I AM SCREAMING

common/api.py

@@ -2,15 +2,10 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta, UTC
-from functools import cache
-from openpilot.common.params import Params
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
-
-@cache
-def use_konik_server() -> bool:
-  return Params().get_bool("UseKonikServer")
+from openpilot.starpilot.common.starpilot_utilities import use_konik_server
 
 API_HOST = os.getenv('API_HOST', f"https://api.{'konik.ai' if use_konik_server() else 'commadotai.com'}")
 

launch_chffrplus.sh

@@ -6,7 +6,6 @@ source "$DIR/launch_env.sh"
 
 export SP_BOOT_TIMING_LOG="${SP_BOOT_TIMING_LOG:-/tmp/starpilot_boot_timing.log}"
 : > "$SP_BOOT_TIMING_LOG" 2>/dev/null || true
-PREBUILT_COMPAT_CACHE="${SP_PREBUILT_COMPAT_CACHE:-/cache/starpilot_prebuilt_runtime_compatible_v1}"
 SP_LAUNCH_LAST_SECONDS=$SECONDS
 
 function sp_boot_timing_line {
@@ -21,54 +20,6 @@ function sp_launch_timing {
   SP_LAUNCH_LAST_SECONDS=$now
 }
 
-function launch_param_migrations_needed {
-  local marker_dir="/data/params/.starpilot_param_migrations/${OPENPILOT_PREFIX:-d}"
-  [ ! -f "$marker_dir/.starpilot_launch_param_migrations_v2" ] && return 0
-  [ ! -f "$marker_dir/.starpilot_branch_defaults_migrations_v1" ] && return 0
-  [ ! -f "$marker_dir/.starpilot_acceleration_profile_default_v1" ] && return 0
-  return 1
-}
-
-function prebuilt_runtime_artifacts {
-  printf '%s\n' \
-    "$DIR/common/params_pyx.so" \
-    "$DIR/msgq/ipc_pyx.so" \
-    "$DIR/msgq/visionipc/visionipc_pyx.so" \
-    "$DIR/common/transformations/transformations.so" \
-    "$DIR/selfdrive/modeld/models/driving_tinygrad.pkl" \
-    "$DIR/selfdrive/modeld/models/dmonitoring_model_metadata.pkl" \
-    "$DIR/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl" \
-    "$DIR/selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl" \
-    "$DIR/selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl" \
-    "$DIR/selfdrive/pandad/pandad_api_impl.so" \
-    "$DIR/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" \
-    "$DIR/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so" \
-    "$DIR/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" \
-    "$DIR/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so" \
-    "$DIR/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc"
-}
-
-function prebuilt_compat_cache_valid {
-  [ -f "$PREBUILT_COMPAT_CACHE" ] || return 1
-  [ -f "$DIR/prebuilt" ] || return 1
-  [ "$DIR/prebuilt" -nt "$PREBUILT_COMPAT_CACHE" ] && return 1
-
-  while IFS= read -r artifact; do
-    [ -e "$artifact" ] || return 1
-    [ "$artifact" -nt "$PREBUILT_COMPAT_CACHE" ] && return 1
-  done < <(prebuilt_runtime_artifacts)
-
-  return 0
-}
-
-function prebuilt_artifacts_present {
-  while IFS= read -r artifact; do
-    [ -e "$artifact" ] || return 1
-  done < <(prebuilt_runtime_artifacts)
-
-  return 0
-}
-
 function agnos_init {
   sp_launch_timing "agnos_init_start"
 
@@ -175,15 +126,11 @@ function launch {
   # start manager
   cd system/manager
 
-  if launch_param_migrations_needed; then
-    sp_launch_timing "launch_param_migrations_start"
-    if ! python3 ./launch_param_migrations.py; then
-      echo "Launch param migrations failed; continuing boot."
-    fi
-    sp_launch_timing "launch_param_migrations_done"
-  else
-    sp_launch_timing "launch_param_migrations_skipped"
+  sp_launch_timing "launch_param_migrations_start"
+  if ! python3 ./launch_param_migrations.py; then
+    echo "Launch param migrations failed; continuing boot."
   fi
+  sp_launch_timing "launch_param_migrations_done"
 
   # Bootstrap runtime (e.g. /usr/comma after reset/uninstall) must go straight
   # to manager/setup flow. Do not run StarPilot prebuilt checks/builds here.
@@ -266,21 +213,9 @@ PY
   fi
 
   sp_launch_timing "prebuilt_decision_done"
-  if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ]; then
-    if prebuilt_compat_cache_valid; then
-      sp_launch_timing "prebuilt_compat_cache_hit"
-    elif [ "${SP_STRICT_PREBUILT_CHECK:-0}" != "1" ] && prebuilt_artifacts_present; then
-      sp_launch_timing "prebuilt_compat_fast_path"
-      mkdir -p "$(dirname "$PREBUILT_COMPAT_CACHE")" 2>/dev/null || true
-      touch "$PREBUILT_COMPAT_CACHE" 2>/dev/null || true
-    elif prebuilt_runtime_compatible; then
-      mkdir -p "$(dirname "$PREBUILT_COMPAT_CACHE")" 2>/dev/null || true
-      touch "$PREBUILT_COMPAT_CACHE" 2>/dev/null || true
-    else
-      echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
-      rm -f "$PREBUILT_COMPAT_CACHE" 2>/dev/null || true
-      USE_PREBUILT=0
-    fi
+  if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
+    echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
+    USE_PREBUILT=0
   fi
   sp_launch_timing "prebuilt_compat_done"
 

starpilot/common/connect_server.py

@@ -1,10 +1,11 @@
 from pathlib import Path
 
 from openpilot.common.params import Params
-from openpilot.common.api import use_konik_server
 from openpilot.system.athena.registration import register
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.starpilot.common.starpilot_utilities import use_konik_server
+
 
 def _cache_params_path() -> str:
   return Paths.params_cache_root()

starpilot/common/starpilot_functions.py

@@ -1,205 +1,33 @@
 #!/usr/bin/env python3
 import dataclasses
 import json
-import os
+import requests
 import threading
 import time
 
 from pathlib import Path
 from types import SimpleNamespace
 
+from cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.version import get_build_metadata
 
