Sync: commaai/openpilot:master → sunnypilot/sunnypilot:master (#1645)

.github/workflows/tests.yaml

@@ -108,7 +108,6 @@ jobs:
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export LOGPRINT=debug
+#export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}

RELEASES.md

@@ -1,3 +1,7 @@
+Version 0.10.4 (2026-02-17)
+========================
+* Lexus LS 2018 support thanks to Hacheoy!
+
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249

cereal/log.capnp

@@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;

cereal/messaging/__init__.py

@@ -13,7 +13,7 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

common/SConscript

@@ -19,11 +19,6 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
+common_python = [params_python]
 
 Export('common_python')

common/api/__init__.py

@@ -18,8 +18,8 @@ class Api:
     return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
 
 
 def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:

common/api/base.py

@@ -51,7 +51,7 @@ class BaseApi:
     ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
     return ascii_encoded_text.decode()
 
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
     headers = {}
     if access_token is not None:
       headers['Authorization'] = "JWT " + access_token
@@ -59,7 +59,9 @@ class BaseApi:
     version = self.remove_non_ascii_chars(get_version())
     headers['User-Agent'] = self.user_agent + version
 
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+    # TODO: add session to Api
+    req = requests if session is None else session
+    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
   def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Dark Souls 2 (Default)"
+#define DEFAULT_MODEL "WMI (Default)"

common/pid.py

@@ -3,15 +3,9 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,7 +13,11 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/prefix.py

@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,9 +10,10 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/transformations/SConscript

@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')

common/transformations/tests/test_coordinates.py

@@ -102,3 +102,36 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
+
+  def test_errors(self):
+    # Test wrong shape/type for geodetic2ecef
+    # numpy_wrap raises IndexError for scalar input
+    with np.testing.assert_raises(IndexError):
+      coord.geodetic2ecef(1.0)
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0])
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0, 0, 0])
+
+    with np.testing.assert_raises(TypeError):
+      coord.geodetic2ecef(['a', 'b', 'c'])
+
+    # Test LocalCoord constructor errors
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic([0, 0])
+
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic(1)
+
+    with np.testing.assert_raises(TypeError):
+      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
+
+    # Test wrong shape/type for ecef2geodetic
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2])
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2, 3, 4])
+    with np.testing.assert_raises(IndexError):
+      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
+
+  def test_inputs(self):
+    with pytest.raises(ValueError):
+      euler2quat([1, 2])
+
+    with pytest.raises(ValueError):
+      quat2rot([1, 2, 3])
+
+    with pytest.raises(IndexError):
+      rot2quat(np.zeros((2, 2)))
+
+  def test_euler_rot_consistency(self):
+    rpy = [0.1, 0.2, 0.3]
+    R = euler2rot(rpy)
+
+    # R -> q -> R
+    q = rot2quat(R)
+    R_new = quat2rot(q)
+    np.testing.assert_allclose(R, R_new, atol=1e-15)
+
+    # q -> R -> Euler (quat2euler) -> R
+    rpy_new = quat2euler(q)
+    R_new2 = euler2rot(rpy_new)
+    np.testing.assert_allclose(R, R_new2, atol=1e-15)
+
+    # R -> Euler (rot2euler) -> R
+    rpy_from_rot = rot2euler(R)
+    R_new3 = euler2rot(rpy_from_rot)
+    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -1,72 +0,0 @@
-# cython: language_level=3
-from libcpp cimport bool
-
-cdef extern from "orientation.cc":
-  pass
-
-cdef extern from "orientation.hpp":
-  cdef cppclass Quaternion "Eigen::Quaterniond":
-    Quaternion()
-    Quaternion(double, double, double, double)
-    double w()
-    double x()
-    double y()
-    double z()
-
-  cdef cppclass Vector3 "Eigen::Vector3d":
-    Vector3()
-    Vector3(double, double, double)
-    double operator()(int)
-
-  cdef cppclass Matrix3 "Eigen::Matrix3d":
-    Matrix3()
-    Matrix3(double*)
-
-    double operator()(int, int)
-
-  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(const Vector3 &)
-  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
-
-
-cdef extern from "coordinates.cc":
-  cdef struct ECEF:
-    double x
-    double y
-    double z
-
-  cdef struct NED:
-    double n
-    double e
-    double d
-
-  cdef struct Geodetic:
-    double lat
-    double lon
-    double alt
-    bool radians
-
-  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(const ECEF &)
-
-  cdef cppclass LocalCoord_c "LocalCoord":
-    Matrix3 ned2ecef_matrix
-    Matrix3 ecef2ned_matrix
-
-    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(const ECEF &)
-
-    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(const NED &)
-
-cdef extern from "coordinates.hpp":
-  pass

