Revert "Merge remote-tracking branch 'sunnypilot/master' into SunnyPilot"

This reverts commit c07eb75f55, reversing changes made to f56b049010.
2026-08-31 21:23:49 +08:00 · 2025-08-13 22:07:04 -05:00
parent 5c70bb2cd4
commit e9d697f4aa
36 changed files with 385 additions and 451 deletions
@@ -1,40 +1,21 @@
-name: Build and push all tinygrad models
+name: Build All Tinygrad Models and Push to GitLab

 on:
  workflow_dispatch:
    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
+      branch:
+        description: 'Branch to run workflow from'
+        required: false
+        default: 'master-new'
        type: string

 jobs:
  setup:
    runs-on: ubuntu-latest
    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/sunnypilot-docs
@@ -42,7 +23,7 @@ jobs:
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Get next JSON version to use (from GitHub docs repo)
+      - name: Get next JSON version to use
        id: get-json
        run: |
          cd docs/docs
@@ -50,131 +31,19 @@ jobs:
          next=$((latest+1))
          json_file="driving_models_v${next}.json"
          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+          echo "json_file=$json_file" >> $GITHUB_OUTPUT

-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
+      - name: Upload context for next jobs
+        uses: actions/upload-artifact@v4
        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+          name: context
+          path: docs

-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
+  build-all:
    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    needs: setup
    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
+      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
@@ -193,73 +62,138 @@ jobs:
          echo "Cloning GitLab"
          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
          git checkout main
          cd ..

-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
+      - name: Set next recompiled dir
+        id: set-recompiled
        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
+          cd gitlab_docs/models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
          fi
+          recompiled_dir="recompiled${next_dir}"
+          mkdir -p "$recompiled_dir"
+          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV

-      - name: Download artifact name file
+      - name: Download context
        uses: actions/download-artifact@v4
        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
+          name: context
+          path: .

-      - name: Read artifact name
-        id: read-artifact-name
+      - name: Install dependencies
        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+          sudo apt-get update
+          sudo apt-get install -y jq gh

-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
+      - name: Build all tinygrad models
+        id: trigger-builds
        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
+          set -e
+          > triggered_run_ids.txt
+          BRANCH="${{ github.event.inputs.branch }}"
+          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
+            ref=$(echo "$bundle" | jq -r '.ref')
+            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
+            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
+            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
+            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+            gh workflow run sunnypilot-build-model.yaml \
+              --repo sunnypilot/sunnypilot \
+              --ref "$BRANCH" \
+              -f upstream_branch="$ref" \
+              -f custom_name="$display_name" \
+              -f is_20hz="$is_20hz"
+            for i in {1..24}; do
+              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+              if [ -n "$RUN_ID" ]; then
+                break
+              fi
+              sleep 5
+            done
+            if [ -z "$RUN_ID" ]; then
+              echo "ould not find the triggered workflow run for $display_name ($ref)"
+              exit 1
            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            echo "$RUN_ID" >> triggered_run_ids.txt
+          done
+
+      - name: Wait for all model builds to finish
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          SUCCESS_RUNS=()
+          FAILED_RUNS=()
+          declare -A RUN_ID_TO_NAME
+
+          while read -r RUN_ID; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
+            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
+          done < triggered_run_ids.txt
+
+          while read -r RUN_ID; do
+            echo "Watching run ID: $RUN_ID"
+            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
+            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
+              FAILED_RUNS+=("$RUN_ID")
            fi
+          done < triggered_run_ids.txt
+
+          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
+            echo "All model builds failed. Aborting."
+            exit 1
+          fi
+
+          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
+            echo "WARNING: The following model builds failed:"
+            for RUN_ID in "${FAILED_RUNS[@]}"; do
+              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
+            done
+            echo "You may want to rerun these models manually."
+          fi
+
+      - name: Download and extract all model artifacts
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          SUCCESS_RUNS=()
+          while read -r RUN_ID; do
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+            if [ -n "$ZIP_PATH" ]; then
+              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+              rm -f "$ZIP_PATH"
+              echo "Unzipped and removed $ZIP_PATH"
+            else
+              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+            fi
+            echo "Done processing $ARTIFACT_NAME"
          done

      - name: Push recompiled dir to GitLab
@@ -268,36 +202,25 @@ jobs:
        run: |
          cd gitlab_docs
          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
+          mkdir -p models/"$(basename $RECOMPILED_DIR)"
+          git add models/"$(basename $RECOMPILED_DIR)"
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
+          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages

-      - name: update json
+      - name: Run json_parser.py to update JSON
        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
+          python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"

-      - name: Push updated json to GitHub
+      - name: Push updated JSON to GitHub docs repo
        run: |
          cd docs
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git checkout gh-pages
          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
          git push origin gh-pages
@@ -1,17 +1,10 @@
-Version 0.10.1 (2025-09-08)
-========================
-
-Version 0.10.0 (2025-08-05)
+Version 0.10.0 (2025-07-07)
 ========================
 * New driving model
-  * New training architecture
-     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
-     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
-  * Low-speed lead car ground-truth fixes
-
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+  * New training architecture described in CVPR paper
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video

 Version 0.9.9 (2025-05-23)
@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
@@ -17,6 +17,7 @@ class PIDController:
    self.pos_limit = pos_limit
    self.neg_limit = neg_limit

+    self.i_unwind_rate = 0.3 / rate
    self.i_rate = 1.0 / rate
    self.speed = 0.0

@@ -34,6 +35,10 @@ class PIDController:
  def k_d(self):
    return np.interp(self.speed, self._k_d[0], self._k_d[1])

+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
  def reset(self):
    self.p = 0.0
    self.i = 0.0
@@ -41,21 +46,25 @@ class PIDController:
    self.f = 0.0
    self.control = 0

-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
    self.speed = speed
+
    self.p = float(error) * self.k_p
    self.f = feedforward * self.k_f
    self.d = error_rate * self.k_d

-    if not freeze_integrator:
-      i = self.i + error * self.k_i * self.i_rate
+    if override:
+      self.i -= self.i_unwind_rate * float(np.sign(self.i))
+    else:
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate

-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)

    control = self.p + self.i + self.d + self.f
+
    self.control = np.clip(control, self.neg_limit, self.pos_limit)
    return self.control
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.1"
+#define COMMA_VERSION "0.10.0"
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
-size 5713
@@ -48,7 +48,7 @@ class Controls(ControlsExt):
                                  poll='selfdriveState')
    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)

-    self.steer_limited_by_safety = False
+    self.steer_limited_by_controls = False
    self.curvature = 0.0
    self.desired_curvature = 0.0

@@ -139,7 +139,7 @@ class Controls(ControlsExt):

    actuators.curvature = self.desired_curvature
    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
+                                                       self.steer_limited_by_controls, self.desired_curvature,
                                                       self.calibrated_pose, curvature_limited)  # TODO what if not available
    actuators.torque = float(steer)
    actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -189,10 +189,10 @@ class Controls(ControlsExt):
    if self.sm['selfdriveState'].active:
      CO = self.sm['carOutput']
      if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                              STEER_ANGLE_SATURATION_THRESHOLD
      else:
-        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2

    # TODO: both controlsState and carControl valids should be set by
    #       sm.all_checks(), but this creates a circular dependency
@@ -15,15 +15,15 @@ class LatControl(ABC):
    self.steer_max = 1.0

  @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    pass

  def reset(self):
    self.sat_count = 0.

-  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
    # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
      self.sat_count += self.sat_count_rate
    else:
      self.sat_count -= self.sat_count_rate
@@ -3,7 +3,6 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl

-# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees


@@ -11,9 +10,9 @@ class LatControlAngle(LatControl):
  def __init__(self, CP, CP_SP, CI):
    super().__init__(CP, CP_SP, CI)
    self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_controls = CP.brand == "tesla"

-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    angle_log = log.ControlsState.LateralAngleState.new_message()

    if not active:
@@ -24,9 +23,9 @@ class LatControlAngle(LatControl):
      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
      angle_steers_des += params.angleOffsetDeg

-    if self.use_steer_limited_by_safety:
+    if self.use_steer_limited_by_controls:
      # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_safety
+      angle_control_saturated = steer_limited_by_controls
    else:
      # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
      # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
@@ -13,7 +13,11 @@ class LatControlPID(LatControl):
                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.get_steer_feedforward = CI.get_steer_feedforward_function()

-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralPIDState.new_message()
    pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -25,24 +29,20 @@ class LatControlPID(LatControl):
    pid_log.steeringAngleDesiredDeg = angle_steers_des
    pid_log.angleError = error
    if not active:
-      output_torque = 0.0
+      output_steer = 0.0
      pid_log.active = False
-
+      self.pid.reset()
    else:
      # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-
-      output_torque = self.pid.update(error,
-                                feedforward=ff,
-                                speed=CS.vEgo,
-                                freeze_integrator=freeze_integrator)
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)