-STARPILOT_API = os.getenv("STARPILOT_API", "https://frogpilot.com/api")
-BOOT_LOGO_STATE_PATH = Path("/cache/starpilot_boot_logo_state_v1")
-ACTIVE_THEME_PATH = Path(BASEDIR) / "starpilot/assets/active_theme"
-STOCK_THEME_PATH = Path(BASEDIR) / "starpilot/assets/stock_theme"
-ACTIVE_THEME_REQUIRED_PATHS = (
-  ACTIVE_THEME_PATH / "colors/colors.json",
-  ACTIVE_THEME_PATH / "icons",
-  ACTIVE_THEME_PATH / "distance_icons",
-  ACTIVE_THEME_PATH / "sounds",
-  ACTIVE_THEME_PATH / "steering_wheel",
+from openpilot.starpilot.assets.theme_manager import ThemeManager
+from openpilot.starpilot.common.starpilot_backups import backup_starpilot
+from openpilot.starpilot.common.connect_server import sync_konik_dongle_id
+from openpilot.starpilot.common.maps_catalog import normalize_schedule_value, sanitize_selected_locations_csv
+from openpilot.starpilot.common.theme_asset_names import find_matching_theme_asset_file
+from openpilot.starpilot.common.starpilot_utilities import get_starpilot_api_info, is_FrogsGoMoo, is_url_pingable, run_cmd
+from openpilot.starpilot.common.starpilot_variables import (
+  ERROR_LOGS_PATH, STARPILOT_API, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPS_PATH, THEME_SAVE_PATH,
+  StarPilotVariables, get_starpilot_toggles
 )
-ACTIVE_THEME_BOOTSTRAP_LINKS = (
-  ("colors", STOCK_THEME_PATH / "colors"),
-  ("icons", STOCK_THEME_PATH / "icons"),
-  ("distance_icons", STOCK_THEME_PATH / "distance_icons"),
-  ("sounds", STOCK_THEME_PATH / "sounds"),
-  ("steering_wheel", STOCK_THEME_PATH / "steering_wheel"),
-)
-
-
-def _starpilot_data_root():
-  if HARDWARE.get_device_type() == "pc":
-    from openpilot.system.hardware.hw import Paths
-
-    return Path(Paths.comma_home()) / "starpilot" / "data"
-  return Path("/data")
-
-
-def _starpilot_persist_root():
-  if HARDWARE.get_device_type() == "pc":
-    from openpilot.system.hardware.hw import Paths
-
-    return Path(Paths.persist_root())
-  return Path("/persist")
-
-
-def _theme_save_path():
-  return _starpilot_data_root() / "themes"
-
-
-def _maps_path():
-  return _starpilot_data_root() / "media/0/osm/offline"
-
-
-def _run_cmd(*args, **kwargs):
-  from openpilot.starpilot.common.starpilot_utilities import run_cmd
-
-  return run_cmd(*args, **kwargs)
-
-
-def _path_has_content(path):
-  if path.is_symlink() and not path.exists():
-    return False
-  if path.is_file():
-    return True
-  if not path.is_dir():
-    return False
-  try:
-    next(path.iterdir())
-    return True
-  except (OSError, StopIteration):
-    return False
-
-
-def _active_theme_ready():
-  return all(_path_has_content(path) for path in ACTIVE_THEME_REQUIRED_PATHS)
-
-
-def _replace_with_symlink(path, target):
-  if path.is_symlink() or path.is_file():
-    try:
-      path.unlink()
-    except OSError:
-      return
-  elif path.exists():
-    import shutil
-
-    try:
-      shutil.rmtree(path)
-    except OSError:
-      return
-
-  path.parent.mkdir(parents=True, exist_ok=True)
-  try:
-    path.symlink_to(target, target_is_directory=target.is_dir())
-  except OSError:
-    pass
-
-
-def _ensure_minimal_active_theme():
-  for name, target in ACTIVE_THEME_BOOTSTRAP_LINKS:
-    if target.exists() and not _path_has_content(ACTIVE_THEME_PATH / name):
-      _replace_with_symlink(ACTIVE_THEME_PATH / name, target)
-
-  signals_path = ACTIVE_THEME_PATH / "signals"
-  if signals_path.is_symlink() and not signals_path.exists():
-    try:
-      signals_path.unlink()
-    except OSError:
-      pass
-
-
-def _normalize_dongle_id(value):
-  if isinstance(value, bytes):
-    value = value.decode("utf-8", errors="ignore")
-  if value is None:
-    return None
-  value = str(value).strip()
-  return value or None
-
-
-def _read_persisted_stock_dongle_id():
-  persisted_dongle_id_path = _starpilot_persist_root() / "comma" / "dongle_id"
-  if not persisted_dongle_id_path.is_file():
-    return None
-  return _normalize_dongle_id(persisted_dongle_id_path.read_text())
-
-
-def _ensure_stock_dongle_id_fast(params):
-  current_dongle_id = _normalize_dongle_id(params.get("DongleId"))
-  konik_dongle_id = _normalize_dongle_id(params.get("KonikDongleId"))
-  stock_dongle_id = _normalize_dongle_id(params.get("StockDongleId"))
-
-  if stock_dongle_id not in (None, konik_dongle_id):
-    return stock_dongle_id
-
-  candidate = _read_persisted_stock_dongle_id()
-  if candidate in (None, konik_dongle_id):
-    candidate = current_dongle_id if current_dongle_id != konik_dongle_id else None
-
-  if candidate is not None and candidate != stock_dongle_id:
-    params.put("StockDongleId", candidate)
-
-  return candidate
-
-
-def _sync_cached_konik_dongle_id(params):
-  current_dongle_id = _normalize_dongle_id(params.get("DongleId"))
-  konik_dongle_id = _normalize_dongle_id(params.get("KonikDongleId"))
-  stock_dongle_id = _ensure_stock_dongle_id_fast(params)
-
-  if params.get_bool("UseKonikServer"):
-    if konik_dongle_id is not None and current_dongle_id != konik_dongle_id:
-      params.put("DongleId", konik_dongle_id)
-  elif current_dongle_id == konik_dongle_id and stock_dongle_id is not None:
-    params.put("DongleId", stock_dongle_id)
-
-
-def _boot_logo_cache_key(selected_logo, source_logo):
-  try:
-    source_stat = source_logo.stat()
-    source_path = source_logo.resolve()
-  except OSError:
-    return None
-
-  selected = selected_logo.decode("utf-8", "ignore") if isinstance(selected_logo, (bytes, bytearray)) else str(selected_logo or "")
-  return "\n".join([
-    selected.strip().lower(),
-    str(source_path),
-    str(source_stat.st_mtime_ns),
-    str(source_stat.st_size),
-    "",
-  ])
-
-
-def _boot_logo_cache_matches(cache_key):
-  if cache_key is None:
-    return False
-  try:
-    return BOOT_LOGO_STATE_PATH.read_text() == cache_key
-  except OSError:
-    return False
-
-
-def _write_boot_logo_cache(cache_key):
-  if cache_key is None:
-    return
-  try:
-    BOOT_LOGO_STATE_PATH.parent.mkdir(parents=True, exist_ok=True)
-    BOOT_LOGO_STATE_PATH.write_text(cache_key)
-  except OSError:
-    pass
 
 
 def seed_desktop_theme_assets():
-  from openpilot.starpilot.assets.theme_manager import ThemeManager
-
   params = Params()
   params_memory = Params(memory=True)
   params_defaults = Params(return_defaults=True)
@@ -231,41 +59,7 @@ def seed_desktop_theme_assets():
 
 
 def starpilot_boot_functions(build_metadata, params):
-  params.put("BuildMetadata", json.dumps(dataclasses.asdict(build_metadata)))
-  _sync_cached_konik_dongle_id(params)
-
-  def boot_thread():
-    try:
-      _finish_starpilot_boot(build_metadata)
-    except Exception as error:
-      print(f"StarPilot boot functions failed: {error}")
-
-  if _active_theme_ready():
-    threading.Thread(target=boot_thread, daemon=True).start()
-    return
-
-  # Brand-new or partially migrated installs need basic active theme links
-  # before UI starts. Use stock links here and let the full theme refresh run
-  # off the manager hot path.
-  _ensure_minimal_active_theme()
-  threading.Thread(target=boot_thread, daemon=True).start()
-
-
-def _refresh_active_theme(params):
-  from openpilot.starpilot.assets.theme_manager import ThemeManager
-  from openpilot.starpilot.common.starpilot_variables import StarPilotVariables
-
   params_memory = Params(memory=True)
-  starpilot_toggles = StarPilotVariables().starpilot_toggles
-  ThemeManager(params, params_memory, boot_run=True).update_active_theme(time_validated=system_time_valid(), starpilot_toggles=starpilot_toggles, boot_run=True)
-
-
-def _finish_starpilot_boot(build_metadata):
-  from openpilot.starpilot.common.connect_server import sync_konik_dongle_id
-  from openpilot.starpilot.common.maps_catalog import sanitize_selected_locations_csv
-  from openpilot.starpilot.common.starpilot_backups import backup_starpilot
-
-  params = Params()
 
   maps_selected_raw = params.get("MapsSelected")
   maps_selected = sanitize_selected_locations_csv(maps_selected_raw)
@@ -276,24 +70,28 @@ def _finish_starpilot_boot(build_metadata):
 
   params.put("BuildMetadata", json.dumps(dataclasses.asdict(build_metadata)))
 
-  _refresh_active_theme(params)
+  StarPilotVariables()
+  ThemeManager(params, params_memory, boot_run=True).update_active_theme(time_validated=system_time_valid(), starpilot_toggles=get_starpilot_toggles(), boot_run=True)
+
   sync_konik_dongle_id(params)
 
-  while not system_time_valid():
-    print("Waiting for system time to become valid...")
-    time.sleep(1)
+  def boot_thread():
+    while not system_time_valid():
+      print("Waiting for system time to become valid...")
+      time.sleep(1)
 
-  backup_starpilot(build_metadata, params)
+    backup_starpilot(build_metadata, params)
+
+  threading.Thread(target=boot_thread, daemon=True).start()
 
 
 def install_starpilot(build_metadata, params):
-  data_root = _starpilot_data_root()
   paths = [
-    data_root / "error_logs",
-    data_root / "media/0/realdata_HD",
-    data_root / "media/0/realdata_konik",
-    data_root / "media/0/osm/offline",
-    _theme_save_path()
+    ERROR_LOGS_PATH,
+    HD_LOGS_PATH,
+    KONIK_LOGS_PATH,
+    MAPS_PATH,
+    THEME_SAVE_PATH
   ]
   for path in paths:
     path.mkdir(parents=True, exist_ok=True)
@@ -302,27 +100,15 @@ def install_starpilot(build_metadata, params):
 
   update_boot_logo(starpilot=True, selected_logo=params.get("BootLogo"))
 
-  frogs_go_moo_path = _starpilot_persist_root() / "frogsgomoo.py"
-  if frogs_go_moo_path.is_file():
-    mount_options = _run_cmd(["findmnt", "-n", "-o", "OPTIONS", "/persist"], "Successfully retrieved mount options", "Failed to retrieve mount options")
-    _run_cmd(["sudo", "mount", "-o", "remount,rw", "/persist"], "Successfully remounted /persist as read-write", "Failed to remount /persist")
-    _run_cmd(["sudo", "python3", frogs_go_moo_path], "Successfully ran frogsgomoo.py", "Failed to run frogsgomoo.py")
-    _run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/persist"], "Successfully restored /persist mount options", "Failed to restore /persist mount options")
+  if is_FrogsGoMoo():
+    mount_options = run_cmd(["findmnt", "-n", "-o", "OPTIONS", "/persist"], "Successfully retrieved mount options", "Failed to retrieve mount options")
+    run_cmd(["sudo", "mount", "-o", "remount,rw", "/persist"], "Successfully remounted /persist as read-write", "Failed to remount /persist")
+    run_cmd(["sudo", "python3", FROGS_GO_MOO_PATH], "Successfully ran frogsgomoo.py", "Failed to run frogsgomoo.py")
+    run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/persist"], "Successfully restored /persist mount options", "Failed to restore /persist mount options")
 
 
 def register_device(build_metadata, params):
   def register_thread():
-    import requests
-
-    def is_url_pingable(url):
-      if not url:
-        return False
-      try:
-        response = requests.head(url, timeout=10, allow_redirects=True, headers={"User-Agent": "starpilot-ping-test/1.0 (https://github.com/FrogAi/StarPilot)"})
-        return response.ok
-      except Exception:
-        return False
-
     dongle_id = params.get("DongleId")
     if isinstance(dongle_id, bytes):
       dongle_id = dongle_id.decode("utf-8", errors="ignore")
@@ -377,9 +163,7 @@ def update_boot_logo(starpilot=False, stock=False, selected_logo=None):
       selected = selected_logo.decode("utf-8", "ignore") if isinstance(selected_logo, (bytes, bytearray)) else str(selected_logo)
       selected = selected.strip()
       if selected.lower() not in {"", "stock", "default"}:
-        from openpilot.starpilot.common.theme_asset_names import find_matching_theme_asset_file
-
-        matched_logo = find_matching_theme_asset_file(_theme_save_path() / "bootlogos", selected)
+        matched_logo = find_matching_theme_asset_file(THEME_SAVE_PATH / "bootlogos", selected)
         if matched_logo is not None:
           target_logo = matched_logo
   elif stock:
@@ -392,10 +176,6 @@ def update_boot_logo(starpilot=False, stock=False, selected_logo=None):
     print(f"Error: Target logo file not found at {target_logo}")
     return
 