common/transformations/transformations.py

@@ -0,0 +1,342 @@
+import numpy as np
+
+
+# Constants
+a = 6378137.0
+b = 6356752.3142
+esq = 6.69437999014e-3
+e1sq = 6.73949674228e-3
+
+
+def geodetic2ecef_single(g):
+  """
+  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
+  """
+  try:
+    if len(g) != 3:
+      raise ValueError("Geodetic must be size 3")
+  except TypeError:
+    raise ValueError("Geodetic must be a sequence of length 3") from None
+
+  lat, lon, alt = g
+  lat = np.radians(lat)
+  lon = np.radians(lon)
+  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
+  return np.array([x, y, z])
+
+
+def ecef2geodetic_single(e):
+  """
+  Convert ECEF to geodetic coordinates using Ferrari's solution.
+  """
+  x, y, z = e
+  r = np.sqrt(x**2 + y**2)
+  Esq = a**2 - b**2
+  F = 54 * b**2 * z**2
+  G = r**2 + (1 - esq) * z**2 - esq * Esq
+  C = (esq**2 * F * r**2) / (G**3)
+  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
+  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
+  Q = np.sqrt(1 + 2 * esq**2 * P)
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
+  U = np.sqrt((r - esq * r_0)**2 + z**2)
+  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
+  Z_0 = b**2 * z / (a * V)
+  h = U * (1 - b**2 / (a * V))
+  lat = np.arctan((z + e1sq * Z_0) / r)
+  lon = np.arctan2(y, x)
+  return np.array([np.degrees(lat), np.degrees(lon), h])
+
+
+def euler2quat_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a quaternion.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
+  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
+  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
+
+  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
+  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
+  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
+  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def quat2euler_single(q):
+  """
+  Convert a quaternion to Euler angles (roll, pitch, yaw).
+  """
+  w, x, y, z = q
+  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+  sin_arg = 2 * (w * y - z * x)
+  sin_arg = np.clip(sin_arg, -1.0, 1.0)
+  theta = np.arcsin(sin_arg)
+  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+  return np.array([gamma, theta, psi])
+
+
+def quat2rot_single(q):
+  """
+  Convert a quaternion to a 3x3 rotation matrix.
+  """
+  w, x, y, z = q
+  xx, yy, zz = x * x, y * y, z * z
+  xy, xz, yz = x * y, x * z, y * z
+  wx, wy, wz = w * x, w * y, w * z
+
+  mat = np.array([
+    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
+    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
+    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
+  ])
+  return mat
+
+
+def rot2quat_single(rot):
+  """
+  Convert a 3x3 rotation matrix to a quaternion.
+  """
+  trace = np.trace(rot)
+  if trace > 0:
+    s = 0.5 / np.sqrt(trace + 1.0)
+    w = 0.25 / s
+    x = (rot[2, 1] - rot[1, 2]) * s
+    y = (rot[0, 2] - rot[2, 0]) * s
+    z = (rot[1, 0] - rot[0, 1]) * s
+  else:
+    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
+      w = (rot[2, 1] - rot[1, 2]) / s
+      x = 0.25 * s
+      y = (rot[0, 1] + rot[1, 0]) / s
+      z = (rot[0, 2] + rot[2, 0]) / s
+    elif rot[1, 1] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
+      w = (rot[0, 2] - rot[2, 0]) / s
+      x = (rot[0, 1] + rot[1, 0]) / s
+      y = 0.25 * s
+      z = (rot[1, 2] + rot[2, 1]) / s
+    else:
+      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
+      w = (rot[1, 0] - rot[0, 1]) / s
+      x = (rot[0, 2] + rot[2, 0]) / s
+      y = (rot[1, 2] + rot[2, 1]) / s
+      z = 0.25 * s
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def euler2rot_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  cx, sx = np.cos(phi), np.sin(phi)
+  cy, sy = np.cos(theta), np.sin(theta)
+  cz, sz = np.cos(psi), np.sin(psi)
+
+  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
+  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
+  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
+
+  return Rz @ Ry @ Rx
+
+
+def rot2euler_single(rot):
+  """
+  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
+  """
+  return quat2euler_single(rot2quat_single(rot))
+
+
+def rot_matrix(roll, pitch, yaw):
+  """
+  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
+  """
+  return euler2rot_single([roll, pitch, yaw])
+
+
+def axis_angle_to_rot(axis, angle):
+  """
+  Convert an axis-angle representation to a 3x3 rotation matrix.
+  """
+  c = np.cos(angle / 2)
+  s = np.sin(angle / 2)
+  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
+  return quat2rot_single(q)
+
+
+class LocalCoord:
+  """
+  A class to handle conversions between ECEF and local NED coordinates.
+  """
+  def __init__(self, geodetic=None, ecef=None):
+    """
+    Initialize LocalCoord with either geodetic or ECEF coordinates.
+    """
+    if geodetic is not None:
+      self.init_ecef = geodetic2ecef_single(geodetic)
+      lat, lon, _ = geodetic
+    elif ecef is not None:
+      self.init_ecef = np.array(ecef)
+      lat, lon, _ = ecef2geodetic_single(ecef)
+    else:
+      raise ValueError("Must provide geodetic or ecef")
+
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+
+    self.ned2ecef_matrix = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, geodetic):
+    """
+    Create a LocalCoord instance from geodetic coordinates.
+    """
+    return cls(geodetic=geodetic)
+
+  @classmethod
+  def from_ecef(cls, ecef):
+    """
+    Create a LocalCoord instance from ECEF coordinates.
+    """
+    return cls(ecef=ecef)
+
+  def ecef2ned_single(self, ecef):
+    """
+    Convert a single ECEF point to NED coordinates relative to the origin.
+    """
+    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
+
+  def ned2ecef_single(self, ned):
+    """
+    Convert a single NED point to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix @ ned + self.init_ecef
+
+  def geodetic2ned_single(self, geodetic):
+    """
+    Convert a single geodetic point to NED coordinates.
+    """
+    ecef = geodetic2ecef_single(geodetic)
+    return self.ecef2ned_single(ecef)
+
+  def ned2geodetic_single(self, ned):
+    """
+    Convert a single NED point to geodetic coordinates.
+    """
+    ecef = self.ned2ecef_single(ned)
+    return ecef2geodetic_single(ecef)
+
+  @property
+  def ned_from_ecef_matrix(self):
+    """
+    Returns the rotation matrix from ECEF to NED coordinates.
+    """
+    return self.ecef2ned_matrix
+
+  @property
+  def ecef_from_ned_matrix(self):
+    """
+    Returns the rotation matrix from NED to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix
+
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+  """
+  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent ECEF Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+  zero = np.array(ecef_init)
+
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  phi, theta, psi = ned_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
+
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+  """
+  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent NED Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  phi, theta, psi = ecef_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  zero = np.array(ecef_init)
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -1,173 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
-from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
-from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
-from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
-from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
-from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
-from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from openpilot.common.transformations.transformations cimport LocalCoord_c
-
-
-import numpy as np
-cimport numpy as np
-
-cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
-    return np.array([
-        [m(0, 0), m(0, 1), m(0, 2)],
-        [m(1, 0), m(1, 1), m(1, 2)],
-        [m(2, 0), m(2, 1), m(2, 2)],
-    ])
-
-cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
-    assert m.shape[0] == 3
-    assert m.shape[1] == 3
-    return Matrix3(<double*>m.data)
-
-cdef ECEF list2ecef(ecef):
-    cdef ECEF e
-    e.x = ecef[0]
-    e.y = ecef[1]
-    e.z = ecef[2]
-    return e
-
-cdef NED list2ned(ned):
-    cdef NED n
-    n.n = ned[0]
-    n.e = ned[1]
-    n.d = ned[2]
-    return n
-
-cdef Geodetic list2geodetic(geodetic):
-    cdef Geodetic g
-    g.lat = geodetic[0]
-    g.lon = geodetic[1]
-    g.alt = geodetic[2]
-    return g
-
-def euler2quat_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Quaternion q = euler2quat_c(e)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def quat2euler_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q)
-    return [e(0), e(1), e(2)]
-
-def quat2rot_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Matrix3 r = quat2rot_c(q)
-    return matrix2numpy(r)
-
-def rot2quat_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Quaternion q = rot2quat_c(r)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def euler2rot_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Matrix3 r = euler2rot_c(e)
-    return matrix2numpy(r)
-
-def rot2euler_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Vector3 e = rot2euler_c(r)
-    return [e(0), e(1), e(2)]
-
-def rot_matrix(roll, pitch, yaw):
-    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
-
-    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
-
-    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def geodetic2ecef_single(geodetic):
-    cdef Geodetic g = list2geodetic(geodetic)
-    cdef ECEF e = geodetic2ecef_c(g)
-    return [e.x, e.y, e.z]
-
-def ecef2geodetic_single(ecef):
-    cdef ECEF e = list2ecef(ecef)
-    cdef Geodetic g = ecef2geodetic_c(e)
-    return [g.lat, g.lon, g.alt]
-
-
-cdef class LocalCoord:
-    cdef LocalCoord_c * lc
-
-    def __init__(self, geodetic=None, ecef=None):
-        assert (geodetic is not None) or (ecef is not None)
-        if geodetic is not None:
-            self.lc = new LocalCoord_c(list2geodetic(geodetic))
-        elif ecef is not None:
-            self.lc = new LocalCoord_c(list2ecef(ecef))
-
-    @property
-    def ned2ecef_matrix(self):
-        return matrix2numpy(self.lc.ned2ecef_matrix)
-
-    @property
-    def ecef2ned_matrix(self):
-        return matrix2numpy(self.lc.ecef2ned_matrix)
-
-    @property
-    def ned_from_ecef_matrix(self):
-        return self.ecef2ned_matrix
-
-    @property
-    def ecef_from_ned_matrix(self):
-        return self.ned2ecef_matrix
-
-    @classmethod
-    def from_geodetic(cls, geodetic):
-        return cls(geodetic=geodetic)
-
-    @classmethod
-    def from_ecef(cls, ecef):
-        return cls(ecef=ecef)
-
-    def ecef2ned_single(self, ecef):
-        assert self.lc
-        cdef ECEF e = list2ecef(ecef)
-        cdef NED n = self.lc.ecef2ned(e)
-        return [n.n, n.e, n.d]
-
-    def ned2ecef_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef ECEF e = self.lc.ned2ecef(n)
-        return [e.x, e.y, e.z]
-
-    def geodetic2ned_single(self, geodetic):
-        assert self.lc
-        cdef Geodetic g = list2geodetic(geodetic)
-        cdef NED n = self.lc.geodetic2ned(g)
-        return [n.n, n.e, n.d]
-
-    def ned2geodetic_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef Geodetic g = self.lc.ned2geodetic(n)
-        return [g.lat, g.lon, g.alt]
-
-    def __dealloc__(self):
-        del self.lc

