sync: fix upstream conflicts

Co-authored-by: royjr <royjr96@gmail.com>
2026-08-06 16:55:54 +08:00 · 2026-07-16 01:04:49 -04:00
parent 14318d2f09
commit 560cde61ae
380 changed files with 357 additions and 665 deletions
@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD
@@ -30,7 +30,7 @@ jobs:
        run: |
          cd sunnypilot
          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

@@ -6,7 +6,7 @@ on:
      - master
  pull_request:
    paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
  workflow_dispatch:
  workflow_call:
    inputs:
@@ -30,11 +30,25 @@ jobs:
      - name: Checkout sunnypilot cereal
        uses: actions/checkout@v6
        with:
-          sparse-checkout: cereal
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false

      - name: Init sunnypilot opendbc submodule
        run: git submodule update --init --depth 1 opendbc_repo

+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
      - name: Checkout upstream openpilot
        uses: actions/checkout@v6
        with:
@@ -65,20 +79,19 @@ jobs:
          fi
          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"

-      - name: Install uv
-        run: pip install uv
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"

      - name: Generate sunnypilot schema
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}

      - name: Validate against upstream
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
            ${{ steps.locate-capnp.outputs.import_args }}
@@ -6,7 +6,7 @@ env:
  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  UPSTREAM_REPO: "commaai/openpilot"
  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models

 on:
  workflow_call:
@@ -92,7 +92,7 @@ jobs:
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
    runs-on: [self-hosted, tici]
@@ -128,7 +128,10 @@ jobs:
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -148,6 +151,7 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
          rm -rf ${{ env.MODELS_DIR }}/*.onnx

@@ -155,9 +159,9 @@ jobs:
        uses: actions/download-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
+          path: ${{ env.MODELS_DIR }}
      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
@@ -166,7 +170,7 @@ jobs:
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"

-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
@@ -264,4 +268,5 @@ jobs:
      - name: Re-enable powersave
        if: always()
        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
@@ -79,7 +79,7 @@ jobs:
            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT

-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
          fi
@@ -152,7 +152,10 @@ jobs:
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -172,20 +175,26 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

      - name: Build Main Project
        run: |
          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          cd $BUILD_DIR
+          ln -sfn msgq_repo/msgq msgq
+          ln -sfn opendbc_repo/opendbc opendbc
+          ln -sfn rednose_repo/rednose rednose
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
@@ -208,17 +217,17 @@ jobs:
            --exclude='Jenkinsfile' \
            --exclude='**/release/' \
            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
            --exclude='**/__pycache__/' \
            --exclude='${{env.SCONS_CACHE_DIR}}' \
            --exclude='**/.git/' \
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -237,6 +246,7 @@ jobs:
      - name: Re-enable powersave
        if: always()
        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable


@@ -363,7 +373,7 @@ jobs:
              owner: context.repo.owner,
              repo: context.repo.repo,
              issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
            });

            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
@@ -45,7 +45,7 @@ jobs:
        max_attempts: 3
        command: git lfs pull
    - name: Build devel
-      timeout-minutes: 1
+      timeout-minutes: 3
      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
    - run: ./tools/op.sh setup
    - name: Build openpilot and run checks
@@ -116,6 +116,9 @@ jobs:
    steps:
    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
    - name: Build openpilot
      run: scons
    - name: Run unit tests
@@ -230,6 +233,9 @@ jobs:
    steps:
      - uses: actions/checkout@v7
      - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
      - name: Build openpilot
        run: scons
      - name: Create UI Report
@@ -17,5 +17,5 @@
  path = tinygrad_repo
  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
@@ -55,7 +55,7 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
@@ -287,7 +287,7 @@ SConscript([
  'openpilot/selfdrive/ui/SConscript',
 ])

-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])

 # Build desktop-only tools
 if GetOption('extras') and arch != "larch64":
@@ -4,7 +4,7 @@ IFS=$'\n\t'

 # On any failure, run the fallback launcher
 trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"

 MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
 export MODEL
@@ -4,7 +4,7 @@ import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.common.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version

 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -1,7 +1,7 @@
 import capnp
 from typing import Any

-from cereal import custom
+from openpilot.cereal import custom
 from opendbc.car import structs