-  cache_key = _boot_logo_cache_key(selected_logo, target_logo)
-  if boot_logo_location.is_file() and _boot_logo_cache_matches(cache_key):
-    return
-
   source_logo = target_logo
   staged_logo = Path("/tmp/starpilot_boot_logo.jpg")
   try:
@@ -416,18 +196,13 @@ def update_boot_logo(starpilot=False, stock=False, selected_logo=None):
   current_logo = boot_logo_location.read_bytes() if boot_logo_location.is_file() else b""
   desired_logo = source_logo.read_bytes()
   if current_logo != desired_logo:
-    mount_options = _run_cmd(["findmnt", "-n", "-o", "OPTIONS", "/"], "Successfully retrieved mount options", "Failed to retrieve mount options")
-    _run_cmd(["sudo", "mount", "-o", "remount,rw", "/"], "Successfully remounted / as read-write", "Failed to remount /")
-    if _run_cmd(["sudo", "cp", source_logo, boot_logo_location], "Successfully replaced boot logo", "Failed to replace boot logo") is None:
-      return
-    _run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/"], "Successfully restored / mount options", "Failed to restore / mount options")
-  _write_boot_logo_cache(cache_key)
+    mount_options = run_cmd(["findmnt", "-n", "-o", "OPTIONS", "/"], "Successfully retrieved mount options", "Failed to retrieve mount options")
+    run_cmd(["sudo", "mount", "-o", "remount,rw", "/"], "Successfully remounted / as read-write", "Failed to remount /")
+    run_cmd(["sudo", "cp", source_logo, boot_logo_location], "Successfully replaced boot logo", "Failed to replace boot logo")
+    run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/"], "Successfully restored / mount options", "Failed to restore / mount options")
 
 
 def update_maps(now, params, params_memory, manual_update=False):
-  from cereal import messaging
-  from openpilot.starpilot.common.maps_catalog import normalize_schedule_value, sanitize_selected_locations_csv
-
   maps_selected_raw = params.get("MapsSelected")
   maps_selected = sanitize_selected_locations_csv(maps_selected_raw)
   if not maps_selected:
@@ -442,8 +217,7 @@ def update_maps(now, params, params_memory, manual_update=False):
   is_sunday = now.weekday() == 6
   schedule = normalize_schedule_value(params.get("PreferredSchedule"))
 
-  maps_path = _maps_path()
-  maps_downloaded = maps_path.exists() and any(path.is_file() for path in maps_path.rglob("*"))
+  maps_downloaded = MAPS_PATH.exists() and any(path.is_file() for path in MAPS_PATH.rglob("*"))
   if maps_downloaded and (schedule == 0 or (schedule == 1 and not is_sunday) or (schedule == 2 and not is_first)) and not manual_update:
     return
 
@@ -491,7 +265,7 @@ def update_maps(now, params, params_memory, manual_update=False):
 
 def update_openpilot(thread_manager, params):
   def update_available():
-    _run_cmd(["pkill", "-SIGUSR1", "-f", "system.updated.updated"], "Checking for updates...", "Failed to check for update...", report=False)
+    run_cmd(["pkill", "-SIGUSR1", "-f", "system.updated.updated"], "Checking for updates...", "Failed to check for update...", report=False)
 
     while params.get("UpdaterState") != "checking...":
       time.sleep(1)
@@ -505,7 +279,7 @@ def update_openpilot(thread_manager, params):
     while params.get_bool("IsOnroad") or thread_manager.is_thread_alive("lock_doors"):
       time.sleep(60)
 
-    _run_cmd(["pkill", "-SIGHUP", "-f", "system.updated.updated"], "Update available, downloading...", "Failed to download update...", report=False)
+    run_cmd(["pkill", "-SIGHUP", "-f", "system.updated.updated"], "Update available, downloading...", "Failed to download update...", report=False)
 
     while not params.get_bool("UpdateAvailable"):
       time.sleep(60)

starpilot/common/starpilot_variables.py

@@ -15,7 +15,6 @@ import numpy as np
 from cereal import car, custom, log
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.chrysler.values import JEEPS as CHRYSLER_JEEPS
 from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GMFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.interfaces import TORQUE_SUBSTITUTE_PATH, CarInterfaceBase, GearShifter
@@ -317,12 +316,7 @@ def default_ev_tuning_enabled(CP):
   ev_vehicle |= getattr(CP, "transmissionType", None) == car.CarParams.TransmissionType.direct
   return bool(ev_vehicle)
 
-def get_starpilot_toggles(sm=None):
-  if sm is None:
-    if not hasattr(get_starpilot_toggles, "_sm"):
-      get_starpilot_toggles._sm = messaging.SubMaster(["starpilotPlan"])
-    sm = get_starpilot_toggles._sm
-
+def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
   toggles_text = sm["starpilotPlan"].starpilotToggles
   if toggles_text:
     get_starpilot_toggles._last_toggles_text = toggles_text
@@ -1413,7 +1407,6 @@ class StarPilotVariables:
     toggle.volt_one_pedal_mode = self.get_value("VoltOnePedalMode", condition=gm_auto_hold_supported)
 
     toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS)
-    toggle.jeep_brake_hold = self.get_value("JeepBrakeHold", condition=toggle.car_model in CHRYSLER_JEEPS)
 
     process_starpilot_toggles.cache_clear()
     self.params_memory.remove("StarPilotTogglesUpdated")

system/athena/athenad.py

@@ -30,7 +30,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.api import Api, get_key_pair, use_konik_server
+from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
@@ -41,6 +41,9 @@ from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.starpilot.common.starpilot_utilities import use_konik_server
+
+
 ATHENA_HOST = os.getenv('ATHENA_HOST', f"wss://athena.{'konik.ai' if use_konik_server() else 'comma.ai'}")
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH

system/athena/registration.py

@@ -1,57 +1,29 @@
 #!/usr/bin/env python3
 import time
+import json
+import jwt
+import random
+import string
+from typing import cast
 from pathlib import Path
 
+from datetime import datetime, timedelta, UTC
+from openpilot.common.api import api_get, get_key_pair
 from openpilot.common.params import Params
+from openpilot.common.spinner import Spinner
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
-OFFROAD_UNREGISTERED_ALERT = "Offroad_UnregisteredHardware"
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
-
-
-def api_get(*args, **kwargs):
-  from openpilot.common.api import api_get as api_get_impl
-
-  return api_get_impl(*args, **kwargs)
-
-
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-  for key, algorithm in KEYS.items():
-    private_path = Path(Paths.persist_root()) / "comma" / key
-    public_path = Path(Paths.persist_root()) / "comma" / f"{key}.pub"
-    if private_path.is_file() and public_path.is_file():
-      return algorithm, private_path.read_text(), public_path.read_text()
-  return None, None, None
-
-
-def _has_key_pair() -> bool:
-  for key in KEYS:
-    private_path = Path(Paths.persist_root()) / "comma" / key
-    public_path = Path(Paths.persist_root()) / "comma" / f"{key}.pub"
-    if private_path.is_file() and public_path.is_file():
-      return True
-  return False
 
 def is_registered_device() -> bool:
   dongle = Params().get("DongleId")
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
-def _set_registration_alert(params: Params, dongle_id: str | None) -> None:
-  show_alert = (dongle_id == UNREGISTERED_DONGLE_ID) and not PC
-  if show_alert:
-    from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-
-    set_offroad_alert(OFFROAD_UNREGISTERED_ALERT, True)
-  else:
-    params.remove(OFFROAD_UNREGISTERED_ALERT)
-
-
 def register(show_spinner=False, register_konik=False) -> str | None:
   """
   All devices built since March 2024 come with all
@@ -70,18 +42,13 @@ def register(show_spinner=False, register_konik=False) -> str | None:
     with open(Paths.persist_root()+"/comma/dongle_id") as f:
       dongle_id = f.read().strip()
 