common/util.py

@@ -1,46 +0,0 @@
-import os
-import subprocess
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count

common/utils.py

@@ -7,14 +7,61 @@ import time
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
-from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
+
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
+
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -107,11 +154,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
         try:
           return func(*args, **kwargs)
         except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
+          print(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
+        print(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.10.4"

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="15.1"
+  export AGNOS_VERSION="16"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -14,7 +14,7 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
+  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # hardwared
@@ -49,7 +49,7 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr", # used in place of 'os.getxattr' for macos compatibility
+  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
   "PyJWT",
@@ -72,7 +72,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186
+  "raylib > 5.5.0.3",
   "qrcode",
   "mapbox-earcut",
 ]
@@ -87,7 +87,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "mypy",
+  "ty",
   "pytest",
   "pytest-cpp",
   "pytest-subtests",
@@ -107,15 +107,13 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "dbus-next", # TODO: remove once we moved everything to jeepney
   "dictdiffer",
   "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
-  "pygame",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pyopencl",
   "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
@@ -181,42 +179,6 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
-[tool.mypy]
-python_version = "3.11"
-exclude = [
-  "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-  "third_party/",
-]
-
-# third-party packages
-ignore_missing_imports=true
-
-# helpful warnings
-warn_redundant_casts=true
-warn_unreachable=true
-warn_unused_ignores=true
-
-# restrict dynamic typing
-warn_return_any=true
-
-# allow implicit optionals for default args
-implicit_optional = true
-
-local_partial_types=true
-explicit_package_bases=true
-disable_error_code = "annotation-unchecked"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -275,3 +237,43 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.format]
 quote-style = "preserve"
+
+[tool.ty.src]
+exclude = [
+  "cereal/",
+  "msgq/",
+  "msgq_repo/",
+  "opendbc/",
+  "opendbc_repo/",
+  "panda/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "teleoprtc/",
+  "teleoprtc_repo/",
+  "third_party/",
+]
+
+[tool.ty.rules]
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed

release/README.md

@@ -4,18 +4,17 @@
 ## release checklist
 
 ### Go to staging
-- [ ] make a GitHub issue to track release
+- [ ] make a GitHub issue to track release with this checklist
 - [ ] create release master branch
-- [ ] update RELEASES.md
+  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
+  - [ ] revert risky commits (double check with autonomy team)
+  - [ ] push the new branch
+- [ ] push to staging:
+  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
+  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] build new userdata partition from `release3-staging`
 - [ ] post on Discord, tag `@release crew`
 
-Updating staging:
-1. either rebase on master or cherry-pick changes
-2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
-3. build new userdata partition from `release3-staging`
-
 ### Go to release
 - [ ] before going to release, test the following:
   - [ ] update from previous release -> new release
@@ -26,7 +25,7 @@ Updating staging:
   - [ ] check sentry, MTBF, etc.
   - [ ] stress test passes in production
 - [ ] publish the blog post
-- [ ] `git reset --hard origin/release3-staging`
+- [ ] `git reset --hard origin/release-mici-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`

scripts/lint/lint.sh

@@ -55,7 +55,7 @@ function run_tests() {
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "mypy" mypy $PYTHON_FILES
+    run "ty" ty check
     run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
@@ -69,7 +69,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
-  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
   echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
@@ -81,11 +81,11 @@ function help() {
   echo "          Specify tests to skip separated by spaces"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op lint mypy ruff"
-  echo "          Only run the mypy and ruff tests"
+  echo "  op lint ty ruff"
+  echo "          Only run the ty and ruff tests"
   echo ""
-  echo "  op lint --skip mypy ruff"
-  echo "          Skip the mypy and ruff tests"
+  echo "  op lint --skip ty ruff"
+  echo "          Skip the ty and ruff tests"
   echo ""
   echo "  op lint"
   echo "          Run all the tests"

selfdrive/car/car_specific.py

@@ -1,7 +1,8 @@
-from cereal import car, log, custom
-import cereal.messaging as messaging
+from cereal import car, log
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
+from opendbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -11,33 +12,6 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-# TODO: the goal is to abstract this file into the CarState struct and make events generic
-class MockCarState:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
-  def update(self, CS: car.CarState, CS_SP: custom.CarStateSP):
-    self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-
-    CS.vEgo = self.sm[gps_sock].speed
-    CS.vEgoRaw = self.sm[gps_sock].speed
-
-    return CS, CS_SP
-
-
-BRAND_EXTRA_GEARS = {
-  'ford': [GearShifter.low, GearShifter.manumatic],
-  'nissan': [GearShifter.brake],
-  'chrysler': [GearShifter.low],
-  'honda': [GearShifter.sport],
-  'toyota': [GearShifter.sport],
-  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
-  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-  'hyundai': [GearShifter.sport, GearShifter.manumatic]
-}
-
-
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -48,14 +22,12 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
-
     if self.CP.brand in ('body', 'mock'):
-      events = Events()
+      return Events()
 
-    elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+    events = self.create_common_events(CS, CS_prev)
 
+    if self.CP.brand == 'chrysler':
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
@@ -65,8 +37,6 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
-
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
@@ -87,11 +57,9 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
-
       if self.CP.openpilotLongitudinalControl:
         # Only can leave standstill when planner wants to move
-        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
+        if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -103,8 +71,6 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
-
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -114,8 +80,6 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
-
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
@@ -123,27 +87,26 @@ class CarSpecificEvents:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
-      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      # if CC.eps_timer_soft_disable_alert:
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
-
-    else:
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
-
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
-                           allow_button_cancel=True):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
     events = Events()
 
