patches

scripts/host_tool_runner.sh

@@ -311,11 +311,14 @@ sync_worktree() {
     "msgq_repo/msgq/visionipc/visionipc_pyx.so"
     "rednose_repo/rednose/helpers/ekf_sym_pyx.so"
     "selfdrive/modeld/models/commonmodel_pyx.so"
+    "selfdrive/pandad/libcan_list_to_can_capnp.a"
     "selfdrive/pandad/pandad_api_impl.so"
     "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
     "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so"
+    "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib"
     "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
     "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"
+    "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.dylib"
     "third_party/libjson11.a"
     "third_party/libkaitai.a"
   )

scripts/launch_ui_c4_desktop.sh

@@ -64,6 +64,14 @@ runtime_artifacts=(
   "msgq/ipc_pyx.so"
   "msgq/visionipc/visionipc_pyx.so"
   "common/transformations/transformations.so"
+  "selfdrive/pandad/pandad_api_impl.so"
+  "selfdrive/pandad/pandad_api_impl.o"
+  "selfdrive/pandad/can_list_to_can_capnp.o"
+  "selfdrive/pandad/libcan_list_to_can_capnp.a"
+  "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
+  "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib"
+  "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
+  "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.dylib"
 )
 
 collect_tracked_dirty() {
@@ -181,16 +189,27 @@ prepare_msgq_host_artifacts() {
   fi
 }
 
+prepare_pandad_host_artifacts() {
+  remove_if_elf "selfdrive/pandad/pandad_api_impl.so"
+  remove_if_elf "selfdrive/pandad/pandad_api_impl.o"
+  remove_if_elf "selfdrive/pandad/can_list_to_can_capnp.o"
+
+  # Host builds always regenerate this small archive locally. Device-built
+  # variants are not reusable across platforms and can poison the link step.
+  rm -f "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a"
+}
+
 python_ui_runtime_ok() {
   "${PY_BIN}" - <<'PY'
 import pyray  # noqa: F401
 import openpilot.common.params_pyx  # noqa: F401
 import openpilot.common.transformations.transformations  # noqa: F401
+import openpilot.selfdrive.pandad.pandad_api_impl  # noqa: F401
 import msgq.ipc_pyx  # noqa: F401
 import msgq.visionipc.visionipc_pyx  # noqa: F401
+import openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx  # noqa: F401
+import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx  # noqa: F401
 PY
-  [[ -f "${ROOT_DIR}/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]] &&
-  [[ -f "${ROOT_DIR}/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]]
 }
 
 sync_deps() {
@@ -253,17 +272,21 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
   sync_raylib
   prepare_common_host_artifacts
   prepare_msgq_host_artifacts
+  prepare_pandad_host_artifacts
   remove_if_elf "common/params_pyx.so"
   remove_if_elf "common/transformations/transformations.so"
   remove_if_elf "msgq/ipc_pyx.so"
   remove_if_elf "msgq/visionipc/visionipc_pyx.so"
+  remove_if_elf "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
+  remove_if_elf "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
 
   run_scons "${jobs}" common/params_pyx.so common/transformations/transformations.so
+  # Building the Cython module pulls in the platform-specific acados solver
+  # library via SCons dependencies, so the host path does not need to name the
+  # solver shared library extension explicitly.
   run_scons "${jobs}" \
     selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
-    selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so \
-    selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
-    selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
+    selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
   (
     cd "${ROOT_DIR}/msgq_repo"
     local_scons_bin="${ROOT_DIR}/.venv/bin/scons"

scripts/launch_ui_raybig_desktop.sh

@@ -64,6 +64,14 @@ runtime_artifacts=(
   "msgq/ipc_pyx.so"
   "msgq/visionipc/visionipc_pyx.so"
   "common/transformations/transformations.so"
+  "selfdrive/pandad/pandad_api_impl.so"
+  "selfdrive/pandad/pandad_api_impl.o"
+  "selfdrive/pandad/can_list_to_can_capnp.o"
+  "selfdrive/pandad/libcan_list_to_can_capnp.a"
+  "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
+  "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib"
+  "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
+  "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.dylib"
 )
 
 collect_tracked_dirty() {
@@ -181,16 +189,27 @@ prepare_msgq_host_artifacts() {
   fi
 }
 