-  if not _has_key_pair() and not register_konik:
+  # Create registration token, in the future, this key will make JWTs directly
+  jwt_algo, private_key, public_key = get_key_pair()
+
+  if not public_key and not register_konik:
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning("missing public key")
   elif dongle_id is None or register_konik:
-    import json
-    import jwt
-    from datetime import datetime, timedelta, UTC
-    from openpilot.common.spinner import Spinner
-
-    # Create registration token, in the future, this key will make JWTs directly
-    jwt_algo, private_key, public_key = get_key_pair()
-
     if show_spinner:
       spinner = Spinner()
       spinner.update("registering device")
@@ -106,14 +73,14 @@ def register(show_spinner=False, register_konik=False) -> str | None:
     while True:
       try:
         register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
-                                    private_key, algorithm=jwt_algo)
+                                    cast(str, private_key), algorithm=jwt_algo)
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                        imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
 
         if resp.status_code in (402, 403):
           cloudlog.info(f"Unable to register device, got {resp.status_code}")
-          dongle_id = UNREGISTERED_DONGLE_ID
+          dongle_id = ''.join(random.choices(string.ascii_lowercase + string.digits, k=16))
         else:
           dongleauth = json.loads(resp.text)
           dongle_id = dongleauth["dongle_id"]
@@ -132,7 +99,7 @@ def register(show_spinner=False, register_konik=False) -> str | None:
   if not register_konik and dongle_id != params.get("KonikDongleId"):
     params.put("DongleId", dongle_id)
     params.put("StockDongleId", dongle_id)
-    _set_registration_alert(params, dongle_id)
+    set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
 

system/manager/helpers.py

@@ -1,11 +1,18 @@
+import errno
+import fcntl
 import os
+import sys
+import pathlib
+import shutil
+import signal
+import subprocess
+import tempfile
+import threading
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 
 def unblock_stdout() -> None:
-  import errno
-  import fcntl
-  import signal
-  import sys
-
   # get a non-blocking stdout
   child_pid, child_pty = os.forkpty()
   if child_pid != 0:  # parent
@@ -44,30 +51,17 @@ def write_onroad_params(started, params):
 
 
 def save_bootlog():
-  import threading
+  # copy current params
+  tmp = tempfile.mkdtemp()
+  params_dirname = pathlib.Path(Params().get_param_path()).name
+  params_dir = os.path.join(tmp, params_dirname)
+  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True)
 
-  def fn():
-    import pathlib
-    import shutil
-    import subprocess
-    import tempfile
-
-    from openpilot.common.basedir import BASEDIR
-    from openpilot.common.params import Params
-
-    tmpdir = tempfile.mkdtemp()
+  def fn(tmpdir):
     env = os.environ.copy()
     env['PARAMS_COPY_PATH'] = tmpdir
-
-    try:
-      params = Params()
-      params_dirname = pathlib.Path(params.get_param_path()).name
-      params_dir = os.path.join(tmpdir, params_dirname)
-      shutil.copytree(params.get_param_path(), params_dir, dirs_exist_ok=True)
-      subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
-    finally:
-      shutil.rmtree(tmpdir, ignore_errors=True)
-
-  t = threading.Thread(target=fn)
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
+    shutil.rmtree(tmpdir)
+  t = threading.Thread(target=fn, args=(tmp, ))
   t.daemon = True
   t.start()

system/manager/manager.py

@@ -2,13 +2,12 @@
 import datetime
 import json
 import os
+import shutil
 from pathlib import Path
 import signal
 import sys
-import threading
 import time
 import traceback
-from types import SimpleNamespace
 
 _MANAGER_IMPORT_START = time.monotonic()
 _BOOT_TIMING_LOG_PATH = os.environ.get("SP_BOOT_TIMING_LOG", "/tmp/starpilot_boot_timing.log")
@@ -24,29 +23,37 @@ def _append_boot_timing_line(line: str) -> None:
 
 from cereal import car, log
 import cereal.messaging as messaging
+import openpilot.system.sentry as sentry
+from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType
+from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
 _MANAGER_CORE_IMPORT_DONE = time.monotonic()
 
 from openpilot.starpilot.common.starpilot_functions import starpilot_boot_functions, install_starpilot, uninstall_starpilot
+from openpilot.starpilot.common.starpilot_variables import (
+  LEGACY_STARPILOT_PARAM_RENAMES,
+  LEGACY_STARPILOT_STATS_KEY_RENAMES,
+  get_starpilot_toggles,
+)
 
 _MANAGER_IMPORT_DONE = time.monotonic()
-if __name__ == "__main__":
-  _manager_import_timing_line = (
-    "SP_BOOT_TIMING manager_import "
-    f"core={_MANAGER_CORE_IMPORT_DONE - _MANAGER_IMPORT_START:.3f}s "
-    f"starpilot={_MANAGER_IMPORT_DONE - _MANAGER_CORE_IMPORT_DONE:.3f}s "
-    f"total={_MANAGER_IMPORT_DONE - _MANAGER_IMPORT_START:.3f}s"
-  )
-  print(_manager_import_timing_line, flush=True)
-  _append_boot_timing_line(_manager_import_timing_line)
+_manager_import_timing_line = (
+  "SP_BOOT_TIMING manager_import "
+  f"core={_MANAGER_CORE_IMPORT_DONE - _MANAGER_IMPORT_START:.3f}s "
+  f"starpilot={_MANAGER_IMPORT_DONE - _MANAGER_CORE_IMPORT_DONE:.3f}s "
+  f"total={_MANAGER_IMPORT_DONE - _MANAGER_IMPORT_START:.3f}s"
+)
+print(_manager_import_timing_line, flush=True)
+_append_boot_timing_line(_manager_import_timing_line)
 
 
 LEGACY_BOLT_FP_MIGRATION_FLAG = Path("/data") / "legacy_bolt_fp_migration_v1"
@@ -60,30 +67,9 @@ STARPILOT_PC_ROOT_MIGRATION_FLAG = Path("/data") / "starpilot_pc_root_v1"
 STARPILOT_PARAMS_CACHE_MIGRATION_FLAG = Path("/data") / "starpilot_params_cache_v1"
 STARPILOT_LEGACY_CACHE_MARKER_KEYS = ("RemapCancelToDistance",)
 STARPILOT_REMOVED_PARAM_KEYS = ("HumanFollowing",)
-PARAMS_CACHE_RESTORE_SKIP_FLAGS = (
-  ParamKeyFlag.CLEAR_ON_MANAGER_START
-  | ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION
-  | ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION
-  | ParamKeyFlag.CLEAR_ON_IGNITION_ON
-)
-UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
-POWER_WATCHDOG_PATH = "/var/tmp/power_watchdog"
-_PENDING_PARAMS_CACHE_SYNC: tuple[str, list[str]] | None = None
 LEGACY_CARMODEL_MIGRATIONS = {
   "CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",
 }
-LEGACY_STARPILOT_PARAM_RENAMES = {
-  "FrogPilotApiToken": "StarPilotApiToken",
-  "FrogPilotCarParams": "StarPilotCarParams",
-  "FrogPilotCarParamsPersistent": "StarPilotCarParamsPersistent",
-  "FrogPilotDongleId": "StarPilotDongleId",
-  "FrogPilotStats": "StarPilotStats",
-}
-LEGACY_STARPILOT_STATS_KEY_RENAMES = {
-  "FrogPilotDrives": "StarPilotDrives",
-  "FrogPilotMeters": "StarPilotMeters",
-  "FrogPilotSeconds": "StarPilotSeconds",
-}
 STARPILOT_STATS_DROP_KEYS = {"CurrentMonthsKilometers", "ResetStats"}
 STARPILOT_STATS_MAX_KEYS = {"LongestDistanceWithoutOverride", "MaxAcceleration"}
 
@@ -97,154 +83,6 @@ def _log_boot_timing(scope: str, label: str, start: float, previous: float | Non
   return now
 
