Connor

selfdrive/modeld/modeld.py

@@ -99,6 +99,7 @@ def _should_publish_model_output(model_output, vipc_dropped_frames: int, externa
 MIN_LAT_CONTROL_SPEED = 0.3
 BIG_MODEL_LOAD_WAIT_TIMEOUT_MS = 30000
 BIG_MODEL_RUN_WAIT_TIMEOUT_MS = 3000
+EXTERNAL_GPU_TEST_POWER_LIMIT_W = 60
 EXTERNAL_GPU_POWER_READY_MV = 10000
 EXTERNAL_GPU_EGMP_READY_MV = 12500
 EXTERNAL_GPU_POWER_STABLE_SECONDS = 3.0
@@ -115,6 +116,12 @@ def _set_hcq_wait_timeout(timeout_ms: int) -> None:
   getenv.cache_clear()
 
 
+def _set_external_gpu_power_limit(watts: int) -> None:
+  os.environ["AM_POWER_LIMIT"] = str(watts)
+  from tinygrad.helpers import getenv
+  getenv.cache_clear()
+
+
 def _external_gpu_power_voltage(device_type: str, panda_states, peripheral_state) -> int | None:
   if device_type == "tici":
     voltage = int(peripheral_state.voltage)
@@ -1053,6 +1060,9 @@ def main(demo=False):
   external_artifact = MODELS_PATH / f"{big_model_id}_driving_tinygrad.pkl"
   external_artifact_ready = external_model_selected and file_chunked_exists(external_artifact)
   external_gpu_requested = usbgpu_present_now and (bool(big_model_id) or model_lab_ready)
+  if external_gpu_requested:
+    _set_external_gpu_power_limit(EXTERNAL_GPU_TEST_POWER_LIMIT_W)
+    cloudlog.warning(f"external GPU test power limit set to {EXTERNAL_GPU_TEST_POWER_LIMIT_W} W")
   params.put_bool("UsbGpuPresent", usbgpu_present_now)
   params.put_bool("UsbGpuCompiled", external_artifact_ready or model_lab_ready)
   params.put_bool("UsbGpuActive", False)

selfdrive/modeld/tests/test_usbgpu_helpers.py

@@ -1,4 +1,5 @@
 import io
+import os
 import struct
 from types import MethodType
 from types import SimpleNamespace
@@ -39,6 +40,17 @@ def test_external_gpu_uses_a_longer_load_watchdog():
   assert modeld.BIG_MODEL_RUN_WAIT_TIMEOUT_MS == 3000
 
 
+def test_external_gpu_test_power_limit(monkeypatch):
+  from tinygrad.helpers import getenv
+
+  monkeypatch.delenv("AM_POWER_LIMIT", raising=False)
+  getenv.cache_clear()
+  modeld._set_external_gpu_power_limit(modeld.EXTERNAL_GPU_TEST_POWER_LIMIT_W)
+
+  assert os.environ["AM_POWER_LIMIT"] == "60"
+  assert getenv("AM_POWER_LIMIT", 0.0) == 60.0
+
+
 def test_external_gpu_voltage_uses_hardware_specific_source():
   panda_type = modeld.log.PandaState.PandaType
   panda_states = [SimpleNamespace(pandaType=panda_type.dos, voltage=230)]

