patch

SConstruct

@@ -136,6 +136,8 @@ assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 # Use the system toolchain explicitly on macOS for reliable local builds.
 cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
 cxx = '/usr/bin/clang++' if arch == "Darwin" else 'clang++'
+ar = '/usr/bin/ar' if arch == "Darwin" else 'ar'
+ranlib = '/usr/bin/ranlib' if arch == "Darwin" else 'ranlib'
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -215,12 +217,8 @@ else:
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
 
-    # cereal headers in this tree were generated with capnp 1.0.1, while
-    # Homebrew currently ships newer capnp headers (1.3.x). For mac host
-    # tooling builds (desktop UI/runtime .so), force the expected version
-    # macro so generated headers remain buildable.
-    cflags += ["-DGL_SILENCE_DEPRECATION", "-DCAPNP_VERSION=1000001"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION", "-DCAPNP_VERSION=1000001"]
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
       f"{brew_prefix}/include",
       f"{brew_prefix}/opt/openssl@3.0/include",
@@ -290,6 +288,8 @@ env = Environment(
 
   CC=cc,
   CXX=cxx,
+  AR=ar,
+  RANLIB=ranlib,
   LINKFLAGS=ldflags,
 
   RPATH=rpath,
@@ -318,7 +318,9 @@ if arch == "Darwin":
 env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = os.environ.get("SP_SCONS_CACHE_DIR", "").strip()
+if not cache_dir:
+  cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 

common/params_keys.h

@@ -238,9 +238,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"Model", {PERSISTENT, STRING, "sc", "sc", 1}},
+    {"Model", {PERSISTENT, STRING, "sc2", "sc2", 1}},
     {"ModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
-    {"DrivingModel", {PERSISTENT, STRING, "sc", "sc", 1}},
+    {"DrivingModel", {PERSISTENT, STRING, "sc2", "sc2", 1}},
     {"DrivingModelName", {PERSISTENT, STRING, "South Carolina", "South Carolina", 1}},
     {"DrivingModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
     {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2}},

frogpilot/assets/model_manager.py

@@ -18,9 +18,9 @@ from openpilot.frogpilot.common.frogpilot_variables import MODELS_PATH
 
 MANIFEST_CANDIDATES = ("v21",)
 TINYGRAD_VERSIONS = {"v8", "v9", "v10", "v11", "v12"}
-DEFAULT_MODEL_KEY = "sc"
+DEFAULT_MODEL_KEY = "sc2"
 MODEL_KEY_CANONICAL_MAP = {
-  "sc2": "sc",
+  "sc": DEFAULT_MODEL_KEY,
 }
 
 CANCEL_DOWNLOAD_PARAM = "CancelModelDownload"
@@ -34,6 +34,32 @@ def _clean_model_name(name: str) -> str:
   return re.sub(r"[🗺️👀📡]", "", str(name or "")).strip()
 
 
+def canonical_model_key(model_key: str) -> str:
+  key = (model_key or "").strip()
+  return MODEL_KEY_CANONICAL_MAP.get(key, key)
+
+
+def is_builtin_model_key(model_key: str) -> bool:
+  return canonical_model_key(model_key) == DEFAULT_MODEL_KEY
+
+
+def model_key_aliases(model_key: str) -> list[str]:
+  canonical_key = canonical_model_key(model_key)
+  aliases = [canonical_key]
+
+  for alias, canonical in MODEL_KEY_CANONICAL_MAP.items():
+    if canonical == canonical_key:
+      aliases.append(alias)
+
+  if model_key.endswith("_default"):
+    aliases.append(model_key[:-8])
+
+  if model_key and not model_key.endswith("2"):
+    aliases.append(f"{model_key}2")
+
+  return [alias for alias in dict.fromkeys(alias for alias in aliases if alias)]
+
+
 class ModelManager:
   def __init__(self, params, params_memory, boot_run=False):
     self.params = params
@@ -51,8 +77,7 @@ class ModelManager:
 