+    CI = interfaces[self.CP.carFingerprint]
+    # TODO: cleanup the honda-specific logic
+    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
+    # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
+    # so only use it for cancel when running openpilot longitudinal
+    allow_button_cancel = self.CP.brand != 'hyundai'
+
     if CS.doorOpen:
       events.add(EventName.doorOpen)
     if CS.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
-       CS.gearShifter not in extra_gears):
+    if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
       events.add(EventName.wrongGear)
     if CS.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -157,6 +120,8 @@ class CarSpecificEvents:
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
+    if CS.stockLkas:
+      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:

selfdrive/car/card.py

@@ -19,7 +19,6 @@ from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
@@ -139,7 +138,7 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not is_release:
+    if self.CP.secOcRequired:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -179,7 +178,6 @@ class Car:
     self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
-    self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
@@ -200,8 +198,6 @@ class Car:
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
-    if self.CP.brand == 'mock':
-      CS, CS_SP = self.mock_carstate.update(CS, CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)

selfdrive/debug/car/hyundai_enable_radar_points.py

@@ -108,11 +108,11 @@ if __name__ == "__main__":
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
-  session_type : SESSION_TYPE = 0x07 # type: ignore
+  session_type : SESSION_TYPE = 0x07
   uds_client.diagnostic_session_control(session_type)
 
   print("[HARDWARE/SOFTWARE VERSION]")
-  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100
   fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
   print(fw_version)
   if fw_version not in SUPPORTED_FW_VERSIONS.keys():
@@ -120,7 +120,7 @@ if __name__ == "__main__":
     sys.exit(1)
 
   print("[GET CONFIGURATION]")
-  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142
   current_config = uds_client.read_data_by_identifier(config_data_id)
   config_values = SUPPORTED_FW_VERSIONS[fw_version]
   new_config = config_values.default_config if args.default else config_values.tracks_enabled

selfdrive/debug/car/vw_mqb_config.py

@@ -55,7 +55,7 @@ if __name__ == "__main__":
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
     odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
-    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
     coding_text = current_coding.hex()
 
     print("\nEPS diagnostic data\n")
@@ -126,9 +126,9 @@ if __name__ == "__main__":
     new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
 
     try:
-      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
       key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
-      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
       print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
@@ -148,7 +148,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
-      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
       print("Make sure the comma processes are stopped: tmux kill-session -t comma")
@@ -156,7 +156,7 @@ if __name__ == "__main__":
 
     try:
       # Read back result just to make 100% sure everything worked
-      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()  # type: ignore
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
       print(f"   New coding:   {current_coding_text}")
     except (NegativeResponseError, MessageTimeoutError):
       print("Reading back updated coding failed!")

selfdrive/debug/cpu_usage_stat.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:

selfdrive/debug/cycle_alerts.py

@@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False):
       alert = AM.process_alerts(frame, [])
       print(alert)
       for _ in range(duration):
-        dat = messaging.new_message()
-        dat.init('selfdriveState')
+        dat = messaging.new_message('selfdriveState')
         dat.selfdriveState.enabled = False
 
         if alert:
@@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.selfdriveState.alertSound = alert.audible_alert
         pm.send('selfdriveState', dat)
 
-        dat = messaging.new_message()
-        dat.init('deviceState')
+        dat = messaging.new_message('deviceState')
         dat.deviceState.started = True
         pm.send('deviceState', dat)
 

selfdrive/debug/fingerprint_from_route.py

@@ -28,11 +28,12 @@ def get_fingerprint(lr):
 
   # TODO: also print the fw fingerprint merged with the existing ones
   # show FW fingerprint
-  print("\nFW fingerprint:\n")
-  for f in fw:
-    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
-    print(f"      {f.fwVersion},")
-    print("    ],")
+  if fw:
+    print("\nFW fingerprint:\n")
+    for f in fw:
+      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+      print(f"      {f.fwVersion},")
+      print("    ],")
   print()
   print(f"VIN: {vin}")
 

selfdrive/debug/fuzz_fw_fingerprint.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 import random
 from collections import defaultdict
 

selfdrive/debug/measure_torque_time_to_max.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import argparse

selfdrive/debug/test_fw_query_on_routes.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 from collections import defaultdict
 import argparse

selfdrive/locationd/calibrationd.py

@@ -47,7 +47,7 @@ DEBUG = os.getenv("DEBUG") is not None
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:
@@ -92,7 +92,7 @@ class Calibrator:
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray = None) -> None:
+                  smooth_from: np.ndarray | None = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:

selfdrive/locationd/helpers.py

@@ -94,7 +94,7 @@ class PointBuckets:
   def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int = None) -> Any:
+  def get_points(self, num_points: int | None = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points

selfdrive/locationd/paramsd.py

@@ -127,8 +127,8 @@ class VehicleParamsLearner:
 
     if not self.active:
       # Reset time when stopped so uncertainty doesn't grow
-      self.kf.filter.set_filter_time(t)  # type: ignore
-      self.kf.filter.reset_rewind()      # type: ignore
+      self.kf.filter.set_filter_time(t)
+      self.kf.filter.reset_rewind()
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     x = self.kf.x

selfdrive/locationd/torqued.py

@@ -35,7 +35,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen']
 
 
 def slope2rot(slope):

selfdrive/modeld/SConscript

@@ -1,7 +1,7 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

selfdrive/modeld/modeld.py

@@ -43,7 +43,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
+oid sha256:1edea5bb56f876db4cec97c150799513f6a59373f3ad152d55e4dcaab1b809e3
 size 13926324

selfdrive/selfdrived/alertmanager.py

@@ -14,7 +14,7 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''

selfdrive/selfdrived/events.py

@@ -303,6 +303,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
+  EventName.stockLkas: {
+    ET.PERMANENT: Alert(
+      "TAKE CONTROL",
+      "Stock LKAS: Lane Departure Detected",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",
@@ -758,13 +767,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"),
     ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+      "Unknown Vehicle Variant",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"),
   },
 
   EventName.canBusMissing: {

selfdrive/test/fuzzy_generation.py

@@ -44,7 +44,7 @@ class FuzzyGenerator:
     except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
     fields_to_generate = schema.non_union_fields + single_fill
     return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})

selfdrive/test/process_replay/migration.py

@@ -1,5 +1,6 @@
 from collections import defaultdict
 from collections.abc import Callable
+from typing import cast
 import capnp
 import functools
 import traceback
@@ -69,7 +70,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
     if migration.product in grouped: # skip if product already exists
       continue
 