selfdrive/ui/layouts/settings/starpilot/longitudinal.py

@@ -780,12 +780,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
       SettingRow("PulseGlideSpeedDelta", "value", tr_noop("Pulse and Glide Delta"),
                  subtitle=tr_noop("Developer-only: coast this far below the current cruise target before accelerating back up."),
                  get_value=lambda: f"{self._params.get_float('PulseGlideSpeedDelta'):.1f}{self._speed_unit()}",
-                 on_click=lambda: self._show_slider("PulseGlideSpeedDelta", 0.5,
+                 on_click=lambda: self._show_slider("PulseGlideSpeedDelta"),
-                                                    30.0 if self._is_metric() else 15.0,
-                                                    step=0.5,
-                                                    unit=self._speed_unit(),
-                                                    value_type="float",
-                                                    title="Pulse and Glide Delta"),
                  visible=lambda: self._params.get_bool("QOLLongitudinal") and self._developer_feature_access()),
       SettingRow("MapGears", "toggle", tr_noop("Map Gears"),
                  subtitle="",
@@ -1108,7 +1103,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
   def _developer_feature_access(self) -> bool:
     return (
       starpilot_state.car_state.hasOpenpilotLongitudinal and
-      (gui_app.big_ui() or self._params.get_bool("DeveloperUI") or self._params.get_bool("GalaxyDeveloperMode"))
+      (self._params.get_bool("DeveloperUI") or self._params.get_bool("GalaxyDeveloperMode"))
     )
 
   def _speed_unit(self) -> str:

selfdrive/ui/layouts/settings/starpilot/vehicle.py

@@ -130,6 +130,9 @@ class VehicleSettingsManagerView(PanelManagerView):
                    float(self._controller._params.get_int("LockDoorsTimer")),
                    f"{self._controller._params.get_int('LockDoorsTimer')}s"),
                  on_click=lambda: self._controller._on_select("LockDoorsTimer")))
+      rows.append(SettingRow("ClusterOffset", "value", tr_noop("Dashboard Speed Offset"),
+                 get_value=lambda: f"{self._controller._params.get_float('ClusterOffset'):.3f}x",
+                 on_click=lambda: self._controller._on_select("ClusterOffset")))
     return rows
 
   def _combo_value(self, keys: tuple[str, ...]) -> str:
@@ -717,6 +720,8 @@ class StarPilotVehicleSettingsLayout(_SettingsPage):
       self._on_select_model()
     elif key == "LockDoorsTimer":
       self._show_lock_timer_selector()
+    elif key == "ClusterOffset":
+      self._show_offset_selector()
     else:
       self._show_action_picker(key)
 
@@ -809,7 +814,7 @@ class StarPilotVehicleSettingsLayout(_SettingsPage):
       allowed_ids = set(range(9)) | {11, 12, 13, 14}
       if key == "LKASButtonControl":
         allowed_ids.add(9)
-      developer_access = gui_app.big_ui() or self._params.get_bool("DeveloperUI") or self._params.get_bool("GalaxyDeveloperMode")
+      developer_access = self._params.get_bool("DeveloperUI") or self._params.get_bool("GalaxyDeveloperMode")
       options = [o for o in ACTION_OPTIONS
                  if o["id"] in allowed_ids and
                  (cs.hasOpenpilotLongitudinal or not o.get("requires_longitudinal", False)) and
@@ -838,6 +843,15 @@ class StarPilotVehicleSettingsLayout(_SettingsPage):
                                             self._params.get_int("LockDoorsTimer"), on_close,
                                             labels=_lock_doors_timer_labels(), color=PANEL_STYLE.accent))
 
+  def _show_offset_selector(self):
+    def on_close(res, val):
+      if res == DialogResult.CONFIRM:
+        self._params.put_float("ClusterOffset", float(val))
+
+    gui_app.push_widget(AetherSliderDialog(tr("Dashboard Speed Offset"), 1.000, 1.050, 0.001,
+                                            self._params.get_float("ClusterOffset"), on_close,
+                                            unit="x", color=PANEL_STYLE.accent))
+
   def _get_display_make(self) -> str:
     make = self._params.get("CarMake") or ""
     if make:

starpilot/common/assets/device_settings_layout.json

@@ -3653,6 +3653,17 @@
         "galaxy_only": true,
         "settings_tier": "simple"
       },
+      {
+        "key": "ClusterOffset",
+        "label": "Dashboard Speed Offset",
+        "description": "The speed offset openpilot uses to match the speed on the dashboard display.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 1.0,
+        "max": 1.05,
+        "step": 0.001,
+        "settings_tier": "simple"
+      },
       {
         "key": "SNGHack",
         "label": "Stop-and-Go Hack",
@@ -4870,19 +4881,6 @@
         "is_parent_toggle": true,
         "settings_tier": "simple"
       },
-      {
-        "key": "ClusterOffset",
-        "label": "Dashboard Speed Offset",
-        "description": "Multiplier for dashboard speed. 1x = no offset; 1.05x = 5% faster.",
-        "data_type": "float",
-        "ui_type": "numeric",
-        "unit": "x",
-        "min": 1.0,
-        "max": 1.05,
-        "step": 0.001,
-        "parent_key": "GalaxyDeveloperMode",
-        "settings_tier": "advanced"
-      },
       {
         "key": "GalaxyMobileDefault",
         "label": "Use Galaxy (new) by Default",

starpilot/common/starpilot_variables.py

@@ -880,7 +880,7 @@ class StarPilotVariables:
       toggle.car_model = car_model
 
     self.migrate_prius_cluster_offset(str(toggle.car_model))
-    toggle.cluster_offset = self.get_value("ClusterOffset", cast=float)
+    toggle.cluster_offset = self.get_value("ClusterOffset", cast=float, condition=toggle.car_make == "toyota")
 
     toggle.longitudinal_mode_values = mode_values
     toggle.experimental_mode = toggle.experimental_mode_available and not toggle.safe_mode and mode_values["ExperimentalMode"]
@@ -989,8 +989,7 @@ class StarPilotVariables:
     toggle.static_pedals_on_ui = self.get_value("StaticPedalsOnUI", condition=toggle.pedals_on_ui)
     toggle.rotating_wheel = self.get_value("RotatingWheel", condition=custom_ui)
 
-    big_ui = os.getenv("BIG", "0") == "1" or HARDWARE.get_device_type() in ("tici", "tizi")
+    toggle.developer_ui = self.get_value("DeveloperUI")
-    toggle.developer_ui = self.get_value("DeveloperUI") or big_ui
     developer_metrics = self.get_value("DeveloperMetrics", condition=toggle.developer_ui)
     border_metrics = self.get_value("BorderMetrics", condition=developer_metrics)
     toggle.blind_spot_metrics = has_bsm and self.get_value("BlindSpotMetrics", condition=border_metrics)
@@ -1043,7 +1042,7 @@ class StarPilotVariables:
       condition=toggle.car_make == "gm" and toggle.has_pedal and "BOLT" in toggle.car_model,
     )
 
-    developer_feature_access = toggle.developer_ui or self.params.get_bool("GalaxyDeveloperMode")
+    developer_feature_access = self.params.get_bool("DeveloperUI") or self.params.get_bool("GalaxyDeveloperMode")
     toggle.pulse_and_glide_available = toggle.openpilot_longitudinal and developer_feature_access
     toggle.pulse_glide_speed_delta = self.get_value(
       "PulseGlideSpeedDelta",

starpilot/common/tests/test_starpilot_variables.py

@@ -293,22 +293,6 @@ def test_disabled_conditional_experimental_toggles_are_off(monkeypatch, tmp_path
   assert toggles.conditional_signal_lane_detection is False
 
 
-def test_big_ui_exposes_developer_toggles_without_persisting_developer_ui(monkeypatch, tmp_path):
-  params_cls = spv.Params
-
-  def isolated_params(_path=None, memory=False, return_defaults=False):
-    return params_cls(str(tmp_path / ("memory" if memory else "params")), return_defaults=return_defaults)
-
-  monkeypatch.setattr(spv, "Params", isolated_params)
-  monkeypatch.setattr(spv.HARDWARE, "get_device_type", lambda: "tici")
-  monkeypatch.delenv("BIG", raising=False)
-
-  variables = spv.StarPilotVariables()
-
-  assert variables.starpilot_toggles.developer_ui is True
-  assert variables.params_raw.get_bool("DeveloperUI") is False
-
-
 def test_device_shutdown_hours_convert_directly_to_seconds():
   assert spv.device_shutdown_seconds(6) == 6 * 60 * 60
   assert spv.device_shutdown_seconds(0) == 60 * 60