 
-def _sync_params_cache_keys_async(cache_params_path: str, keys: list[str]) -> None:
-  try:
-    params = Params()
-    params_cache = Params(cache_params_path, return_defaults=True)
-    for key in keys:
-      current_value = params.get(key)
-      if current_value is not None and params_cache.get(key) != current_value:
-        params_cache.put(key, current_value)
-  except Exception:
-    cloudlog.exception("failed to sync params cache")
-
-
-def _schedule_params_cache_sync(cache_params_path: str, keys: list[str]) -> None:
-  timer = threading.Timer(5.0, _sync_params_cache_keys_async, args=(cache_params_path, keys))
-  timer.daemon = True
-  timer.start()
-
-
-def _schedule_pending_params_cache_sync() -> None:
-  global _PENDING_PARAMS_CACHE_SYNC
-
-  pending_sync = _PENDING_PARAMS_CACHE_SYNC
-  _PENDING_PARAMS_CACHE_SYNC = None
-  if pending_sync is not None and pending_sync[1]:
-    _schedule_params_cache_sync(*pending_sync)
-
-
-def _iter_param_store_keys(store_path: str | Path) -> set[str]:
-  try:
-    path = Path(store_path)
-    if not path.is_dir():
-      return set()
-
-    with os.scandir(path) as entries:
-      return {
-        entry.name
-        for entry in entries
-        if entry.is_file(follow_symlinks=False) and entry.name != ".lock" and not entry.name.startswith(".tmp_")
-      }
-  except Exception:
-    cloudlog.exception(f"failed to list params store: {store_path}")
-    return set()
-
-
-def _param_key_to_text(key: bytes | str) -> str:
-  return key.decode("utf-8", errors="ignore") if isinstance(key, bytes) else str(key)
-
-
-def _should_restore_param_from_cache(params: Params, key: bytes | str) -> bool:
-  try:
-    return not (params.get_key_flag(key) & PARAMS_CACHE_RESTORE_SKIP_FLAGS)
-  except Exception:
-    return False
-
-
-def _restore_missing_params_from_cache(params: Params, params_cache: Params, active_keys: set[str] | None = None) -> list[str]:
-  active_keys = active_keys if active_keys is not None else _iter_param_store_keys(params.get_param_path())
-  restored_keys: list[str] = []
-
-  for raw_key in params.all_keys():
-    key = _param_key_to_text(raw_key)
-    if key in active_keys:
-      continue
-
-    if not _should_restore_param_from_cache(params, raw_key):
-      continue
-
-    cached_value = params_cache.get(raw_key)
-    if cached_value is None:
-      continue
-
-    try:
-      params.put(raw_key, cached_value)
-      restored_keys.append(key)
-    except Exception:
-      cloudlog.exception(f"failed to restore param from cache: {key}")
-
-  return restored_keys
-
-
-def _init_sentry_async() -> None:
-  def fn() -> None:
-    try:
-      import openpilot.system.sentry as sentry
-
-      sentry.init(sentry.SentryProject.SELFDRIVE)
-    except Exception:
-      cloudlog.exception("failed to initialize sentry")
-
-  threading.Thread(target=fn, daemon=True).start()
-
-
-def _capture_manager_exception() -> None:
-  try:
-    import openpilot.system.sentry as sentry
-
-    sentry.capture_exception()
-  except Exception:
-    cloudlog.exception("failed to capture manager exception")
-
-
-def _write_power_watchdog(timestamp: float) -> None:
-  import tempfile
-
-  tmp_file_name = None
-  try:
-    with tempfile.NamedTemporaryFile("w", dir=os.path.dirname(POWER_WATCHDOG_PATH), delete=False) as f:
-      tmp_file_name = f.name
-      f.write(str(timestamp))
-    os.replace(tmp_file_name, POWER_WATCHDOG_PATH)
-    tmp_file_name = None
-  finally:
-    if tmp_file_name is not None:
-      try:
-        os.unlink(tmp_file_name)
-      except FileNotFoundError:
-        pass
-
-
-def _get_starpilot_toggles(sm=None):
-  from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles
-
-  return get_starpilot_toggles(sm)
-
-
-def _get_manager_startup_toggles(params: Params | None = None) -> SimpleNamespace:
-  params = params or Params()
-  force_onroad = params.get_bool("ForceOnroad")
-  device_management = params.get_bool("DeviceManagement")
-  vetting_branch = os.environ.get("GIT_BRANCH") == "StarPilot-Vetting"
-
-  no_logging = False
-  no_uploads = False
-  if device_management and not vetting_branch:
-    no_logging = params.get_bool("NoLogging")
-    no_uploads = params.get_bool("NoUploads")
-
-  return SimpleNamespace(
-    force_offroad=params.get_bool("ForceOffroad"),
-    force_onroad=force_onroad,
-    no_logging=no_logging or (force_onroad and HARDWARE.get_device_type() == "pc"),
-    no_uploads=no_uploads,
-    no_onroad_uploads=params.get_bool("DisableOnroadUploads") if no_uploads else False,
-    speed_limit_filler=params.get_bool("SpeedLimitFiller"),
-    vision_speed_limit_detection=params.get_bool("VisionSpeedLimitDetection"),
-  )
-
-
 def _to_text(value):
   if value is None:
     return None
@@ -416,8 +254,6 @@ def _copy_param_store_without_overwrite(source: Path, destination: Path) -> int:
   if not source.is_dir():
     return 0
 
-  import shutil
-
   destination.mkdir(parents=True, exist_ok=True)
   copied_entries = 0
   for path in source.iterdir():
@@ -535,8 +371,6 @@ def _merge_tree_without_overwrite(source: Path, destination: Path) -> int:
   if not source.exists():
     return moved_entries
 
-  import shutil
-
   if not destination.exists():
     destination.parent.mkdir(parents=True, exist_ok=True)
     shutil.move(str(source), str(destination))
@@ -926,12 +760,11 @@ def migrate_legacy_experimental_longitudinal(params: Params, params_cache: Param
 
 
 def manager_init() -> None:
-  global _PENDING_PARAMS_CACHE_SYNC
-
   manager_init_start = time.monotonic()
   last_timing = _log_boot_timing("manager_init", "start", manager_init_start, manager_init_start)
 
-  last_timing = _log_boot_timing("manager_init", "save_bootlog_deferred", manager_init_start, last_timing)
+  save_bootlog()
+  last_timing = _log_boot_timing("manager_init", "save_bootlog", manager_init_start, last_timing)
 
   build_metadata = get_build_metadata()
   last_timing = _log_boot_timing("manager_init", "build_metadata", manager_init_start, last_timing)
@@ -977,11 +810,14 @@ def manager_init() -> None:
   last_timing = _log_boot_timing("manager_init", "starpilot_migrations", manager_init_start, last_timing)
 
   # set unset params to their default value
-  active_param_keys = _iter_param_store_keys(params.get_param_path())
-  last_timing = _log_boot_timing("manager_init", f"params_store_snapshot_{len(active_param_keys)}", manager_init_start, last_timing)
-  restored_param_keys = _restore_missing_params_from_cache(params, params_cache, active_param_keys)
-  last_timing = _log_boot_timing("manager_init", f"params_restore_{len(restored_param_keys)}", manager_init_start, last_timing)
-  params_cache_update_keys = sorted(active_param_keys)
+  for k in params.all_keys():
+    current_value = params.get(k)
+    if current_value is None:
+      cached_value = params_cache.get(k)
+      if cached_value is not None:
+        params.put(k, cached_value)
+    else:
+      params_cache.put(k, current_value)
   last_timing = _log_boot_timing("manager_init", "params_defaults_cache_sync", manager_init_start, last_timing)
 
   # Create folders needed for msgq
@@ -1011,8 +847,6 @@ def manager_init() -> None:
   last_timing = _log_boot_timing("manager_init", "version_params", manager_init_start, last_timing)
 
   # set dongle id
-  from openpilot.system.athena.registration import register
-
   reg_res = register(show_spinner=True)
   if reg_res:
     dongle_id = reg_res
@@ -1028,6 +862,7 @@ def manager_init() -> None:
     os.environ['CLEAN'] = '1'
 
   # init logging
+  sentry.init(sentry.SentryProject.SELFDRIVE)
   cloudlog.bind_global(dongle_id=dongle_id,
                        version=build_metadata.openpilot.version,
                        origin=build_metadata.openpilot.git_normalized_origin,
@@ -1037,22 +872,16 @@ def manager_init() -> None:
                        device=HARDWARE.get_device_type())
   last_timing = _log_boot_timing("manager_init", "logging_ready", manager_init_start, last_timing)
 
-  # Preimporting every process serializes a lot of import work before manager can
-  # start the always-on processes. Keep the old behavior available for debugging,
-  # but optimize normal boot by letting children import their modules in parallel.
-  if os.getenv("SP_MANAGER_PREIMPORT", "0").lower() in ("1", "true", "yes", "on"):
-    for p in managed_processes.values():
-      p.prepare()
-    last_timing = _log_boot_timing("manager_init", "preimport_processes", manager_init_start, last_timing)
-  else:
-    last_timing = _log_boot_timing("manager_init", "preimport_processes_skipped", manager_init_start, last_timing)
+  # preimport all processes
+  for p in managed_processes.values():
+    p.prepare()
+  last_timing = _log_boot_timing("manager_init", "preimport_processes", manager_init_start, last_timing)
 
   # StarPilot variables
   install_starpilot(build_metadata, params)
   last_timing = _log_boot_timing("manager_init", "install_starpilot", manager_init_start, last_timing)
   starpilot_boot_functions(build_metadata, params)
   _log_boot_timing("manager_init", "starpilot_boot_functions", manager_init_start, last_timing)
-  _PENDING_PARAMS_CACHE_SYNC = (cache_params_path, params_cache_update_keys)
 
 
 def manager_cleanup() -> None:
@@ -1090,7 +919,7 @@ def manager_thread() -> None:
   last_timing = _log_boot_timing("manager_thread", "messaging", manager_thread_start, last_timing)
 
   write_onroad_params(False, params)
-  initial_toggles = _get_manager_startup_toggles(params)
+  initial_toggles = get_starpilot_toggles()
   last_timing = _log_boot_timing("manager_thread", "initial_toggles", manager_thread_start, last_timing)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, starpilot_toggles=initial_toggles)
   last_timing = _log_boot_timing("manager_thread", "initial_ensure_running", manager_thread_start, last_timing)
@@ -1106,12 +935,9 @@ def manager_thread() -> None:
 
   params_memory = Params(memory=True)
 