-    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, []))
     msg_gen = [(i, lr[i]) for i in sorted_indices]
     r_ops, a_ops, d_ops = migration(msg_gen)
     replace_ops.extend(r_ops)

selfdrive/test/process_replay/process_replay.py

@@ -614,9 +614,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
-  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
-  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None,
+  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
+  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b508f43fb0481bce0859c9b6ab4f45ee690b8dab
+b259f6f8f099a9d82e4c65dd5deae2e4e293007b

selfdrive/test/process_replay/regen.py

@@ -16,7 +16,7 @@ from openpilot.tools.lib.openpilotci import get_url
 
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] = None,
+  lr: LogIterable, frs: dict[str, Any] | None = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)

selfdrive/test/update_ci_routes.py

@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 

selfdrive/ui/layouts/home.py

@@ -39,7 +39,7 @@ class HomeLayout(Widget):
 
     self.current_state = HomeLayoutState.HOME
     self.last_refresh = 0
-    self.settings_callback: callable | None = None
+    self.settings_callback: Callable[[], None] | None = None
 
     self.update_available = False
     self.alert_count = 0

selfdrive/ui/layouts/settings/settings.py

@@ -145,20 +145,18 @@ class SettingsLayout(Widget):
     if panel.instance:
       panel.instance.render(content_rect)
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return True
+      return
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
         self.set_current_panel(panel_type)
-        return True
-
-    return False
+        return
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:

selfdrive/ui/lib/prime_state.py

@@ -1,5 +1,6 @@
 from enum import IntEnum
 import os
+import requests
 import threading
 import time
 
@@ -29,6 +30,7 @@ class PrimeState:
   def __init__(self):
     self._params = Params()
     self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self.prime_type: PrimeType = self._load_initial_state()
 
     self._running = False
@@ -50,7 +52,7 @@ class PrimeState:
 
     try:
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)

selfdrive/ui/mici/layouts/onboarding.py

@@ -169,8 +169,8 @@ class TrainingGuideDMTutorial(Widget):
 
   def _update_state(self):
     super()._update_state()
-    if device.awake:
-      ui_state.params.put_bool("IsDriverViewEnabled", True)
+    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -240,19 +240,20 @@ class TrainingGuideDMTutorial(Widget):
       ring_color,
     )
 
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
+    if self._dialog._camera_view.frame:
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
 
-    self._good_button.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-      self._rect.y + self._rect.height - self._good_button.rect.height,
-      self._good_button.rect.width,
-      self._good_button.rect.height,
-    ))
+      self._good_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._good_button.rect.height,
+        self._good_button.rect.width,
+        self._good_button.rect.height,
+      ))
 
     # rounded border
     rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)

selfdrive/ui/mici/layouts/settings/firehose.py

@@ -1,3 +1,4 @@
+import requests
 import threading
 import time
 import pyray as rl
@@ -44,6 +45,7 @@ class FirehoseLayoutBase(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
@@ -203,7 +205,7 @@ class FirehoseLayoutBase(Widget):
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)

selfdrive/ui/mici/layouts/settings/network/wifi_ui.py

@@ -36,8 +36,6 @@ class WifiIcon(Widget):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 89, 64))
 
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64)
-    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64)
     self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64)
     self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64)
     self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64)
@@ -57,17 +55,13 @@ class WifiIcon(Widget):
       return
 
     # Determine which wifi strength icon to use
-    strength = round(self._network.strength / 100 * 4)
-    if strength == 4:
+    strength = round(self._network.strength / 100 * 2)
+    if strength == 2:
       strength_icon = self._wifi_full_txt
-    elif strength == 3:
+    elif strength == 1:
       strength_icon = self._wifi_medium_txt
-    elif strength == 2:
-      strength_icon = self._wifi_low_txt
-    elif self._network.strength < 0:
-      strength_icon = self._wifi_slash_txt
     else:
-      strength_icon = self._wifi_none_txt
+      strength_icon = self._wifi_low_txt
 
     icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2)
     icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2)
@@ -388,7 +382,7 @@ class WifiUIMici(BigMultiOptionDialog):
       else:
         network_button = WifiItem(network)
 
-      self.add_button(network_button)
+      self._scroller.add_widget(network_button)
 
     # remove networks no longer present
     self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
@@ -402,11 +396,10 @@ class WifiUIMici(BigMultiOptionDialog):
       self._wifi_manager.connect_to_network(ssid, password)
       self._update_buttons()
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
-    super()._on_option_selected(option, smooth_scroll)
+  def _on_option_selected(self, option: str):
+    super()._on_option_selected(option)
 
-    # only open if button is already selected
-    if option in self._networks and option == self._selected_option:
+    if option in self._networks:
       self._network_info_page.set_current_network(self._networks[option])
       self._open_network_manage_page()
 
@@ -453,7 +446,7 @@ class WifiUIMici(BigMultiOptionDialog):
     current_selection = self.get_selected_option()
     if self._restore_selection and current_selection in self._networks:
       self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
+      BigMultiOptionDialog._on_option_selected(self, current_selection)
       self._restore_selection = None
 
     super()._render(_)

selfdrive/ui/mici/widgets/button.py

@@ -71,7 +71,7 @@ class BigCircleButton(Widget):
 
 
 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable = None):
+  def __init__(self, icon: str, toggle_callback: Callable | None = None):
     super().__init__(icon, False)
     self._toggle_callback = toggle_callback
 
@@ -251,7 +251,7 @@ class BigButton(Widget):
 
 
 class BigToggle(BigButton):
-  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None):
+  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None):
     super().__init__(text, value, "")
     self._checked = initial_state
     self._toggle_callback = toggle_callback
@@ -288,8 +288,8 @@ class BigToggle(BigButton):
 
 
 class BigMultiToggle(BigToggle):
-  def __init__(self, text: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     assert len(options) > 0
     self._options = options
@@ -327,8 +327,8 @@ class BigMultiToggle(BigToggle):
 
 
 class BigMultiParamToggle(BigMultiToggle):
-  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -345,7 +345,7 @@ class BigMultiParamToggle(BigMultiToggle):
 
 
 class BigParamControl(BigToggle):
-  def __init__(self, text: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -361,7 +361,7 @@ class BigParamControl(BigToggle):
 
 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(icon, toggle_callback)
     self._param = param
     self.params = Params()

selfdrive/ui/mici/widgets/dialog.py

@@ -4,17 +4,17 @@ import pyray as rl
 from typing import Union
 from collections.abc import Callable
 from typing import cast
-from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 
 DEBUG = False
 
@@ -137,7 +137,7 @@ class BigInputDialog(BigDialogBase):
                hint: str,
                default_text: str = "",
                minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] = None):
+               confirm_callback: Callable[[str], None] | None = None):
     super().__init__(None, None)
     self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                     font_weight=FontWeight.MEDIUM)
@@ -317,39 +317,36 @@ class BigMultiOptionDialog(BigDialogBase):
   BACK_TOUCH_AREA_PERCENTAGE = 0.1
 
   def __init__(self, options: list[str], default: str | None,
-               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None):
+               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None):
     super().__init__(right_btn, right_btn_callback=right_btn_callback)
     self._options = options
     if default is not None:
       assert default in options
 
-    self._default_option: str = default or (options[0] if len(options) > 0 else "")
-    self._selected_option: str = self._default_option
+    self._default_option: str | None = default
+    self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "")
     self._last_selected_option: str = self._selected_option
 