   @staticmethod
   def _canonical_model_key(model_key: str) -> str:
-    key = (model_key or "").strip()
-    return MODEL_KEY_CANONICAL_MAP.get(key, key)
+    return canonical_model_key(model_key)
 
   def _param_text(self, key: str) -> str:
     raw = self.params.get(key)
@@ -99,18 +124,7 @@ class ModelManager:
     self._set_model_param_keys(selected_model, selected_name, current_version)
 
   def _model_key_aliases(self, model_key: str) -> list[str]:
-    canonical_key = self._canonical_model_key(model_key)
-    aliases = [canonical_key]
-    # Preserve legacy alias lookups (e.g. sc2) even when canonicalized to sc.
-    for alias, canonical in MODEL_KEY_CANONICAL_MAP.items():
-      if canonical == canonical_key:
-        aliases.append(alias)
-    if model_key.endswith("_default"):
-      aliases.append(model_key[:-8])
-    # v21 manifest uses legacy IDs with a trailing "2" (e.g. sc -> sc2).
-    if model_key and not model_key.endswith("2"):
-      aliases.append(f"{model_key}2")
-    return [alias for alias in dict.fromkeys(aliases) if alias]
+    return model_key_aliases(model_key)
 
   def _model_version_map(self) -> dict[str, str]:
     return {
@@ -148,6 +162,9 @@ class ModelManager:
     return filenames
 
   def _is_model_downloaded(self, model_key: str, model_version: str) -> bool:
+    if is_builtin_model_key(model_key):
+      return True
+
     required_files = self._required_files(model_key, model_version)
     if not required_files:
       return False
@@ -284,6 +301,12 @@ class ModelManager:
   def download_model(self, model_to_download: str):
     self.downloading_model = True
 
+    if is_builtin_model_key(model_to_download):
+      self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Built-in model already downloaded.")
+      self.params_memory.remove(MODEL_DOWNLOAD_PARAM)
+      self.downloading_model = False
+      return
+
     repo_url = get_repository_url()
     if not repo_url:
       handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)

frogpilot/common/frogpilot_variables.py

@@ -752,9 +752,9 @@ class FrogPilotVariables:
     toggle.stop_distance = self.get_value("StopDistance", cast=float, condition=longitudinal_tuning, default=6.0)
     toggle.taco_tune = self.get_value("TacoTune", condition=longitudinal_tuning)
 
-    toggle.model = self.get_value("Model", cast=None, default="sc")
+    toggle.model = self.get_value("Model", cast=None, default="sc2")
     if not toggle.model:
-      toggle.model = self.get_value("DrivingModel", cast=None, default="sc")
+      toggle.model = self.get_value("DrivingModel", cast=None, default="sc2")
     toggle.model_name = self.get_value("DrivingModelName", cast=None, default="South Carolina")
     toggle.model_version = self.get_value("ModelVersion", cast=None, default="v11")
     if not toggle.model_version:

frogpilot/tinygrad_modeld/tinygrad_modeld.py

@@ -37,6 +37,9 @@ from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
 PROCESS_NAME = "frogpilot.tinygrad_modeld.tinygrad_modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
+BUILTIN_MODEL_KEY = "sc2"
+BUILTIN_MODEL_ALIASES = {BUILTIN_MODEL_KEY, "sc"}
+
 
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
@@ -60,6 +63,11 @@ def _get_param_str(params: Params, key: str, default: str = "") -> str:
   return str(val)
 
 
+def _canonical_model_id(model_id: str) -> str:
+  key = (model_id or "").strip().lower()
+  return BUILTIN_MODEL_KEY if key in BUILTIN_MODEL_ALIASES else key
+
+
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool, frogpilot_toggles) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
@@ -138,17 +146,18 @@ class ModelState:
     params = Params()
     model_id_raw = _get_param_str(params, "Model")
     if not model_id_raw:
-      model_id_raw = _get_param_str(params, "DrivingModel", "sc")
-    model_id = (model_id_raw.strip() or "sc").lower()
+      model_id_raw = _get_param_str(params, "DrivingModel", BUILTIN_MODEL_KEY)
+    model_id = _canonical_model_id(model_id_raw)
 
     model_version = _get_param_str(params, "ModelVersion")
     if not model_version:
       model_version = _get_param_str(params, "DrivingModelVersion")
 
     model_dir = MODELS_PATH
-    use_builtin_model = model_id == "sc"
+    use_builtin_model = model_id == BUILTIN_MODEL_KEY
     model_download_id = model_id
-    if use_builtin_model and (model_id_raw != model_id or _get_param_str(params, "DrivingModel") != model_id):
+    if use_builtin_model and (_canonical_model_id(_get_param_str(params, "Model")) != model_id or
+                              _canonical_model_id(_get_param_str(params, "DrivingModel")) != model_id):
       params.put("Model", model_id)
       params.put("DrivingModel", model_id)
 