-  starpilot_toggles = _get_manager_startup_toggles(params)
+  starpilot_toggles = get_starpilot_toggles()
   last_timing = _log_boot_timing("manager_thread", "loop_toggles", manager_thread_start, last_timing)
   _log_boot_timing("manager_thread", "loop_ready", manager_thread_start, last_timing)
-  save_bootlog()
-  _init_sentry_async()
-  _schedule_pending_params_cache_sync()
 
   while True:
     sm.update(1000)
@@ -1159,7 +985,8 @@ def manager_thread() -> None:
     # kick AGNOS power monitoring watchdog
     try:
       if sm.all_checks(['deviceState']):
-        _write_power_watchdog(time.monotonic())
+        with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
+          f.write(str(time.monotonic()))
     except Exception:
       pass
 
@@ -1182,7 +1009,7 @@ def manager_thread() -> None:
       break
 
     # StarPilot variables
-    starpilot_toggles = _get_starpilot_toggles(sm)
+    starpilot_toggles = get_starpilot_toggles(sm)
 
 
 def main() -> None:
@@ -1197,7 +1024,7 @@ def main() -> None:
     manager_thread()
   except Exception:
     traceback.print_exc()
-    _capture_manager_exception()
+    sentry.capture_exception()
   finally:
     manager_cleanup()
 
@@ -1221,9 +1048,6 @@ if __name__ == "__main__":
   except KeyboardInterrupt:
     print("got CTRL-C, exiting")
   except Exception:
-    from openpilot.common.swaglog import add_file_handler
-    from openpilot.common.text_window import TextWindow
-
     add_file_handler(cloudlog)
     cloudlog.exception("Manager failed to start")
 

system/manager/process.py

@@ -6,8 +6,6 @@ import struct
 import threading
 import time
 import subprocess
-import multiprocessing
-import sys
 from pathlib import Path
 from collections.abc import Callable, ValuesView
 from abc import ABC, abstractmethod
@@ -18,6 +16,7 @@ from setproctitle import setproctitle
 
 from cereal import car, log
 import cereal.messaging as messaging
+import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -430,6 +429,7 @@ def launcher(proc: str, name: str, nice: int | None = None) -> None:
 
     # add daemon name tag to logs
     cloudlog.bind(daemon=name)
+    sentry.set_tag("daemon", name)
 
     # exec the process
     mod.main()
@@ -438,13 +438,7 @@ def launcher(proc: str, name: str, nice: int | None = None) -> None:
   except Exception:
     # can't install the crash handler because sys.excepthook doesn't play nice
     # with threads, so catch it here.
-    try:
-      import openpilot.system.sentry as sentry
-
-      sentry.set_tag("daemon", name)
-      sentry.capture_exception()
-    except Exception:
-      cloudlog.exception(f"failed to capture exception for child {proc}")
+    sentry.capture_exception()
     raise
 
 
@@ -467,33 +461,11 @@ def join_process(process: Process, timeout: float) -> None:
     time.sleep(0.001)
 
 
-class SubprocessProcess:
-  def __init__(self, proc: subprocess.Popen):
-    self._proc = proc
-
-  @property
-  def pid(self) -> int | None:
-    return self._proc.pid
-
-  @property
-  def exitcode(self) -> int | None:
-    return self._proc.poll()
-
-  def is_alive(self) -> bool:
-    return self._proc.poll() is None
-
-  def join(self, timeout: float | None = None) -> None:
-    try:
-      self._proc.wait(timeout=timeout)
-    except subprocess.TimeoutExpired:
-      pass
-
-
 class ManagerProcess(ABC):
   daemon = False
   sigkill = False
   should_run: Callable[[bool, Params, car.CarParams, SimpleNamespace], bool]
-  proc: Process | SubprocessProcess | None = None
+  proc: Process | None = None
   enabled = True
   name = ""
 
@@ -643,7 +615,7 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, nice=None, start_method=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, nice=None):
     self.name = name
     self.module = module
     self.should_run = should_run
@@ -651,7 +623,6 @@ 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:
@@ -682,20 +653,8 @@ class PythonProcess(ManagerProcess):
     name = self.name if "modeld" not in self.name else "MainProcess"
 
     cloudlog.info(f"starting python {self.module}")
-    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(start_method).Process(
-        name=name,
-        target=self.launcher,
-        args=(self.module, self.name, self.nice),
-      )
-      self.proc.start()
+    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name, self.nice))
+    self.proc.start()
     self.last_watchdog_time = 0
     self.watchdog_seen = False
     self.shutting_down = False

system/manager/process_config.py

@@ -7,42 +7,10 @@ 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_ui_process_start_method(uses_python_ui: bool, is_pc: bool = PC) -> str:
-  return "fork" if is_pc or not uses_python_ui else "subprocess"
-
-
-PYTHON_UI = python_ui_enabled(device_type)
-PYTHON_UI_PROCESS_START_METHOD = python_ui_process_start_method(PYTHON_UI)
-THE_GALAXY_PROCESS_START_METHOD = "fork" if PC else "subprocess"
-UPDATED_PROCESS_START_METHOD = "fork" if PC else "subprocess"
-
-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")
@@ -157,13 +125,7 @@ procs = [
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
-  PythonProcess(
-    "updated",
-    "system.updated.updated",
-    always_run,
-    enabled=not PC,
-    start_method=UPDATED_PROCESS_START_METHOD,
-  ),
+  PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
   PythonProcess("statsd", "system.statsd", always_run),
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
@@ -177,26 +139,16 @@ procs = [
 
 # StarPilot variables
 procs += [
-  PythonProcess(
-    "the_galaxy",
-    "starpilot.system.the_galaxy.the_galaxy",
-    always_run,
-    nice=19,
-    start_method=THE_GALAXY_PROCESS_START_METHOD,
-  ),
+  PythonProcess("the_galaxy", "starpilot.system.the_galaxy.the_galaxy", always_run, nice=19),
   PythonProcess("galaxy", "starpilot.system.galaxy.galaxy", always_run, nice=19),
 ]
 
-if PYTHON_UI:
-  procs.append(PythonProcess(
-    "ui",
-    "selfdrive.ui.ui",
-    always_run,
-    watchdog_max_dt=UI_WATCHDOG_MAX_DT,
-    start_method=PYTHON_UI_PROCESS_START_METHOD,
-  ))
-else:
+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.
+  procs.append(PythonProcess("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_launch_param_migrations.py

@@ -50,9 +50,7 @@ class FileBackedFakeParams:
 
 
 def marker_path(tmp_path: Path, marker_name: str) -> Path:
-  path = tmp_path / MARKER_DIRNAME / "params" / marker_name
-  path.parent.mkdir(parents=True, exist_ok=True)
-  return path
+  return tmp_path / MARKER_DIRNAME / "params" / marker_name
 
 
 def test_apply_launch_param_migrations_sets_branch_defaults_once(tmp_path):

system/manager/test/test_manager.py

@@ -6,16 +6,10 @@ from pathlib import Path
 import json
 
 from cereal import car
-from openpilot.common.params import Params, ParamKeyFlag
+from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
-from openpilot.system.manager.process import PythonProcess
-from openpilot.system.manager.process_config import (
-  managed_processes,
-  procs,
-  python_ui_enabled,
-  python_ui_process_start_method,
-)
+from openpilot.system.manager.process_config import managed_processes, procs
 from openpilot.system.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
@@ -25,29 +19,15 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
 class FileBackedFakeParams:
-  def __init__(
-    self,
-    root: Path,
-    values: dict[str, object] | None = None,
-    keys: set[str] | None = None,
-    flags: dict[str, ParamKeyFlag] | None = None,
-  ):
+  def __init__(self, root: Path, values: dict[str, object] | None = None):
     self.root = root
-    self.keys = set(keys or [])
-    self.flags = dict(flags or {})
     self.root.mkdir(parents=True, exist_ok=True)
     for key, value in (values or {}).items():
       self.put(key, value)
 
-  def get_param_path(self, key=""):
+  def get_param_path(self, key):
     return str(self.root / (key.decode() if isinstance(key, bytes) else str(key)))
 
-  def all_keys(self):
-    return sorted(self.keys)
-
-  def get_key_flag(self, key):
-    return self.flags.get(key.decode() if isinstance(key, bytes) else str(key), ParamKeyFlag.PERSISTENT)
-
   def get(self, key):
     path = Path(self.get_param_path(key))
     if not path.is_file():
@@ -68,7 +48,6 @@ class FileBackedFakeParams:
     return str(value).strip().lower() in ("1", "true", "yes", "on")
 
   def put(self, key, value):
-    self.keys.add(key.decode() if isinstance(key, bytes) else str(key))
     path = Path(self.get_param_path(key))
     path.parent.mkdir(parents=True, exist_ok=True)
 
@@ -117,83 +96,6 @@ class TestManager:
     assert names.index("the_galaxy") < ui_idx
     assert names.index("galaxy") < ui_idx
 