+      output_steer = self.pid.update(error, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
      pid_log.active = True
      pid_log.p = float(self.pid.p)
      pid_log.i = float(self.pid.i)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_torque)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))

-    return output_torque, angle_steers_des, pid_log
+    return output_steer, angle_steers_des, pid_log
@@ -40,7 +40,7 @@ class LatControlTorque(LatControl):
    self.torque_params.latAccelOffset = latAccelOffset
    self.torque_params.friction = friction

-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
    if not active:
      output_torque = 0.0
@@ -75,7 +75,7 @@ class LatControlTorque(LatControl):
                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
                                          desired_curvature, actual_curvature)

-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
      output_torque = self.pid.update(pid_log.error,
                                      feedforward=ff,
                                      speed=CS.vEgo,
@@ -89,7 +89,7 @@ class LatControlTorque(LatControl):
      pid_log.output = float(-output_torque)
      pid_log.actualLateralAccel = float(actual_lateral_accel)
      pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))

    # TODO left is positive in this convention
    return -output_torque, 0.0, pid_log
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
+oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a
 size 15583374
@@ -90,25 +90,19 @@ class Parser:
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_binary_crossentropy('lane_lines_prob', outs)
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
-    self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
    if 'desired_curvature' in outs:
      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
+de16c6fbe14e121c5e74cd944ce03a0e4672540d
@@ -27,7 +27,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.WHITE
+TEXT_SELECTED = rl.Color(255, 255, 255, 255)


 class PanelType(IntEnum):
@@ -23,18 +23,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
  SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.WHITE
+  WHITE = rl.Color(255, 255, 255, 255)
  WHITE_DIM = rl.Color(255, 255, 255, 85)
  GRAY = rl.Color(84, 84, 84, 255)

  # Status colors
-  GOOD = rl.WHITE
+  GOOD = rl.Color(255, 255, 255, 255)
  WARNING = rl.Color(218, 202, 37, 255)
  DANGER = rl.Color(201, 34, 49, 255)

  # UI elements
  METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.WHITE
+  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)


@@ -34,7 +34,7 @@ class FontSizes:

@dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
+  white: rl.Color = rl.Color(255, 255, 255, 255)
  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
  engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)


 UI_CONFIG = UIConfig()
@@ -29,7 +29,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
  flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
  settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
  mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
-  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));

  connect(this, &Sidebar::valueChanged, [=] { update(); });

@@ -155,12 +154,7 @@ void Sidebar::drawSidebar(QPainter &p) {
  p.setFont(InterFont(35));
  p.setPen(QColor(0xff, 0xff, 0xff));
  const QRect r = QRect(58, 247, width() - 100, 50);
-
-  if (net_type == "Hotspot") {
-    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
-  } else {
-    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
-  }
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);

 #ifndef SUNNYPILOT
  // metrics
@@ -43,7 +43,7 @@ protected:
  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
  virtual void drawSidebar(QPainter &p);

-  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
+  QPixmap home_img, flag_img, settings_img, mic_img;
  bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
  const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
    {cereal::DeviceState::NetworkType::NONE, tr("--")},
@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));

  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+  if (timeoutValue == "0") {
    interactivityTimeout->setLabel("Default");
  } else {
    interactivityTimeout->setLabel(timeoutValue + "s");
@@ -66,14 +66,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  });
  list->addItem(horizontal_line());

-  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
-  sunnylinkUploaderEnabledBtn = new ParamControlSP(
-    "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
-    sunnylinkUploaderDesc,
-    "", nullptr, true);
-  list->addItem(sunnylinkUploaderEnabledBtn);
-
  connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
    // resets the description to the default one for the Easter egg
    sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -269,8 +261,6 @@ void SunnylinkPanel::updatePanel() {
  pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
  pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));

-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
-
  if (!is_sunnylink_enabled) {
    sunnylinkEnabledBtn->setValue("");
    sponsorBtn->setValue("");
@@ -49,7 +49,6 @@ private:
  QString sunnylinkBtnDescription;
  PushButtonSP *restoreSettings;
  PushButtonSP *backupSettings;
-  ParamControlSP * sunnylinkUploaderEnabledBtn;

  void stopSunnylink() const;
  void startSunnylink() const;
@@ -1,7 +1,7 @@
 import pyray as rl
 from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.widget import Widget


 class ExperimentalModeButton(Widget):
@@ -14,6 +14,7 @@ class ExperimentalModeButton(Widget):

    self.params = Params()
    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.is_pressed = False

    self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
    self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
@@ -31,13 +32,20 @@ class ExperimentalModeButton(Widget):
    rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
                                 start_color, end_color)