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-0f4bae1c-DEBUG";
+const uint8_t gitversion[19] = "DEV-be385576-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-0f4bae1c-DEBUG
+DEV-be385576-DEBUG

scripts/host_tool_runner.sh

@@ -14,7 +14,7 @@ HOST_LOCK_DIR=""
 HOST_LOCK_PID_FILE=""
 HOST_LOCK_CMD_FILE=""
 HOST_LOCK_HELD=0
-HOST_BUCKETS=(shared cabana plotjuggler)
+HOST_BUCKETS=(shared cabana)
 
 usage() {
   cat <<'EOF'
@@ -37,7 +37,7 @@ Commands:
 
 Notes:
   - Host-tool builds happen under ./.host_runtime/ and do not touch the main tree.
-  - `cabana` and `plotjuggler` use their own host-runtime buckets and can run together.
+  - `cabana` uses its own host-runtime bucket, so it can run together with `plotjuggler`.
   - Other commands that share a bucket still wait on that bucket's lock.
   - `./build` remains the device-target flow.
   - For c3/c4/raybig, pass the jobs count first to preserve existing shorthand:
@@ -68,7 +68,7 @@ resolve_host_bucket() {
       echo "cabana"
       ;;
     plotjuggler|juggle)
-      echo "plotjuggler"
+      echo "shared"
       ;;
     *)
       return 1
@@ -305,9 +305,14 @@ setup_build_env() {
     export PATH="/opt/homebrew/bin:${PATH}"
   fi
 
+  mkdir -p "${HOST_ROOT}/scons_cache"
+  export SP_SCONS_CACHE_DIR="${HOST_ROOT}/scons_cache"
+
   if [[ "$(uname -s)" == "Darwin" ]]; then
     export CC="/usr/bin/clang"
     export CXX="/usr/bin/clang++"
+    export AR="/usr/bin/ar"
+    export RANLIB="/usr/bin/ranlib"
   fi
 
   unset CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH CPPFLAGS CFLAGS CXXFLAGS LDFLAGS
@@ -477,14 +482,14 @@ main() {
       acquire_host_lock "${command} $*"
       ;;
     plotjuggler|juggle)
-      set_host_bucket "plotjuggler"
+      set_host_bucket "shared"
       acquire_host_lock "${command} $*"
       ;;
     sync)
       if [[ $# -gt 0 ]]; then
         bucket="$(resolve_host_bucket "${1}")" || {
           echo "Unknown host bucket for sync: ${1}" >&2
-          echo "Valid sync buckets: shared, cabana, plotjuggler" >&2
+          echo "Valid sync buckets: shared, cabana" >&2
           exit 1
         }
         shift || true

tools/STARPILOT_DEVELOPMENT.md

@@ -109,9 +109,8 @@ Host-native artifacts live under:
 
 That host area contains:
 
-- `worktree/` and `venv/` for the shared bucket used by UI/replay commands
+- `worktree/` and `venv/` for the shared bucket used by UI, replay, and PlotJuggler
 - `cabana/worktree/` and `cabana/venv/` for Cabana
-- `plotjuggler/worktree/` and `plotjuggler/venv/` for PlotJuggler
 - host-built binaries, static libs, objects, and Python extensions for each bucket
 
 Because `.host_runtime/` is git-ignored, running host tools no longer churns tracked files in the main repo.
@@ -141,9 +140,8 @@ That means:
 
 Current bucket split:
 
-- shared bucket: `./c3`, `./c4`, `./raybig`, `./dev replay`, `./dev shell`
+- shared bucket: `./c3`, `./c4`, `./raybig`, `./dev replay`, `./dev plotjuggler`, `./dev juggle`, `./dev shell`
 - cabana bucket: `./dev cabana`
-- plotjuggler bucket: `./dev plotjuggler`, `./dev juggle`
 
 This prevents one command from syncing or rebuilding over another live host session while still allowing the common Cabana + PlotJuggler pairing.
 
@@ -197,7 +195,6 @@ To refresh one bucket only:
 
 ```bash
 ./dev sync cabana
-./dev sync plotjuggler
 ./dev sync shared
 ```