fla

scripts/model_compiler.py

@@ -65,7 +65,7 @@ def build_compile_env() -> dict[str, str]:
   return env
 
 
-def wait_for_external_gpu(compile_env: dict[str, str]) -> None:
+def wait_for_external_gpu(compile_env: dict[str, str]) -> bool:
   """Wait for the USB GPU's PCIe link before starting the large model build.
 
   The dock can enumerate on USB before its PCIe link has finished training.
@@ -101,12 +101,16 @@ def wait_for_external_gpu(compile_env: dict[str, str]) -> None:
       continue
 
     if result.returncode == 0:
-      return
+      return True
     detail = (result.stderr or result.stdout).strip()
     diagnostics.append((detail[-2000:] if detail else f"probe exited with status {result.returncode}"))
 
   detail = diagnostics[-1] if diagnostics else "unknown error"
-  raise RuntimeError(f"External GPU PCIe link was not ready after {USBGPU_PROBE_ATTEMPTS} probes: {detail}")
+  print(
+    f"Warning: external GPU probe did not become ready after {USBGPU_PROBE_ATTEMPTS} probes: {detail}\n"
+    "  Continuing; compile_modeld will perform the authoritative link wait and initialization."
+  )
+  return False
 
 
 def parse_args() -> argparse.Namespace:

starpilot/system/the_galaxy/assets/components/tools/device_settings.js

@@ -11,7 +11,7 @@ const FAVORITE_OPTION_COLLATOR = new Intl.Collator(undefined, { numeric: true, s
 const FAVORITE_ACTION_PREFIX = "__starpilot_favorite_action__:"
 const GALAXY_DEVELOPER_MODE_KEY = "GalaxyDeveloperMode"
 const HIDDEN_SECTION_NAMES = new Set(["Model & Customization"])
-const HIDDEN_SETTING_KEYS = new Set(["DisableWideRoad", "HumanAcceleration", "ReverseCruise"])
+const HIDDEN_SETTING_KEYS = new Set(["HumanAcceleration", "ReverseCruise"])
 const GM_MAKES = ["Buick", "Cadillac", "Chevrolet", "GMC", "Holden"]
 const HKG_MAKES = ["Genesis", "Hyundai", "Kia"]
 const VEHICLE_SETTING_MAKES = {

starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json

@@ -2481,6 +2481,14 @@
         "ui_type": "toggle",
         "parent_key": "AdvancedCustomUI",
         "settings_tier": "simple"
+      },
+      {
+        "key": "DisableWideRoad",
+        "label": "Disable Wide Road Camera",
+        "description": "Only enable this if the wide camera is broken or for development!\n\nDisabling the wide camera may degrade driving performance and cause instability.\n\nRequires a reboot to take effect.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "settings_tier": "advanced"
       }
     ]
   },

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -1,4 +1,5 @@
 import json
+import importlib.util
 import re
 from pathlib import Path
 
@@ -6,6 +7,7 @@ from pathlib import Path
 REPO_ROOT = Path(__file__).resolve().parents[4]
 LAYOUT_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json"
 PARAM_KEYS_PATH = REPO_ROOT / "common/params_keys.h"
+GENERATOR_PATH = REPO_ROOT / "tools/StarPilot/generate_galaxy_layout.py"
 
 
 def _layout():
@@ -29,13 +31,27 @@ def _declared_default(key):
   return match.group(1)
 
 
+def _generator_module():
+  spec = importlib.util.spec_from_file_location("generate_galaxy_layout", GENERATOR_PATH)
+  assert spec is not None and spec.loader is not None
+  module = importlib.util.module_from_spec(spec)
+  spec.loader.exec_module(module)
+  return module
+
+
 def test_galaxy_layout_removes_obsolete_and_duplicate_controls():
   layout = _layout()
   sections = _params_by_section(layout)
   all_keys = {key for params in sections.values() for key in params}
 
   assert "Model & Customization" not in sections
-  assert {"HumanAcceleration", "ReverseCruise", "DisableWideRoad"}.isdisjoint(all_keys)
+  assert {"HumanAcceleration", "ReverseCruise"}.isdisjoint(all_keys)
+  assert "DisableWideRoad" in sections["Visual (Display & UI)"]
+  assert sum(
+    param.get("key") == "DisableWideRoad"
+    for section in layout
+    for param in section.get("params", [])
+  ) == 1
 
 
 def test_galaxy_layout_contains_basic_mode_controls():
@@ -75,6 +91,11 @@ def test_every_galaxy_setting_has_a_shared_settings_tier():
   assert None not in tiers
 