-  def _handle_mouse_release(self, mouse_pos):
-    self.experimental_mode = not self.experimental_mode
-    # TODO: Opening settings for ExperimentalMode
-    self.params.put_bool("ExperimentalMode", self.experimental_mode)
+  def _handle_interaction(self, rect):
+    mouse_pos = rl.get_mouse_position()
+    mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
+
+    self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
+    return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)

  def _render(self, rect):
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
+    if self._handle_interaction(rect):
+      self.experimental_mode = not self.experimental_mode
+      # TODO: Opening settings for ExperimentalMode
+      self.params.put_bool("ExperimentalMode", self.experimental_mode)
+
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))

    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
    self._draw_gradient_background(rect)
@@ -53,7 +61,7 @@ class ExperimentalModeButton(Widget):
    text_x = rect.x + self.horizontal_padding
    text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically

-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))

    # Draw icon (right aligned)
    icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +71,4 @@ class ExperimentalModeButton(Widget):
    # Draw current mode icon
    current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
    source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
    font = gui_app.font(FontWeight.LIGHT)
    wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
    text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))

    # Features section
    features_y = desc_y + text_size.y + 50
@@ -106,7 +106,9 @@ class Parser:
                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
    if 'plan' in outs:
      if self.generation >= 12 and \
-        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
        self.parse_mdn('plan', outs, in_N=0, out_N=0,
                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
      else:
@@ -5,6 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

+import json
 import time

 import requests
@@ -87,8 +88,8 @@ class ModelCache:
  def _is_expired(self) -> bool:
    """Checks if the cache has expired"""
    current_time = int(time.monotonic() * 1e9)
-    last_sync = self.params.get(self._LAST_SYNC_KEY) or 0
-    return bool(last_sync == 0) or (current_time - last_sync) >= self.cache_timeout
+    last_sync = int(self.params.get(self._LAST_SYNC_KEY, encoding="utf-8") or 0)
+    return last_sync == 0 or (current_time - last_sync) >= self.cache_timeout

  def get(self) -> tuple[dict, bool]:
    """
@@ -97,24 +98,24 @@ class ModelCache:
    If no cached data exists or on error, returns an empty dict
    """
    try:
-      cached_data = self.params.get(self._CACHE_KEY)
+      cached_data = self.params.get(self._CACHE_KEY, encoding="utf-8")
      if not cached_data:
        cloudlog.warning("No cached model data available")
        return {}, True
-      return cached_data, self._is_expired()
+      return json.loads(cached_data), self._is_expired()
    except Exception as e:
      cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
      return {}, True

  def set(self, data: dict) -> None:
    """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, data)
-    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
+    self.params.put(self._CACHE_KEY, json.dumps(data))
+    self.params.put(self._LAST_SYNC_KEY, str(int(time.monotonic() * 1e9)))


 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v4.json"

  def __init__(self, params: Params):
    self.params = params
@@ -9,6 +9,7 @@ import hashlib
 import os
 import pickle
 import numpy as np
+import json

 from openpilot.common.params import Params
 from cereal import custom
@@ -18,9 +19,8 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path

-# see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 7
+REQUIRED_MIN_SELECTOR_VERSION = 5

 USE_ONNX = os.getenv('USE_ONNX', PC)

@@ -63,14 +63,13 @@ def is_bundle_version_compatible(bundle: dict) -> bool:
  """
  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)

-
 def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
  """Gets the active model bundle from cache"""
  if params is None:
    params = Params()

  try:
-    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
+    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
      return custom.ModelManagerSP.ModelBundle(**active_bundle)
  except Exception:
    pass
@@ -111,7 +110,7 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
    runner_type = active_bundle.runner.raw

  if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", int(runner_type))
+    params.put("ModelRunnerTypeCache", str(int(runner_type)))

  return runner_type

@@ -1 +1 @@
-cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
+61bb1f3077ef8219a44c8c627d5345d1a96e7f859b850bed6215eec91090becb
@@ -15,7 +15,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                       create_connection)