+    # Widget doesn't differentiate between click and drag
+    self._can_click = True
+
     self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
     if self._right_btn is not None:
       self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
 
     for option in options:
-      self.add_button(BigDialogOptionButton(option))
-
-  def add_button(self, button: BigDialogOptionButton):
-    def click_callback(_btn=button):
-      self._on_option_selected(_btn.option)
-
-    button.set_click_callback(click_callback)
-    self._scroller.add_widget(button)
+      self._scroller.add_widget(BigDialogOptionButton(option))
 
   def show_event(self):
     super().show_event()
     self._scroller.show_event()
-    self._on_option_selected(self._default_option)
+    if self._default_option is not None:
+      self._on_option_selected(self._default_option)
 
   def get_selected_option(self) -> str:
     return self._selected_option
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
+  def _on_option_selected(self, option: str):
     y_pos = 0.0
     for btn in self._scroller._items:
       btn = cast(BigDialogOptionButton, btn)
@@ -365,11 +362,35 @@ class BigMultiOptionDialog(BigDialogBase):
         y_pos = rect_center_y - (btn.rect.y + height / 2)
         break
 
-    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
+    self._scroller.scroll_to(-y_pos)
 
   def _selected_option_changed(self):
     pass
 
+  def _handle_mouse_press(self, mouse_pos: MousePos):
+    super()._handle_mouse_press(mouse_pos)
+    self._can_click = True
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    # # TODO: add generic _handle_mouse_click handler to Widget
+    if not self._scroller.scroll_panel.is_touch_valid():
+      self._can_click = False
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if not self._can_click:
+      return
+
+    # select current option
+    for btn in self._scroller._items:
+      btn = cast(BigDialogOptionButton, btn)
+      if btn.option == self._selected_option:
+        self._on_option_selected(btn.option)
+        break
+
   def _update_state(self):
     super()._update_state()
 

selfdrive/ui/sunnypilot/layouts/settings/settings.py

@@ -37,7 +37,7 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(  # type: ignore
+OP.PanelType = IntEnum(
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",

selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLa
 
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(  # type: ignore
+OP.PanelType = IntEnum(
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",

selfdrive/ui/sunnypilot/onroad/rainbow_path.py

@@ -18,11 +18,12 @@ class RainbowPath:
   BASE_ALPHA = 0.8
   ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
 
-  def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None):
-    self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS
-    self.speed = speed if speed is not None else self.DEFAULT_SPEED
-    self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION
-    self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS
+  def __init__(self, num_segments: int = DEFAULT_NUM_SEGMENTS, speed: float = DEFAULT_SPEED,
+               saturation: float = DEFAULT_SATURATION, lightness: float = DEFAULT_LIGHTNESS):
+    self.num_segments = num_segments
+    self.speed = speed
+    self.saturation = saturation
+    self.lightness = lightness
 
   def set_speed(self, speed: float):
     self.speed = speed

selfdrive/ui/translations/README.md

@@ -0,0 +1,3 @@
+# Multilanguage
+
+[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)

selfdrive/ui/translations/app_zh-CHS.po

@@ -200,7 +200,7 @@ msgstr "CONNECT"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "CONNECTING..."
+msgstr "连接中..."
 
 #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
@@ -1001,7 +1001,7 @@ msgstr "用于“{}”"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "km/h"
-msgstr "公里/时"
+msgstr "km/h"
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -1021,7 +1021,7 @@ msgstr "计量"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "mph"
-msgstr "英里/时"
+msgstr "mph"
 
 #: selfdrive/ui/layouts/settings/software.py:20
 #, python-format

selfdrive/ui/translations/app_zh-CHT.po

@@ -200,7 +200,7 @@ msgstr "CONNECT"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "CONNECTING..."
+msgstr "連線中..."
 
 #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
@@ -1000,7 +1000,7 @@ msgstr "適用於「{}」"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "km/h"
-msgstr "公里/時"
+msgstr "km/h"
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -1020,7 +1020,7 @@ msgstr "計量"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "mph"
-msgstr "英里/時"
+msgstr "mph"
 
 #: selfdrive/ui/layouts/settings/software.py:20
 #, python-format

selfdrive/ui/translations/auto_translate.py

@@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I
                 "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
 
 
-def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
+def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
   files = {}
 
   with open(TRANSLATIONS_LANGUAGES) as fp:

sunnypilot/SConscript

@@ -1,3 +1,4 @@
+SConscript(['common/transformations/SConscript'])
 SConscript(['modeld/SConscript'])
 SConscript(['modeld_v2/SConscript'])
-SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])

sunnypilot/common/transformations/SConscript

@@ -0,0 +1,4 @@
+Import('env')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')

sunnypilot/common/transformations/coordinates.cc

@@ -1,6 +1,6 @@
 #define _USE_MATH_DEFINES
 
-#include "common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/coordinates.hpp"
 
 #include <iostream>
 #include <cmath>

sunnypilot/common/transformations/orientation.cc

@@ -4,8 +4,8 @@
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "common/transformations/orientation.hpp"
-#include "common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/orientation.hpp"
+#include "sunnypilot/common/transformations/coordinates.hpp"
 
 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
   if (quat.w() > 0){
@@ -141,4 +141,3 @@ Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d
 
   return {phi, theta, psi};
 }
-

sunnypilot/common/transformations/orientation.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
-#include "common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/coordinates.hpp"
 
 
 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);

sunnypilot/mapd/mapd_manager.py

@@ -55,7 +55,7 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
       shutil.rmtree(file, ignore_errors=False)
 
 
-def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
+def request_refresh_osm_location_data(nations: list[str], states: list[str] | None = None) -> None:
   params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
   params.put_bool("OsmDbUpdatesCheck", False)
 
@@ -68,7 +68,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
   mem_params.put("OSMDownloadLocations", osm_download_locations)
 
 
-def filter_nations_and_states(nations: list[str], states: list[str] = None) -> tuple[list[str], list[str]]:
+def filter_nations_and_states(nations: list[str], states: list[str] | None = None) -> tuple[list[str], list[str]]:
   """Filters and prepares nation and state data for OSM map download.
 