 
+def test_galaxy_layout_generator_is_semantically_idempotent():
+  layout = _layout()
+  assert _generator_module().generate_layout(layout) == layout
+
+
 def test_requested_simple_and_advanced_settings_tiers():
   sections = _params_by_section(_layout())
   lateral = sections["Lateral (Steering)"]
@@ -90,7 +111,11 @@ def test_requested_simple_and_advanced_settings_tiers():
   ):
     params = sections[section_name].values()
     if section_name == "Visual (Display & UI)":
-      params = [param for param in params if not param["key"].startswith("PIPPreview")]
+      params = [
+        param for param in params
+        if not param["key"].startswith("PIPPreview")
+        and param["key"] != "DisableWideRoad"
+      ]
     assert {param["settings_tier"] for param in params} == {"simple"}
 
   for key in ("AlwaysOnLateral", "LaneChanges", "QOLLateral"):
@@ -123,6 +148,7 @@ def test_requested_simple_and_advanced_settings_tiers():
   assert developer["UseOldUI"]["settings_tier"] == "simple"
   assert developer["DeveloperUI"]["settings_tier"] == "advanced"
   assert developer["RedneckCruise"]["settings_tier"] == "advanced"
+  assert sections["Visual (Display & UI)"]["DisableWideRoad"]["settings_tier"] == "advanced"
 
 
 def test_hidden_feature_defaults_remain_enabled():

tools/StarPilot/generate_galaxy_layout.py

@@ -62,7 +62,8 @@ INJECTED_SECTION_PARAMS = {
 # Keys explicitly hidden from The Galaxy's generic settings UI.
 HIDDEN_KEYS = {
     "HumanAcceleration",
-    "DisableWideRoad",
+    "HideLeadMarker",
+    "HideSpeedLimit",
     "LockDoorsTimer",
     "NewLongAPI",
     "ToyotaDoors",
@@ -74,6 +75,18 @@ HIDDEN_SECTION_NAMES = {"Model & Customization"}
 # Keys that are boolean toggles despite ambiguous defaults in starpilot_variables.py.
 FORCE_BOOL_KEYS = {"EVTuning"}
 
+# These fields are intentionally allowed to differ from the Qt source. Galaxy
+# has its own copy, nesting, and browser-only behavior for otherwise shared
+# params, so regeneration must not discard those overrides.
+GALAXY_OVERRIDE_FIELDS = {
+    "label",
+    "description",
+    "parent_key",
+    "is_parent_toggle",
+    "disabled_when_key_true",
+    "disabled_reason",
+}
+
 
 def get_param_settings_tiers():
     params_path = os.path.join(REPO_ROOT, "common/params_keys.h")
@@ -105,6 +118,9 @@ def apply_settings_tiers(layout):
             resolving.add(key)
 
             parent_key = params_by_key.get(key, {}).get("parent_key")
+            if parent_key == "GalaxyDeveloperMode":
+                resolved[key] = "advanced"
+                return resolved[key]
             own_tier = PARAM_SETTINGS_TIERS.get(key)
             if parent_key:
                 parent_tier = resolve_tier(parent_key, resolving)
@@ -601,8 +617,14 @@ def parse_cpp_file(filename):
 
 
 def merge_layouts(existing_layout, generated_layout):
-    existing_sections = {section["name"]: section for section in existing_layout}
     generated_sections = {section["name"]: section for section in generated_layout}
+    existing_keys = {
+        param["key"]
+        for section in existing_layout
+        for param in section.get("params", [])
+        if "key" in param
+    }
+    merged_keys = set(existing_keys)
 
     merged_layout = []
 
@@ -625,16 +647,21 @@ def merge_layouts(existing_layout, generated_layout):
         for param in existing_params:
             key = param["key"]
             if key in generated_by_key:
-                merged_params.append(generated_by_key[key])
+                merged_param = dict(param)
+                for field, value in generated_by_key[key].items():
+                    if field not in GALAXY_OVERRIDE_FIELDS and field != "settings_tier":
+                        merged_param[field] = value
+                merged_params.append(merged_param)
             else:
                 merged_params.append(param)
             seen_keys.add(key)
 
         for param in generated_params:
             key = param["key"]
-            if key not in seen_keys:
+            if key not in seen_keys and key not in merged_keys:
                 merged_params.append(param)
                 seen_keys.add(key)
+                merged_keys.add(key)
 
         merged_section = dict(section)
         merged_section["icon"] = generated.get("icon", section.get("icon"))
@@ -648,7 +675,8 @@ def merge_layouts(existing_layout, generated_layout):
 
     return merged_layout
 
-def main():
+
+def generate_layout(existing_layout=None):
     generated_layout = []
     for cat in CATEGORIES:
         items = parse_cpp_file(cat["file"])
@@ -662,15 +690,22 @@ def main():
                 "icon": cat["icon"],
                 "params": items
             })
+
+    layout = generated_layout if existing_layout is None else merge_layouts(existing_layout, generated_layout)
+    return apply_settings_tiers(layout)
+
+def main():
     output_path = os.path.join(REPO_ROOT, "starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json")
-    layout = generated_layout
+    existing_layout = None
     if os.path.exists(output_path):
         with open(output_path, 'r', encoding='utf-8') as f:
             existing_layout = json.load(f)
-        layout = merge_layouts(existing_layout, generated_layout)
-    layout = apply_settings_tiers(layout)
+    layout = generate_layout(existing_layout)
+    if layout == existing_layout:
+        return
     with open(output_path, 'w', encoding='utf-8') as f:
         json.dump(layout, f, indent=2, ensure_ascii=False)
+        f.write("\n")
 
 if __name__ == '__main__':
     main()