@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
              threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
              threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
              threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
              # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
            ] + [
@@ -1,38 +1,40 @@
 #!/usr/bin/env python3
+import bz2
+import datetime
+import io
 import json
 import os
 import random
-import requests
 import threading
 import time
 import traceback
-import datetime
 from collections.abc import Iterator
+from typing import BinaryIO

-from cereal import log
-import cereal.messaging as messaging
-from sunnypilot.sunnylink.api import SunnylinkApi
-from openpilot.common.file_helpers import get_upload_stream
+import requests
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.common.swaglog import cloudlog
+
+import cereal.messaging as messaging
+from cereal import log
+from sunnypilot.sunnylink.api import SunnylinkApi

 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
+
 UPLOAD_ATTR_VALUE = b'1'

-MAX_UPLOAD_SIZES = {
-  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
-  # bugs, including ones that can cause massive log sizes
-  "qcam": 5*1e6,
-}
+UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB

 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None

+OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
+

 class FakeRequest:
  def __init__(self):
@@ -50,6 +52,7 @@ def get_directory_sort(d: str) -> list[str]:
  o = ["0", ] if d.startswith("2024-") else ["1", ]
  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]

+
 def listdir_by_creation(d: str) -> list[str]:
  if not os.path.isdir(d):
    return []
@@ -62,6 +65,7 @@ def listdir_by_creation(d: str) -> list[str]:
    cloudlog.exception("listdir_by_creation failed")
    return []

+
 def clear_locks(root: str) -> None:
  for logdir in os.listdir(root):
    path = os.path.join(root, logdir)
@@ -85,11 +89,11 @@ class Uploader:
    self.last_filename = ""

    self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}

  def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
-    r = self.params.get("AthenadRecentlyViewedRoutes")
-    requested_routes = [] if r is None else [route for route in r.split(",") if route]
+    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+    requested_routes = [] if r is None else r.split(",")

    for logdir in listdir_by_creation(self.root):
      path = os.path.join(self.root, logdir)
@@ -133,11 +137,11 @@ class Uploader:
      if any(f in fn for f in self.immediate_folders):
        return name, key, fn

-    for name, key, fn in upload_files:
-      if name in self.immediate_priority:
-        return name, key, fn
-
-    return None
+    return next(
+      ((name, key, fn)
+       for name, key, fn in upload_files if name in self.immediate_priority),
+      None,
+    )

  def do_upload(self, key: str, fn: str):
    url_resp = self.api.get(
@@ -157,15 +161,15 @@ class Uploader:
    if fake_upload:
      return FakeResponse()

-    stream = None
-    try:
-      compress = key.endswith('.zst') and not fn.endswith('.zst')
-      stream, _ = get_upload_stream(fn, compress)
-      response = requests.put(url, data=stream, headers=headers, timeout=10)
-      return response
-    finally:
-      if stream:
-        stream.close()
+    with open(fn, "rb") as f:
+      data: BinaryIO
+      if key.endswith('.bz2') and not fn.endswith('.bz2'):
+        compressed = bz2.compress(f.read())
+        data = io.BytesIO(compressed)
+      else:
+        data = f
+
+      return requests.put(url, data=data, headers=headers, timeout=10)

  def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
    try:
@@ -179,7 +183,7 @@ class Uploader:
    if sz == 0:
      # tag files of 0 size as uploaded
      success = True
-    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
+    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
      cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
      success = True
    else:
@@ -220,7 +224,6 @@ class Uploader:

    return success

-
  def step(self, network_type: int, metered: bool) -> bool | None:
    d = self.next_file_to_upload(metered)
    if d is None:
@@ -229,8 +232,8 @@ class Uploader:
    name, key, fn = d

    # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
-      key += ".zst"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
+      key += ".bz2"

    return self.upload(name, key, fn, network_type, metered)

@@ -247,7 +250,10 @@ def main(exit_event: threading.Event = None) -> None:
  clear_locks(Paths.log_root())

  params = Params()
-  dongle_id = params.get("SunnylinkDongleId")
+  dongle_id = params.get("SunnylinkDongleId", encoding='utf8')
+
+  offroad_transition_prev = 0.
+  offroad_last = False

  if dongle_id is None:
    cloudlog.info("uploader missing dongle_id")
@@ -259,13 +265,35 @@ def main(exit_event: threading.Event = None) -> None:
  backoff = 0.1
  while not exit_event.is_set():
    sm.update(0)
+
    offroad = params.get_bool("IsOffroad")
-    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
+    t = time.monotonic()
+    if offroad and not offroad_last and t > 300.:
+      offroad_transition_prev = time.monotonic()
+    offroad_last = offroad
+
+    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
    if network_type == NetworkType.none:
      if allow_sleep:
        time.sleep(60 if offroad else 5)
      continue