+prepare_pandad_host_artifacts() {
+  remove_if_elf "selfdrive/pandad/pandad_api_impl.so"
+  remove_if_elf "selfdrive/pandad/pandad_api_impl.o"
+  remove_if_elf "selfdrive/pandad/can_list_to_can_capnp.o"
+
+  # Host builds always regenerate this small archive locally. Device-built
+  # variants are not reusable across platforms and can poison the link step.
+  rm -f "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a"
+}
+
 python_ui_runtime_ok() {
   "${PY_BIN}" - <<'PY'
 import pyray  # noqa: F401
 import openpilot.common.params_pyx  # noqa: F401
 import openpilot.common.transformations.transformations  # noqa: F401
+import openpilot.selfdrive.pandad.pandad_api_impl  # noqa: F401
 import msgq.ipc_pyx  # noqa: F401
 import msgq.visionipc.visionipc_pyx  # noqa: F401
+import openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx  # noqa: F401
+import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx  # noqa: F401
 PY
-  [[ -f "${ROOT_DIR}/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]] &&
-  [[ -f "${ROOT_DIR}/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]]
 }
 
 sync_deps() {
@@ -253,17 +272,21 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
   sync_raylib
   prepare_common_host_artifacts
   prepare_msgq_host_artifacts
+  prepare_pandad_host_artifacts
   remove_if_elf "common/params_pyx.so"
   remove_if_elf "common/transformations/transformations.so"
   remove_if_elf "msgq/ipc_pyx.so"
   remove_if_elf "msgq/visionipc/visionipc_pyx.so"
+  remove_if_elf "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
+  remove_if_elf "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
 
   run_scons "${jobs}" common/params_pyx.so common/transformations/transformations.so
+  # Building the Cython module pulls in the platform-specific acados solver
+  # library via SCons dependencies, so the host path does not need to name the
+  # solver shared library extension explicitly.
   run_scons "${jobs}" \
     selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
-    selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so \
-    selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
-    selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
+    selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
   (
     cd "${ROOT_DIR}/msgq_repo"
     local_scons_bin="${ROOT_DIR}/.venv/bin/scons"

selfdrive/ui/mici/layouts/main.py

@@ -6,7 +6,6 @@ from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
 from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
 from openpilot.system.ui.widgets import Widget
@@ -15,7 +14,6 @@ from openpilot.system.ui.lib.application import gui_app
 
 
 ONROAD_DELAY = 2.5  # seconds
-REVERSE_DRIVER_CAMERA_DELAY = 0.5  # seconds
 
 
 class MainState(IntEnum):
@@ -33,8 +31,6 @@ class MiciMainLayout(Widget):
     self._prev_onroad = False
     self._prev_standstill = False
     self._onroad_time_delay: float | None = None
-    self._reverse_started_time: float | None = None
-    self._reverse_driver_camera: DriverCameraDialog | None = None
     self._setup = False
 
     # Initialize widgets
@@ -65,7 +61,6 @@ class MiciMainLayout(Widget):
 
     # Set callbacks
     self._setup_callbacks()
-    gui_app.set_modal_overlay_tick(self._modal_overlay_tick)
 
     # Skip onboarding on desktop; keep normal flow on device.
     self._onboarding_window = None
@@ -89,8 +84,6 @@ class MiciMainLayout(Widget):
     if self._current_mode is None:
       self._set_mode(MainState.MAIN)
 
