < ui_idx
 
+  def test_python_process_start_method_follows_ui_implementation(self):
+    assert python_process_start_method(False, False) == "fork"
+    assert python_process_start_method(True, False) == "subprocess"
+    assert python_process_start_method(True, True) == "fork"
+
+  def test_python_ui_env_override(self, monkeypatch):
+    monkeypatch.setenv("USE_RAYLIB_UI", "1")
+    assert python_ui_enabled("tici") is True
+
+    monkeypatch.setenv("USE_RAYLIB_UI", "0")
+    assert python_ui_enabled("mici") is False
+
   def test_manager_startup_toggles_use_params_only(self, tmp_path, monkeypatch):
     monkeypatch.setenv("GIT_BRANCH", "StarPilot")
     params = FileBackedFakeParams(tmp_path / "params", {