+    if params.get_bool("DisableOnroadUploads"):
+      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
+        if not offroad:
+          cloudlog.info("not uploading: onroad uploads disabled")
+        else:
+          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
+          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
+          if time_left > 2.0 * 60.0:
+            time_left_str = f"{int(time_left / 60)} minute(s)"
+          else:
+            time_left_str = f"{int(time_left)} seconds(s)"
+          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
+        if allow_sleep:
+          time.sleep(60)
+        continue
+
    success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
    if success is None:
      backoff = 60 if offroad else 5
@@ -273,7 +301,7 @@ def main(exit_event: threading.Event = None) -> None:
      backoff = 0.1
    else:
      cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff*2, 120)
+      backoff = min(backoff * 2, 120)
    if allow_sleep:
      time.sleep(backoff + random.uniform(0, backoff))

@@ -172,7 +172,7 @@ procs += [
 if os.path.exists("./github_runner.sh"):
  procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]

-if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
+if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
  procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]

 managed_processes = {p.name: p for p in procs}
@@ -29,7 +29,7 @@ BUTTON_TEXT_COLOR = {
  ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
  ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
  ButtonStyle.TRANSPARENT: rl.BLACK,
-  ButtonStyle.ACTION: rl.BLACK,
+  ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
  ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
 }

@@ -101,8 +101,8 @@ class WifiManager:
    """Connect to the DBus system bus."""
    try:
      self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
-      while not await self._find_wifi_device():
-        await asyncio.sleep(1)
+      if not await self._find_wifi_device():
+        raise ValueError("No Wi-Fi device found")

      await self._setup_signals(self.device_path)
      self.active_ap_path = await self.get_active_access_point()
@@ -50,7 +50,6 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
-cask "font-noto-color-emoji"
 EOS

 echo "[ ] finished brew install t=$SECONDS"
@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
    active = sm['controlsState'].active
    steer = sm['carOutput'].actuatorsOutput.torque
    standstill = sm['carState'].standstill
-    steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
    overriding = sm['carState'].steeringPressed
    changing_lanes = sm['modelV2'].meta.laneChangeState != 0
    model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
            self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
            if len(model_points):
              self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited_by_safety:
+            if steer_limited_by_controls:
              self.speed_group_stats[group][angle_abs]["limited"] += 1
            if control_state.saturated:
              self.speed_group_stats[group][angle_abs]["saturated"] += 1
@@ -709,41 +709,40 @@ wheels = [

 [[package]]
 name = "kiwisolver"
-version = "1.4.9"
+version = "1.4.8"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5c/3c/85844f1b0feb11ee581ac23fe5fce65cd049a200c1446708cc1b7f922875/kiwisolver-1.4.9.tar.gz", hash = "sha256:c3b22c26c6fd6811b0ae8363b95ca8ce4ea3c202d3d0975b2914310ceb1bcc4d", size = 97564, upload-time = "2025-08-10T21:27:49.279Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/82/59/7c91426a8ac292e1cdd53a63b6d9439abd573c875c3f92c146767dd33faf/kiwisolver-1.4.8.tar.gz", hash = "sha256:23d5f023bdc8c7e54eb65f03ca5d5bb25b601eac4d7f1a042888a1f45237987e", size = 97538, upload-time = "2024-12-24T18:30:51.519Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/6f/ab/c80b0d5a9d8a1a65f4f815f2afff9798b12c3b9f31f1d304dd233dd920e2/kiwisolver-1.4.9-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:eb14a5da6dc7642b0f3a18f13654847cd8b7a2550e2645a5bda677862b03ba16", size = 124167, upload-time = "2025-08-10T21:25:53.403Z" },
-    { url = "https://files.pythonhosted.org/packages/a0/c0/27fe1a68a39cf62472a300e2879ffc13c0538546c359b86f149cc19f6ac3/kiwisolver-1.4.9-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:39a219e1c81ae3b103643d2aedb90f1ef22650deb266ff12a19e7773f3e5f089", size = 66579, upload-time = "2025-08-10T21:25:54.79Z" },
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