-  def test_python_ui_process_start_method_follows_ui_implementation(self):
-    assert python_ui_process_start_method(False, False) == "fork"
-    assert python_ui_process_start_method(True, False) == "subprocess"
-    assert python_ui_process_start_method(True, True) == "fork"
-
-  def test_python_ui_subprocess_is_scoped_to_ui(self):
-    ui_proc = managed_processes["ui"]
-    uses_python_ui = python_ui_enabled(HARDWARE.get_device_type())
-    subprocess_scoped_procs = {"the_galaxy", "updated"}
-
-    assert isinstance(ui_proc, PythonProcess) == uses_python_ui
-    if uses_python_ui:
-      assert ui_proc.start_method == python_ui_process_start_method(uses_python_ui)
-    for proc in procs:
-      if isinstance(proc, PythonProcess) and proc.name not in subprocess_scoped_procs | {"ui"}:
-        assert proc.start_method is None
-
-  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", {
-      "DeviceManagement": True,
-      "NoLogging": True,
-      "NoUploads": True,
-      "DisableOnroadUploads": True,
-      "SpeedLimitFiller": True,
-      "VisionSpeedLimitDetection": True,
-      "ForceOffroad": True,
-      "ForceOnroad": False,
-    })
-
-    toggles = manager._get_manager_startup_toggles(params)
-
-    assert toggles.no_logging is True
-    assert toggles.no_uploads is True
-    assert toggles.no_onroad_uploads is True
-    assert toggles.speed_limit_filler is True
-    assert toggles.vision_speed_limit_detection is True
-    assert toggles.force_offroad is True
-    assert toggles.force_onroad is False
-
-  def test_restore_missing_params_from_cache_preserves_live_values(self, tmp_path):
-    params = FileBackedFakeParams(
-      tmp_path / "params",
-      {"ExistingParam": "live"},
-      keys={"ExistingParam", "RestoredParam", "MissingParam", "TransientParam"},
-      flags={"TransientParam": ParamKeyFlag.CLEAR_ON_MANAGER_START},
-    )
-    params_cache = FileBackedFakeParams(
-      tmp_path / "cache",
-      {"ExistingParam": "cached", "RestoredParam": "restored", "TransientParam": "stale"},
-    )
-
-    restored_keys = manager._restore_missing_params_from_cache(params, params_cache)
-
-    assert restored_keys == ["RestoredParam"]
-    assert params.get("ExistingParam") == "live"
-    assert params.get("RestoredParam") == "restored"
-    assert params.get("MissingParam") is None
-    assert params.get("TransientParam") is None
-
-  def test_iter_param_store_keys_skips_lock_and_temp_files(self, tmp_path):
-    store_path = tmp_path / "params"
-    store_path.mkdir()
-    (store_path / "GoodParam").write_text("1")
-    (store_path / ".lock").write_text("")
-    (store_path / ".tmp_value_abc").write_text("stale")
-    (store_path / "nested").mkdir()
-
-    assert manager._iter_param_store_keys(store_path) == {"GoodParam"}
-
   def test_blacklisted_procs(self):
     # TODO: ensure there are blacklisted procs until we have a dedicated test
     assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"

system/tests/test_version.py

@@ -1,67 +0,0 @@
-import json
-
-from openpilot.system import version
-
-
-def _write_minimal_git_checkout(path, branch="StarPilot", commit="1" * 40, origin="https://example.com/openpilot"):
-  git_folder = path / ".git"
-  git_folder.mkdir()
-  (git_folder / "refs" / "heads").mkdir(parents=True)
-  (git_folder / "HEAD").write_text(f"ref: refs/heads/{branch}\n", encoding="utf-8")
-  (git_folder / "refs" / "heads" / branch).write_text(f"{commit}\n", encoding="utf-8")
-  (git_folder / "config").write_text(
-    f"""[remote "origin"]
-  url = {origin}
-[branch "{branch}"]
-  remote = origin
-  merge = refs/heads/{branch}
-""",
-    encoding="utf-8",
-  )
-  return {
-    "branch": branch,
-    "commit": commit,
-    "origin": origin,
-  }
-
-
-def test_read_git_metadata_reads_head_ref_and_origin(tmp_path):
-  git_metadata = _write_minimal_git_checkout(tmp_path, branch="Dom", commit="a" * 40)
-
-  assert version._read_git_metadata(str(tmp_path)) == git_metadata
-
-
-def test_get_build_metadata_uses_prebuilt_git_cache(tmp_path, monkeypatch):
-  git_metadata = _write_minimal_git_checkout(tmp_path, branch="Dom", commit="b" * 40)
-  cache_root = tmp_path / "cache"
-  monkeypatch.setenv("OPENPILOT_BUILD_METADATA_CACHE_ROOT", str(cache_root))
-  (tmp_path / "prebuilt").write_text("", encoding="utf-8")
-  (tmp_path / "common").mkdir()
-  (tmp_path / "common" / "version.h").write_text('#define COMMA_VERSION "1.2.3"\n', encoding="utf-8")
-  (tmp_path / "RELEASES.md").write_text("Release notes\n\nOlder notes\n", encoding="utf-8")
-
-  cached_payload = {
-    "path": str(tmp_path.resolve()),
-    "git_metadata": git_metadata,
-    "build_metadata": {
-      "channel": "Dom",
-      "openpilot": {
-        "version": "1.2.3",
-        "release_notes": "Release notes",
-        "git_commit": git_metadata["commit"],
-        "git_origin": git_metadata["origin"],
-        "git_commit_date": "123 1970-01-01 00:02:03 +0000",
-        "build_style": "unknown",
-        "is_dirty": False,
-      },
-    },
-  }
-  cache_root.mkdir()
-  (cache_root / version.BUILD_METADATA_CACHE_FILENAME).write_text(json.dumps(cached_payload), encoding="utf-8")
-  monkeypatch.setattr(version, "get_commit_date", lambda *args, **kwargs: (_ for _ in ()).throw(AssertionError("cache miss")))
-
-  build_metadata = version.get_build_metadata(str(tmp_path))
-
-  assert build_metadata.channel == "Dom"
-  assert build_metadata.openpilot.git_commit == git_metadata["commit"]
-  assert build_metadata.openpilot.git_commit_date == "123 1970-01-01 00:02:03 +0000"

system/ui/reset.py

@@ -1,69 +1,14 @@
 #!/usr/bin/env python3
-from pathlib import Path
-
-from openpilot.system.hardware import HARDWARE
-
-BIG_UI_DEVICE_TYPES = ("tici", "tizi")
-SMALL_UI_DEVICE_TYPE = "mici"
-
-
-def _normalize_device_type(raw: str) -> str:
-  device_type = raw.replace("\x00", "").strip().lower()
-  if "comma " in device_type:
-    device_type = device_type.rsplit("comma ", 1)[-1].strip()
-  return device_type
-
-
-def _device_tree_device_type() -> str | None:
-  model_path = Path("/sys/firmware/devicetree/base/model")
-  if not model_path.is_file():
-    return None
-
-  try:
-    return _normalize_device_type(model_path.read_text(encoding="utf-8", errors="ignore"))
-  except Exception:
-    return None
-
-
-def _reported_device_type() -> str | None:
-  try:
-    return _normalize_device_type(HARDWARE.get_device_type())
-  except Exception:
-    return None
-
-
-def _ui_device_type() -> str:
-  device_tree_type = _device_tree_device_type()
-  if device_tree_type in BIG_UI_DEVICE_TYPES:
-    return device_tree_type
-  if device_tree_type:
-    return SMALL_UI_DEVICE_TYPE
-
-  reported_type = _reported_device_type()
-  if reported_type in BIG_UI_DEVICE_TYPES:
-    return reported_type
-  return SMALL_UI_DEVICE_TYPE
-
-
-def _patch_hardware_device_type(device_type: str) -> None:
-  HARDWARE.get_device_type = lambda: device_type
-  try:
-    import openpilot.system.hardware.tici.hardware as tici_hardware
-    tici_hardware.get_device_type = lambda: device_type
-  except Exception:
-    pass
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_reset as tici_reset
+import openpilot.system.ui.mici_reset as mici_reset
 
 
 def main():
-  device_type = _ui_device_type()
-  _patch_hardware_device_type(device_type)
-
-  if device_type in BIG_UI_DEVICE_TYPES:
-    import openpilot.system.ui.tici_reset as reset_impl
+  if gui_app.big_ui():
+    tici_reset.main()
   else:
-    import openpilot.system.ui.mici_reset as reset_impl
-
-  reset_impl.main()
+    mici_reset.main()
 
 
 if __name__ == "__main__":

system/ui/tests/test_reset.py

@@ -1,42 +0,0 @@
-import importlib
-import sys
-import types
-from unittest.mock import patch
-
-import pytest
-
-
-@pytest.fixture
-def reset_module(monkeypatch):
-  hardware = types.ModuleType("openpilot.system.hardware")
-  hardware.HARDWARE = types.SimpleNamespace(get_device_type=lambda: "tici")
-  monkeypatch.setitem(sys.modules, "openpilot.system.hardware", hardware)
-  sys.modules.pop("openpilot.system.ui.reset", None)
-  module = importlib.import_module("openpilot.system.ui.reset")
-  yield module
-  sys.modules.pop("openpilot.system.ui.reset", None)
-
-
-def test_device_tree_tici_uses_big_ui(reset_module):
-  with patch.object(reset_module, "_device_tree_device_type", return_value="tici"), \
-       patch.object(reset_module, "_reported_device_type", return_value="mici"):
-    assert reset_module._ui_device_type() == "tici"
-
-
-def test_device_tree_tizi_uses_big_ui(reset_module):
-  with patch.object(reset_module, "_device_tree_device_type", return_value="tizi"), \
-       patch.object(reset_module, "_reported_device_type", return_value="mici"):
-    assert reset_module._ui_device_type() == "tizi"
-
-
-@pytest.mark.parametrize("device_tree_type", ["mici", "comma 4", "comma four"])
-def test_non_tici_device_tree_uses_small_ui(reset_module, device_tree_type):
-  with patch.object(reset_module, "_device_tree_device_type", return_value=device_tree_type), \
-       patch.object(reset_module, "_reported_device_type", return_value="tici"):
-    assert reset_module._ui_device_type() == "mici"
-
-
-def test_reported_tici_used_when_no_device_tree(reset_module):
-  with patch.object(reset_module, "_device_tree_device_type", return_value=None), \
-       patch.object(reset_module, "_reported_device_type", return_value="tici"):
-    assert reset_module._ui_device_type() == "tici"

system/updated/updated.py

@@ -26,7 +26,6 @@ from openpilot.starpilot.common.starpilot_variables import BACKUP_PATH, get_star
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
-GIT_CLEANUP_TIMEOUT = int(os.getenv("UPDATER_GIT_CLEANUP_TIMEOUT", "30"))
 
 OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper")
 OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata")
@@ -234,12 +233,10 @@ def finalize_update() -> None:
   cloudlog.info("Starting git cleanup in finalized update")
   t = time.monotonic()
   try:
-    subprocess.run(["git", "gc", "--auto"], cwd=FINALIZED, check=True, stdout=subprocess.PIPE,
-                   stderr=subprocess.STDOUT, encoding="utf8", timeout=GIT_CLEANUP_TIMEOUT)
-    subprocess.run(["git", "lfs", "prune"], cwd=FINALIZED, check=True, stdout=subprocess.PIPE,
-                   stderr=subprocess.STDOUT, encoding="utf8", timeout=GIT_CLEANUP_TIMEOUT)
+    run(["git", "gc"], FINALIZED)
+    run(["git", "lfs", "prune"], FINALIZED)
     cloudlog.event("Done git cleanup", duration=time.monotonic() - t)
-  except (subprocess.CalledProcessError, subprocess.TimeoutExpired):
+  except subprocess.CalledProcessError:
     cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s")
 
   set_consistent_flag(True)
@@ -495,6 +492,9 @@ def main() -> None:
     update_failed_count = 0 # TODO: Load from param?
     wait_helper = WaitTimeHelper()
 
+    # invalidate old finalized update
+    set_consistent_flag(False)
+
     # set initial state
     params.put("UpdaterState", "idle")
 

system/version.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from dataclasses import asdict, dataclass
+from dataclasses import dataclass
 from functools import cache
 import json
 import os
@@ -14,7 +14,6 @@ RELEASE_BRANCHES = ['StarPilot', 'StarPilot-Vetting']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['StarPilot-Staging', 'StarPilot-Testing']
 
 BUILD_METADATA_FILENAME = "build.json"
-BUILD_METADATA_CACHE_FILENAME = "starpilot_build_metadata_cache.json"
 
 training_version: str = "0.2.0"
 terms_version: str = "2"
@@ -133,133 +132,6 @@ def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata:
               is_dirty=False))
 
 
-def _read_text_file(path: pathlib.Path) -> str | None:
-  try:
-    return path.read_text(encoding="utf-8").strip()
-  except OSError:
-    return None
-
-
-def _read_git_ref(git_folder: pathlib.Path, ref: str) -> str | None:
-  ref_value = _read_text_file(git_folder / ref)
-  if ref_value:
-    return ref_value.splitlines()[0].strip()
-
-  packed_refs = _read_text_file(git_folder / "packed-refs")
-  if packed_refs is None:
-    return None
-
-  for line in packed_refs.splitlines():
-    if not line or line.startswith(("#", "^")):
-      continue
-
-    parts = line.split()
-    if len(parts) == 2 and parts[1] == ref:
-      return parts[0]
-
-  return None
-
-
-def _read_git_config_value(git_folder: pathlib.Path, section: str, key: str) -> str | None:
-  config = _read_text_file(git_folder / "config")
-  if config is None:
-    return None
-
-  current_section = None
-  for raw_line in config.splitlines():
-    line = raw_line.strip()
-    if not line or line.startswith(("#", ";")):
-      continue
-
-    if line.startswith("[") and line.endswith("]"):
-      current_section = line[1:-1]
-      continue
-
-    if current_section != section or "=" not in line:
-      continue
-
-    config_key, value = line.split("=", 1)
-    if config_key.strip() == key:
-      return value.strip()
-
-  return None
-
-
-def _read_git_metadata(path: str) -> dict[str, str] | None:
-  git_folder = pathlib.Path(path) / ".git"
-  if not git_folder.is_dir():
-    return None
-
-  head = _read_text_file(git_folder / "HEAD")
-  if not head:
-    return None
-
-  branch = "HEAD"
-  commit = head.splitlines()[0].strip()
-  if head.startswith("ref:"):
-    ref = head.split(":", 1)[1].strip()
-    branch = ref.rsplit("/", 1)[-1]
-    commit = _read_git_ref(git_folder, ref)
-
-  if not commit:
-    return None
-
-  remote = _read_git_config_value(git_folder, f'branch "{branch}"', "remote") or "origin"
-  origin = _read_git_config_value(git_folder, f'remote "{remote}"', "url")
-  if origin is None and remote != "origin":
-    origin = _read_git_config_value(git_folder, 'remote "origin"', "url")
-
-  return {
-    "branch": branch,
-    "commit": commit,
-    "origin": origin or "",
-  }
-
-
-def _build_metadata_cache_path(path: str) -> pathlib.Path | None:
-  if not (pathlib.Path(path) / ".git").is_dir():
-    return None
-
-  cache_root = pathlib.Path(os.environ.get("OPENPILOT_BUILD_METADATA_CACHE_ROOT", "/cache/starpilot"))
-  return cache_root / BUILD_METADATA_CACHE_FILENAME
-
-
-def _read_cached_build_metadata(path: str, git_metadata: dict[str, str]) -> BuildMetadata | None:
-  cache_path = _build_metadata_cache_path(path)
-  if cache_path is None:
-    return None
-
-  try:
-    cache_payload = json.loads(cache_path.read_text(encoding="utf-8"))
-  except (OSError, json.JSONDecodeError):
-    return None
-
-  if cache_payload.get("path") != str(pathlib.Path(path).resolve()) or cache_payload.get("git_metadata") != git_metadata:
-    return None
-
-  build_metadata = cache_payload.get("build_metadata")
-  if not isinstance(build_metadata, dict):
-    return None
-
-  return build_metadata_from_dict(build_metadata)
-
-
-def _write_cached_build_metadata(path: str, git_metadata: dict[str, str], build_metadata: BuildMetadata) -> None:
-  cache_path = _build_metadata_cache_path(path)
-  if cache_path is None:
-    return
-
-  try:
-    cache_path.parent.mkdir(parents=True, exist_ok=True)
-    cache_path.write_text(json.dumps({
-      "path": str(pathlib.Path(path).resolve()),
-      "git_metadata": git_metadata,
-      "build_metadata": asdict(build_metadata),
-    }, separators=(",", ":")), encoding="utf-8")
-  except OSError:
-    pass
-
-
 def get_build_metadata(path: str = BASEDIR) -> BuildMetadata:
   build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME
 
@@ -270,34 +142,15 @@ def get_build_metadata(path: str = BASEDIR) -> BuildMetadata:
   git_folder = pathlib.Path(path) / ".git"
 
   if git_folder.exists():
-    prebuilt = is_prebuilt(path)
-    git_metadata = _read_git_metadata(path)
-    if prebuilt and git_metadata is not None:
-      cached_metadata = _read_cached_build_metadata(path, git_metadata)
-      if cached_metadata is not None:
-        return cached_metadata
-
-      build_metadata = BuildMetadata(git_metadata["branch"],
-                      OpenpilotMetadata(
-                        version=get_version(path),
-                        release_notes=get_release_notes(path),
-                        git_commit=git_metadata["commit"],
-                        git_origin=git_metadata["origin"] or get_origin(path),
-                        git_commit_date=get_commit_date(path, git_metadata["commit"]),
-                        build_style="unknown",
-                        is_dirty=False))
-      _write_cached_build_metadata(path, git_metadata, build_metadata)
-      return build_metadata
-
     return BuildMetadata(get_short_branch(path),
-                         OpenpilotMetadata(
-                           version=get_version(path),
-                           release_notes=get_release_notes(path),
-                           git_commit=get_commit(path),
-                           git_origin=get_origin(path),
-                           git_commit_date=get_commit_date(path),
-                           build_style="unknown",
-                           is_dirty=is_dirty(path)))
+                    OpenpilotMetadata(
+                      version=get_version(path),
+                      release_notes=get_release_notes(path),
+                      git_commit=get_commit(path),
+                      git_origin=get_origin(path),
+                      git_commit_date=get_commit_date(path),
+                      build_style="unknown",
+                      is_dirty=is_dirty(path)))
 
   cloudlog.exception("unable to get build metadata")
   raise Exception("invalid build metadata")