   If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list.

sunnypilot/modeld/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

sunnypilot/modeld_v2/SConscript

@@ -1,7 +1,7 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

sunnypilot/modeld_v2/tests/timing/benchmark.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import time

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332
+0cde93a9d20f35619182e704261ef8f6a849149fe5849ba2d355b0b2c89af53c

sunnypilot/selfdrive/locationd/locationd.h

@@ -8,18 +8,18 @@
 #include <string>
 
 #include "cereal/messaging/messaging.h"
-#include "common/transformations/coordinates.hpp"
-#include "common/transformations/orientation.hpp"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
 
+#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/orientation.hpp"
 #include "sunnypilot/system/sensord/sensors/constants.h"
-#define VISION_DECIMATION 2
-#define SENSOR_DECIMATION 10
 #include "sunnypilot/selfdrive/locationd/models/live_kf.h"
 
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
 #define POSENET_STD_HIST_HALF 20
 
 enum LocalizerGnssSource {

sunnypilot/sunnylink/api.py

@@ -24,11 +24,11 @@ class SunnylinkApi(BaseApi):
     self.spinner = None
     self.params = Params()
 
-  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, json=None, **kwargs):
+  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, session=None, json=None, **kwargs):
     if not self.params.get_bool("SunnylinkEnabled"):
       return None
 
-    return super().api_get(endpoint, method, timeout, access_token, json, **kwargs)
+    return super().api_get(endpoint, method, timeout, access_token, session, json, **kwargs)
 
   def resume_queued(self, timeout=10, **kwargs):
     sunnylinkId, commaId = self._resolve_dongle_ids()

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -281,7 +281,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
   return start_local_proxy_shim(global_end_event, local_port, ws)
 
 
-def main(exit_event: threading.Event = None):
+def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:

sunnypilot/sunnylink/backups/manager.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 import base64
 import json
+import requests
 import time
 from enum import Enum
 from typing import Any
@@ -46,6 +47,7 @@ class BackupManagerSP:
     self.operation: OperationType | None = None
 
     self.last_error = ""
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
 
   def _report_status(self) -> None:
     """Reports current backup manager state through the messaging system."""
@@ -120,7 +122,8 @@ class BackupManagerSP:
         f"backup/{self.device_id}",
         method='PUT',
         access_token=self.api.get_token(),
-        json=payload
+        json=payload,
+        session=self._session
       )
 
       if result:
@@ -150,7 +153,7 @@ class BackupManagerSP:
 
       # Get backup data from API for the specified version
       endpoint = f"backup/{self.device_id}" + f"/{version or ''}" + "?api-version=1"
-      backup_data = self.api.api_get(endpoint, access_token=self.api.get_token())
+      backup_data = self.api.api_get(endpoint, access_token=self.api.get_token(), session=self._session)
       if not backup_data:
         raise Exception(f"No backup found for device {self.device_id}")
 

sunnypilot/sunnylink/backups/utils.py

@@ -39,7 +39,7 @@ class KeyDerivation:
       else:
         raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     elif "public" in key_plain.lower():
-      public_key = serialization.load_pem_public_key(key_pem, backend=default_backend())  # type: ignore[assignment]
+      public_key = serialization.load_pem_public_key(key_pem, backend=default_backend())
       if not isinstance(public_key, (rsa.RSAPublicKey, ec.EllipticCurvePublicKey)):
         raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     else:

sunnypilot/sunnylink/sunnylink_state.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 from enum import IntEnum
 import threading
+import requests
 import time
 import json
 import pyray as rl
@@ -97,6 +98,7 @@ class SunnylinkState:
   def __init__(self):
     self._params = Params()
     self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self._running = False
     self._thread = None
     self._sm = messaging.SubMaster(['deviceState'])
@@ -134,7 +136,7 @@ class SunnylinkState:
 
     try:
       token = self._api.get_token()
-      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token)
+      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token, session=self._session)
       if response.status_code == 200:
         roles = response.text
         self._params.put("SunnylinkCache_Roles", roles)
@@ -153,7 +155,7 @@ class SunnylinkState:
 
     try:
       token = self._api.get_token()
-      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token)
+      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token, session=self._session)
       if response.status_code == 200:
         users = response.text
         self._params.put("SunnylinkCache_Users", users)

sunnypilot/sunnylink/uploader.py

@@ -235,7 +235,7 @@ class Uploader:
     return self.upload(name, key, fn, network_type, metered)
 
 
-def main(exit_event: threading.Event = None) -> None:
+def main(exit_event: threading.Event | None = None) -> None:
   if exit_event is None:
     exit_event = threading.Event()
 

sunnypilot/sunnylink/utils.py

@@ -109,18 +109,18 @@ def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | st
 
   # We convert to string anything that isn't bytes first. We later transform further.
   if param_type != ParamKeyType.BYTES:
-    value = value.decode('utf-8')  # type: ignore
+    value = value.decode('utf-8')
 
   if param_type == ParamKeyType.STRING:
     value = value
   elif param_type == ParamKeyType.BOOL:
-    value = value.lower() in ('true', '1', 'yes')  # type: ignore
+    value = value.lower() in ('true', '1', 'yes')
   elif param_type == ParamKeyType.INT:
-    value = int(value)  # type: ignore
+    value = int(value)
   elif param_type == ParamKeyType.FLOAT:
-    value = float(value)  # type: ignore
+    value = float(value)
   elif param_type == ParamKeyType.TIME:
-    value = str(value)  # type: ignore
+    value = str(value)
   elif param_type == ParamKeyType.JSON:
     value = json.loads(value)
 

system/athena/athenad.py

@@ -316,7 +316,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
+def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -369,7 +369,7 @@ def getVersion() -> dict[str, str]:
 
 
 @dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]:
   destination = {
     "latitude": latitude,
     "longitude": longitude,
@@ -901,7 +901,7 @@ def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main(exit_event: threading.Event = None):
+def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:

system/athena/tests/test_athenad.py

@@ -97,7 +97,7 @@ class TestAthenadMethods:
         break
 
   @staticmethod
-  def _create_file(file: str, parent: str = None, data: bytes = b'') -> str:
+  def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     with open(fn, 'wb') as f:

system/camerad/cameras/camera_common.cc

@@ -26,11 +26,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
-  // the encoder HW tells us the size it wants after setting it up.
-  // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
-
-  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
 }
 

system/camerad/cameras/nv12_info.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <tuple>
+
+#include "third_party/linux/include/msm_media_info.h"
+
+// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
+inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
+  const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+
+  // Sanity checks for NV12 format assumptions
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
+  assert(y_height / 2 == uv_height);
+  assert((stride * y_height) % 0x1000 == 0);  // uv_offset must be page-aligned
+
+  return {stride, y_height, uv_height, size};
+}

system/camerad/cameras/nv12_info.py

@@ -0,0 +1,21 @@
+# Python version of system/camerad/cameras/nv12_info.h
+# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+
+def align(val: int, alignment: int) -> int:
+  return ((val + alignment - 1) // alignment) * alignment
+
+def get_nv12_info(width: int, height: int) -> tuple[int, int, int, int]:
+  """Returns (stride, y_height, uv_height, buffer_size) for NV12 frame dimensions."""
+  stride = align(width, 128)
+  y_height = align(height, 32)
+  uv_height = align(height // 2, 16)
+
+  # VENUS_BUFFER_SIZE for NV12
+  y_plane = stride * y_height
+  uv_plane = stride * uv_height + 4096
+  size = y_plane + uv_plane + max(16 * 1024, 8 * stride)
+  size = align(size, 4096)
+  size += align(width, 512) * 512  # kernel padding for non-aligned frames
+  size = align(size, 4096)
+
+  return stride, y_height, uv_height, size

system/camerad/cameras/spectra.cc

@@ -12,11 +12,11 @@
 #include "media/cam_isp_ife.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-#include "third_party/linux/include/msm_media_info.h"
 