-    self._update_reverse_driver_camera()
-
     if not self._setup:
       if self._alerts_layout.active_alerts() > 0:
         self._scroller.scroll_to(self._alerts_layout.rect.x)
@@ -115,8 +108,6 @@ class MiciMainLayout(Widget):
       self._current_mode = mode
 
   def _handle_transitions(self):
-    self._update_reverse_driver_camera()
-
     if ui_state.started != self._prev_onroad:
       self._prev_onroad = ui_state.started
 
@@ -159,38 +150,3 @@ class MiciMainLayout(Widget):
     user_bookmark = messaging.new_message('bookmarkButton')
     user_bookmark.valid = True
     self._pm.send('bookmarkButton', user_bookmark)
-
-  def _modal_overlay_tick(self):
-    self._update_reverse_driver_camera()
-
-  def _update_reverse_driver_camera(self):
-    current_overlay = gui_app._modal_overlay.overlay
-    reverse_overlay = self._reverse_driver_camera
-    should_show = ui_state.started and ui_state.params.get_bool("DriverCamera") and self._onroad_layout.is_in_reverse()
-
-    if not should_show:
-      self._reverse_started_time = None
-      if current_overlay is reverse_overlay:
-        gui_app.set_modal_overlay(None)
-      self._reverse_driver_camera = None
-      return
-
-    now = rl.get_time()
-    if self._reverse_started_time is None:
-      self._reverse_started_time = now
-      return
-
-    if now - self._reverse_started_time < REVERSE_DRIVER_CAMERA_DELAY:
-      return
-
-    if current_overlay is reverse_overlay:
-      return
-
-    if current_overlay is not None:
-      return
-
-    if reverse_overlay is None:
-      self._reverse_driver_camera = DriverCameraDialog(no_escape=True)
-      reverse_overlay = self._reverse_driver_camera
-
-    gui_app.set_modal_overlay(reverse_overlay)

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -2,6 +2,7 @@ import time
 import numpy as np
 import pyray as rl
 from cereal import messaging, car, log
+from opendbc.car import structs
 from msgq.visionipc import VisionStreamType
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -32,6 +33,7 @@ CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
 WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
 DRIVER_CAM = VisionStreamType.VISION_STREAM_DRIVER
+GEAR_SHIFTER_REVERSE = structs.CarState.GearShifter.reverse
 DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
 
 CAMERA_VIEW_AUTO = 0
@@ -49,6 +51,7 @@ WIDE_CAM_MAX_SPEED = 10.0  # m/s
 ROAD_CAM_MIN_SPEED = 15.0  # m/s
 
 CAM_Y_OFFSET = 20
+REVERSE_DRIVER_CAMERA_DELAY_FRAMES = max(1, int(round(gui_app.target_fps * 0.5)))
 
 
 class BookmarkIcon(Widget):
@@ -367,6 +370,13 @@ class StandstillTimerOverlay:
     rl.draw_text_ex(font, text, shadow_pos, font_size, 0, rl.Color(0, 0, 0, 170))
     rl.draw_text_ex(font, text, text_pos, font_size, 0, color)
 
+  @staticmethod
+  def _fit_font_size(font: rl.Font, text: str, initial_size: int, max_width: float, minimum_size: int) -> int:
+    font_size = max(initial_size, minimum_size)
+    while font_size > minimum_size and rl.measure_text_ex(font, text, font_size, 0).x > max_width:
+      font_size -= 2
+    return font_size
+
   def render(self, rect: rl.Rectangle, in_reverse: bool) -> bool:
     self._update_state(in_reverse)
     if self._standstill_duration == 0:
@@ -374,8 +384,11 @@ class StandstillTimerOverlay:
 