 _FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
@@ -1,201 +0,0 @@
-#!/usr/bin/env python3
-import time
-import pickle
-import numpy as np
-from pathlib import Path
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-
-MODELS_DIR = Path(__file__).parent / 'models'
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
-
-
-def warp_pkl_path(w, h):
-  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-
-
-def dm_warp_pkl_path(w, h):
-  return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
-  w_dst, h_dst = dst_shape
-  h_src, w_src = src_shape
-
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
-
-  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
-  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
-  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
-  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
-
-  src_x = src_x / src_w
-  src_y = src_y / src_w
-
-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
-  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
-
-  return src_flat[idx]
-
-
-def frames_to_tensor(frames, model_w, model_h):
-  H = (frames.shape[0] * 2) // 3
-  W = frames.shape[1]
-  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
-                       frames[1:H:2, 0::2],
-                       frames[0:H:2, 1::2],
-                       frames[1:H:2, 1::2],
-                       frames[H:H+H//4].reshape((H//2, W//2)),
-                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
-  return in_img1
-
-
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
-  uv_offset = stride * y_height
-  stride_pad = stride - cam_w
-
-  def frame_prepare_tinygrad(input_frame, M_inv):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
-    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
-    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
-    with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
-                                    M_inv, (model_w, model_h),
-                                    (cam_h, cam_w), stride_pad).realize()
-      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    tensor = frames_to_tensor(yuv, model_w, model_h)
-    return tensor
-  return frame_prepare_tinygrad
-
-
-def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(tensor, frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    new_img = frame_prepare(frame, M_inv)
-    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
-  return update_img_input_tinygrad
-
-
-def make_update_both_imgs(frame_prepare, model_w, model_h):
-  update_img = make_update_img_input(frame_prepare, model_w, model_h)
-
-  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
-                                calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
-  return update_both_imgs_tinygrad
-
-
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
-  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
-    return result
-  return warp_dm
-
-
-def compile_modeld_warp(cam_w, cam_h):
-  model_w, model_h = MEDMODEL_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
-
-  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
-  update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
-  update_img_jit = TinyJit(update_both_imgs, prune=True)
-
-  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  for i in range(10):
-    img_inputs = [full_buffer,
-                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    big_img_inputs = [big_full_buffer,
-                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    inputs = img_inputs + big_img_inputs
-    Device.default.synchronize()
-
-    st = time.perf_counter()
-    _ = update_img_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(update_img_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-  jit = pickle.load(open(pkl_path, "rb"))
-  jit(*inputs)
-
-
-def compile_dm_warp(cam_w, cam_h):
-  dm_w, dm_h = DM_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
-  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
-  warp_dm_jit = TinyJit(warp_dm, prune=True)
-
-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  for i in range(10):
-    inputs = [Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = dm_warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-
-def run_and_save_pickle():
-  for cam_w, cam_h in CAMERA_CONFIGS:
-    compile_modeld_warp(cam_w, cam_h)
-    compile_dm_warp(cam_w, cam_h)
-
-
-if __name__ == "__main__":
-  run_and_save_pickle()
@@ -1,4 +1,3 @@
-import numpy as np
 import pytest

 from openpilot.cereal import log
@@ -271,10 +270,10 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
  captured = {}
  orig = dm._update_events

-  def spy(driver_engaged, op_engaged, standstill, wrong_gear):
+  def spy(driver_engaged, op_engaged, lowspeed, wrong_gear):
    captured['driver_engaged'] = driver_engaged
    captured['op_engaged'] = op_engaged
-    return orig(driver_engaged, op_engaged, standstill, wrong_gear)
+    return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)

  dm._update_events = spy
  dm.run_step(sm, demo=False)
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined


 class SunnylinkConsentPage(Widget):
@@ -9,7 +9,7 @@ import re
 import time
 import pyray as rl

-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import os
+import subprocess

 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -78,7 +78,7 @@ class SoftwareLayoutSP(SoftwareLayout):
        if selection:
          ui_state.params.put("UpdaterTargetBranch", selection)
          self._branch_btn.action_item.set_value(selection)
-          os.system("pkill -SIGUSR1 -f system.updated.updated")
+          subprocess.run(["pkill", "-SIGUSR1", "-f", "openpilot.system.updated.updated"], check=False)
      self._branch_dialog = None

    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 from enum import IntEnum

 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -21,7 +21,7 @@ from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller

-TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")


 class TorqueSettingsLayout(Widget):
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
@@ -20,7 +20,7 @@ from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDial
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import dual_button_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.version import sunnylink_consent_version
+from openpilot.common.version import sunnylink_consent_version


 class SunnylinkHeader(Widget):
@@ -21,7 +21,7 @@ from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 from openpilot.selfdrive.ui.ui_state import ui_state

-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")


 class LegendWidget(Widget):
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from collections.abc import Callable
 import pyray as rl

-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
@@ -8,7 +8,7 @@ import pyray as rl

 from collections.abc import Callable

-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
@@ -20,7 +20,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined

 class SunnylinkInfo(Widget):
  def __init__(self):
@@ -128,8 +128,8 @@ class ChevronMetrics:
    lead_one = radar_state.leadOne
    lead_two = radar_state.leadTwo

-    has_lead_one = lead_one.status if lead_one else False
-    has_lead_two = lead_two.status if lead_two else False
+    has_lead_one = lead_one.present if lead_one else False
+    has_lead_two = lead_two.present if lead_two else False

    self.update_alpha(has_lead_one or has_lead_two)

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl

-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState
@@ -42,7 +42,7 @@ class LeadInfoElement:
  @staticmethod
  def get_lead_status(sm):
    lead_one = sm['radarState'].leadOne
-    return lead_one.status, lead_one.dRel, lead_one.vRel
+    return lead_one.present, lead_one.dRel, lead_one.vRel

  @staticmethod
  def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
@@ -9,7 +9,7 @@ from dataclasses import dataclass
 from enum import StrEnum
 import pyray as rl

-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -6,7 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 from enum import Enum

-from cereal import messaging, log, car, custom
+from openpilot.cereal import messaging, log, custom
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
@@ -1 +0,0 @@
-../sunnypilot
--- a/Show More
+++ b/Show More