 #include "common/util.h"
 #include "common/swaglog.h"
 #include "system/camerad/cameras/ife.h"
+#include "system/camerad/cameras/nv12_info.h"
 #include "system/camerad/cameras/spectra.h"
 #include "system/camerad/cameras/bps_blobs.h"
 
@@ -286,17 +286,8 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
-  uv_offset = stride*y_height;
-  yuv_size = uv_offset + stride*uv_height;
-  if (cc.output_type != ISP_RAW_OUTPUT) {
-    uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
-    yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
-  }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
-  assert(y_height/2 == uv_height);
+  std::tie(stride, y_height, uv_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height);
+  uv_offset = stride * y_height;
 
   open = true;
   configISP();

system/camerad/snapshot.py

@@ -43,9 +43,15 @@ def yuv_to_rgb(y, u, v):
 
 
 def extract_image(buf):
+  # NV12 format: Y plane followed by interleaved UV plane
+  # UV plane size is stride * uv_height, where uv_height = align(height/2, 16)
+  uv_height = ((buf.height // 2) + 15) // 16 * 16
+  uv_plane_size = buf.stride * uv_height
+
   y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
-  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
-  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size]
+  u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
 
   return yuv_to_rgb(y, u, v)
 

system/hardware/.gitignore

@@ -1 +0,0 @@
-eon/rat

system/hardware/base.py

@@ -5,6 +5,7 @@ from dataclasses import dataclass, fields
 from cereal import log
 
 NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
 
 class LPAError(RuntimeError):
   pass
@@ -65,10 +66,6 @@ class ThermalConfig:
     return ret
 
 class LPABase(ABC):
-  @abstractmethod
-  def bootstrap(self) -> None:
-    pass
-
   @abstractmethod
   def list_profiles(self) -> list[Profile]:
     pass
@@ -114,68 +111,57 @@ class HardwareBase(ABC):
   def booted(self) -> bool:
     return True
 
-  @abstractmethod
   def reboot(self, reason=None):
-    pass
+    print("REBOOT!")
 
-  @abstractmethod
   def uninstall(self):
-    pass
+    print("uninstall")
 
-  @abstractmethod
   def get_os_version(self):
-    pass
+    return None
 
   @abstractmethod
   def get_device_type(self):
     pass
 
-  @abstractmethod
   def get_imei(self, slot) -> str:
-    pass
+    return ""
 
-  @abstractmethod
   def get_serial(self):
-    pass
+    return ""
 
-  @abstractmethod
   def get_network_info(self):
-    pass
+    return None
 
-  @abstractmethod
   def get_network_type(self):
-    pass
+    return NetworkType.none
 
-  @abstractmethod
   def get_sim_info(self):
-    pass
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
 
-  @abstractmethod
   def get_sim_lpa(self) -> LPABase:
-    pass
+    raise NotImplementedError("SIM LPA not available")
 
-  @abstractmethod
   def get_network_strength(self, network_type):
-    pass
+    return NetworkStrength.unknown
 
   def get_network_metered(self, network_type) -> bool:
     return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
 
-  @staticmethod
-  def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
-    pass
-
-  @abstractmethod
   def get_current_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def get_som_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def shutdown(self):
-    pass
+    print("SHUTDOWN!")
 
   def get_thermal_config(self):
     return ThermalConfig()
@@ -183,31 +169,24 @@ class HardwareBase(ABC):
   def set_display_power(self, on: bool):
     pass
 
-  @abstractmethod
   def set_screen_brightness(self, percentage):
     pass
 
-  @abstractmethod
   def get_screen_brightness(self):
-    pass
+    return 0
 
-  @abstractmethod
   def set_power_save(self, powersave_enabled):
     pass
 
-  @abstractmethod
   def get_gpu_usage_percent(self):
-    pass
+    return 0
 
   def get_modem_version(self):
     return None
 
-  @abstractmethod
   def get_modem_temperatures(self):
-    pass
+    return []
 
-
-  @abstractmethod
   def initialize_hardware(self):
     pass
 
@@ -217,9 +196,8 @@ class HardwareBase(ABC):
   def reboot_modem(self):
     pass
 
-  @abstractmethod
   def get_networks(self):
-    pass
+    return None
 
   def has_internal_panda(self) -> bool:
     return False

system/hardware/esim.py

@@ -3,32 +3,10 @@
 import argparse
 import time
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.base import LPABase
-
-
-def bootstrap(lpa: LPABase) -> None:
-  print('┌──────────────────────────────────────────────────────────────────────────────┐')
-  print('│ WARNING, PLEASE READ BEFORE PROCEEDING                                       │')
-  print('│                                                                              │')
-  print('│ this is an irreversible operation that will remove the comma-provisioned     │')
-  print('│ profile.                                                                     │')
-  print('│                                                                              │')
-  print('│ after this operation, you must purchase a new eSIM from comma in order to    │')
-  print('│ use the comma prime subscription again.                                      │')
-  print('└──────────────────────────────────────────────────────────────────────────────┘')
-  print()
-  for severity in ('sure', '100% sure'):
-    print(f'are you {severity} you want to proceed? (y/N) ', end='')
-    confirm = input()
-    if confirm != 'y':
-      print('aborting')
-      exit(0)
-  lpa.bootstrap()
 
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
-  parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)')
   parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi')
   parser.add_argument('--switch', metavar='iccid', help='switch to profile')
   parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
@@ -38,10 +16,7 @@ if __name__ == '__main__':
 
   mutated = False
   lpa = HARDWARE.get_sim_lpa()
-  if args.bootstrap:
-    bootstrap(lpa)
-    mutated = True
-  elif args.switch:
+  if args.switch:
     lpa.switch_profile(args.switch)
     mutated = True
   elif args.delete:

system/hardware/fan_controller.py

@@ -1,24 +1,13 @@
 #!/usr/bin/env python3
 import numpy as np
-from abc import ABC, abstractmethod
 
-from openpilot.common.realtime import DT_HW
-from openpilot.common.swaglog import cloudlog
 from openpilot.common.pid import PIDController
 
-class BaseFanController(ABC):
-  @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
-    pass
-
-
-class TiciFanController(BaseFanController):
-  def __init__(self) -> None:
-    super().__init__()
-    cloudlog.info("Setting up TICI fan handler")
 
+class FanController:
+  def __init__(self, rate: int) -> None:
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
+    self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
 
   def update(self, cur_temp: float, ignition: bool) -> int:
     self.controller.pos_limit = 100 if ignition else 30
@@ -26,13 +15,9 @@ class TiciFanController(BaseFanController):
 
     if ignition != self.last_ignition:
       self.controller.reset()
-
-    error = cur_temp - 75
-    fan_pwr_out = int(self.controller.update(
-                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
-                    ))
-
     self.last_ignition = ignition
-    return fan_pwr_out
 
+    return int(self.controller.update(
+                 error=(cur_temp - 75),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+              ))