     minute_text, second_text = self._format_duration_text(self._standstill_duration)
     duration_color = self._get_duration_color()
-    self._draw_centered_text(rect, minute_text, 210, self._font_bold, 176, duration_color)
-    self._draw_centered_text(rect, second_text, 290, self._font_medium, 66, rl.Color(255, 255, 255, 242))
+    max_text_width = max(rect.width - 36, 120)
+    minute_font_size = self._fit_font_size(self._font_bold, minute_text, int(rect.height * 0.34), max_text_width, 28)
+    second_font_size = self._fit_font_size(self._font_medium, second_text, int(rect.height * 0.15), max_text_width, 16)
+    self._draw_centered_text(rect, minute_text, rect.height * 0.42, self._font_bold, minute_font_size, duration_color)
+    self._draw_centered_text(rect, second_text, rect.height * 0.62, self._font_medium, second_font_size, rl.Color(255, 255, 255, 242))
     return True
 
 
@@ -395,6 +408,8 @@ class AugmentedRoadView(CameraView):
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
+    self._reverse_driver_camera_frames = 0
+    self._reverse_driver_camera_active = False
 
     # Bookmark icon with swipe gesture
     self._bookmark_icon = BookmarkIcon(bookmark_callback)
@@ -421,6 +436,17 @@ class AugmentedRoadView(CameraView):
   def _controls_ready() -> bool:
     return ui_state.sm.recv_frame["selfdriveState"] >= ui_state.started_frame
 
+  def _update_reverse_driver_camera_state(self) -> bool:
+    should_force_driver = ui_state.started and ui_state.params.get_bool("DriverCamera") and self._is_in_reverse()
+    if not should_force_driver:
+      self._reverse_driver_camera_frames = 0
+      self._reverse_driver_camera_active = False
+      return False
+
+    self._reverse_driver_camera_frames = min(self._reverse_driver_camera_frames + 1, REVERSE_DRIVER_CAMERA_DELAY_FRAMES)
+    self._reverse_driver_camera_active = self._reverse_driver_camera_frames >= REVERSE_DRIVER_CAMERA_DELAY_FRAMES
+    return self._reverse_driver_camera_active
+
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -503,7 +529,7 @@ class AugmentedRoadView(CameraView):
     )
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
-    if not in_reverse:
+    if is_driver_stream or not in_reverse:
       self._driver_state_renderer.render()
 
     self._hud_renderer.set_can_draw_top_icons((not in_reverse) and (not is_driver_stream) and (alert_to_render is None))
@@ -529,7 +555,7 @@ class AugmentedRoadView(CameraView):
     # Use self._content_rect for positioning within camera bounds
     if not in_reverse and not is_driver_stream:
       self._confidence_ball.render(self.rect)
-    if not in_reverse:
+    if is_driver_stream or not in_reverse:
       self._draw_border()
 
     self._bookmark_icon.render(self.rect)
@@ -557,21 +583,33 @@ class AugmentedRoadView(CameraView):
 
   @staticmethod
   def _is_in_reverse() -> bool:
+    if ui_state.sm.recv_frame["carState"] < ui_state.started_frame:
+      return False
+
     try:
       gear = ui_state.sm["carState"].gearShifter
     except Exception:
       return False
 
+    if gear == GEAR_SHIFTER_REVERSE:
+      return True
+
     reverse_enum = getattr(car.CarState.GearShifter, "reverse", None)
     if reverse_enum is not None and gear == reverse_enum:
       return True
 
-    return str(gear).lower().endswith("reverse")
+    return str(gear).split(".")[-1].lower() == "reverse"
 
   def is_in_reverse(self) -> bool:
     return self._is_in_reverse()
 
   def _switch_stream_if_needed(self, sm):
+    if self._update_reverse_driver_camera_state():
+      target = DRIVER_CAM
+      if self.stream_type != target:
+        self.switch_stream(target)
+      return
+
     camera_view = ui_state.params.get_int("CameraView", return_default=True, default=CAMERA_VIEW_WIDE)
     if camera_view not in (CAMERA_VIEW_AUTO, CAMERA_VIEW_DRIVER, CAMERA_VIEW_STANDARD, CAMERA_VIEW_WIDE):
       camera_view = CAMERA_VIEW_WIDE