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

@@ -83,6 +83,7 @@ const VEHICLE_SETTING_MAKES = {
   SubaruSNGManualParkingBrake: ["Subaru"],
   SubaruStopStartOff: ["Subaru"],
   SubaruRedneckCruise: ["Subaru"],
+  ClusterOffset: ["Lexus", "Toyota"],
   SNGHack: ["Lexus", "Toyota"],
   ToyotaAutoHold: ["Lexus", "Toyota"],
 }

starpilot/system/the_galaxy/assets/mobile/js/params.js

@@ -70,6 +70,7 @@ const VEHICLE_SETTING_MAKES = {
   SubaruSNGManualParkingBrake: ["Subaru"],
   SubaruStopStartOff: ["Subaru"],
   SubaruRedneckCruise: ["Subaru"],
+  ClusterOffset: ["Lexus", "Toyota"],
   SNGHack: ["Lexus", "Toyota"],
   ToyotaAutoHold: ["Lexus", "Toyota"],
 }

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -345,31 +345,6 @@ def test_toyota_auto_hold_is_galaxy_only():
   assert setting["data_type"] == "bool"
 
 
-def test_cluster_offset_is_in_galaxy_developer_section_only():
-  sections = _params_by_section(_layout())
-  assert "ClusterOffset" not in sections["Vehicle"]
-  setting = sections["Developer"]["ClusterOffset"]
-
-  assert setting["parent_key"] == "GalaxyDeveloperMode"
-  assert setting["settings_tier"] == "advanced"
-  assert setting["data_type"] == "float"
-  assert "1x = no offset" in setting["description"]
-  assert setting["unit"] == "x"
-  assert setting["min"] == 1.0
-  assert setting["max"] == 1.05
-  assert setting["step"] == 0.001
-
-  native_vehicle_settings = REPO_ROOT / "selfdrive/ui/layouts/settings/starpilot/vehicle.py"
-  native_source = native_vehicle_settings.read_text(encoding="utf-8")
-  assert 'SettingRow("ClusterOffset"' not in native_source
-  assert "def _show_offset_selector" not in native_source
-
-  for galaxy_source in (
-    REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/device_settings.js",
-    REPO_ROOT / "starpilot/system/the_galaxy/assets/mobile/js/params.js",
-  ):
-    assert "ClusterOffset:" not in galaxy_source.read_text(encoding="utf-8")
-
 def test_human_acceleration_param_is_removed():
   params_source = PARAM_KEYS_PATH.read_text(encoding="utf-8")
   assert '{"HumanAcceleration",' not in params_source

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -690,11 +690,6 @@ assert(P.isSettingVisible(sec, sec.params[1], {}) === false, "advanced hidden (o
 assert(P.isSettingVisible(sec, sec.params[1], { GalaxyDeveloperMode: true }) === true, "advanced visible (on)")
 assert(P.countAdvancedHiddenByDeveloperMode([sec], {}) === 1, "count hidden (off)")
 assert(P.countAdvancedHiddenByDeveloperMode([sec], { GalaxyDeveloperMode: true }) === 0, "count hidden (on)")
-const developer = { name: "Developer", params: [] }
-const clusterOffset = { key: "ClusterOffset", parent_key: "GalaxyDeveloperMode", settings_tier: "advanced", data_type: "float" }
-assert(P.isVehicleSettingVisible(developer, clusterOffset, { CarMake: "gm" }) === true, "cluster offset has no vehicle filter")
-assert(P.isSettingVisible(developer, clusterOffset, { CarMake: "gm" }) === false, "cluster offset hidden without developer mode")
-assert(P.isSettingVisible(developer, clusterOffset, { CarMake: "gm", GalaxyDeveloperMode: true }) === true, "cluster offset visible in developer mode")
 const slider = { key: "DeviceShutdown", data_type: "int", min: 1, max: 30, step: 1 }
 assert(P.snapNumericToBoundsAndStep(17.9, P.numericBounds(slider, {}), 0) === 18, "snap")
 assert(P.formatSliderValue(6, "1", 0, "DeviceShutdown") === "6 hours", "format")