rename tici hardware platform to comma (#38581)

* rename tici hardware platform to comma

* no /TICI

* lil more

* lil more

* you had a good life larch64

* lil more

* one more

.gitignore

@@ -15,7 +15,7 @@ a.out
 .cache/
 bin/
 
-# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
 /msgq
 /opendbc
 /rednose

Jenkinsfile

@@ -30,14 +30,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*

SConstruct

@@ -10,7 +10,7 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
-TICI = os.path.isfile('/TICI')
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
 
 SCons.Warnings.warningAsException(True)
 
@@ -24,7 +24,7 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 submodule_python_paths = [
@@ -46,13 +46,13 @@ if external_pythonpath := os.environ.get("PYTHONPATH"):
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
 pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
@@ -61,7 +61,7 @@ acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
 # Shared package ships .so/.dylib; older device venvs still have static .a only.
 # Keep static link deps (x264/z/va/drm) when the installed package is static so
-# TICI CI works without upgrading the device venv yet.
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
 # TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
 _ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
 ffmpeg_shared = any(
@@ -133,7 +133,7 @@ env = Environment(
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -172,17 +172,17 @@ if arch == "Darwin":
   env["RPATHPREFIX"] = "-Wl,-rpath,"
   env["RPATHSUFFIX"] = ""
   env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
-if arch != "larch64":
+if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
+if arch == "comma_arm64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -234,7 +234,7 @@ Export('envCython', 'np_version')
 Export('env', 'arch', 'acados', 'ffmpeg_libs')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
@@ -280,7 +280,7 @@ SConscript([
   'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
+if arch == "comma_arm64":
   SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
@@ -293,7 +293,7 @@ SConscript([
 ])
 
 # Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+if GetOption('extras') and arch != "comma_arm64":
   SConscript([
     'openpilot/tools/replay/SConscript',
     'openpilot/tools/cabana/SConscript',

openpilot/cereal/log.capnp

@@ -180,13 +180,13 @@ struct InitData {
 
   enum DeviceType {
     unknown @0;
-    neo @1;
+    neo @1;   # NEO, EON, & comma two
     chffrAndroid @2;
     chffrIos @3;
-    tici @4;
+    tici @4;  # comma three
     pc @5;
-    tizi @6;
-    mici @7;
+    tizi @6;  # comma 3X
+    mici @7;  # comma four
   }
 
   struct PandaInfo {

openpilot/common/esim/lpa.py

@@ -682,7 +682,7 @@ def download_profile(client: AtClient, activation_code: str) -> str:
     session.close()
 
 
-class TiciLPA(LPABase):
+class LPA(LPABase):
   def __init__(self):
     if hasattr(self, '_client'):
       return

openpilot/common/hardware/__init__.py

@@ -2,15 +2,15 @@ import os
 from typing import cast
 
 from openpilot.common.hardware.base import HardwareBase
-from openpilot.common.hardware.comma.hardware import Tici
-from openpilot.common.hardware.pc.hardware import Pc
+from openpilot.common.hardware.comma.hardware import HardwareComma
+from openpilot.common.hardware.pc.hardware import HardwarePc
 
-TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')
-PC = not TICI
+COMMA_HARDWARE = AGNOS
+PC = not COMMA_HARDWARE
 
 
-if TICI:
-  HARDWARE = cast(HardwareBase, Tici())
+if COMMA_HARDWARE:
+  HARDWARE = cast(HardwareBase, HardwareComma())
 else:
-  HARDWARE = cast(HardwareBase, Pc())
+  HARDWARE = cast(HardwareBase, HardwarePc())

openpilot/common/hardware/comma/hardware.h

@@ -9,7 +9,7 @@
 #include "common/util.h"
 #include "common/hardware/base.h"
 
-class HardwareTici : public HardwareNone {
+class HardwareComma : public HardwareNone {
 public:
   static std::string get_name() {
     static const std::string name = []() {

openpilot/common/hardware/comma/hardware.py

@@ -12,7 +12,7 @@ from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
 from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
-from openpilot.common.esim.lpa import TiciLPA
+from openpilot.common.esim.lpa import LPA
 from openpilot.common.hardware.comma.pins import GPIO
 from openpilot.common.hardware.comma.amplifier import Amplifier
 
@@ -58,7 +58,17 @@ def get_default_route_iface():
     routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
   return min(routes)[1] if routes else None
 
-class Tici(HardwareBase):
+class HardwareComma(HardwareBase):
+  """
+    This platform covers the Snapdragon 845-based comma devices:
+    - tici = comma three
+    - tizi = comma 3X
+    - mici = comma four
+
+    We strictly use only the device codenames in this codebase for
+    consistency, though all user-facing UI should use the product names.
+  """
+
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
@@ -145,7 +155,7 @@ class Tici(HardwareBase):
     }
 
   def get_sim_lpa(self) -> LPABase:
-    return TiciLPA()
+    return LPA()
 
   def get_imei(self):
     return self.get_modem_state().get('imei', '')
@@ -413,7 +423,7 @@ class Tici(HardwareBase):
     return True
 
 if __name__ == "__main__":
-  t = Tici()
+  t = HardwareComma()
   t.initialize_hardware()
   t.set_power_save(False)
   print(t.get_sim_info())

openpilot/common/hardware/comma/tests/test_amplifier.py

@@ -11,7 +11,7 @@ from openpilot.common.hardware.comma.amplifier import Amplifier
 
 
 class TestAmplifier(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     # clear dmesg

openpilot/common/hardware/hw.h

@@ -5,9 +5,9 @@
 #include "common/hardware/base.h"
 #include "common/util.h"
 
-#if __TICI__
+#if __COMMA_HARDWARE__
 #include "common/hardware/comma/hardware.h"
-#define Hardware HardwareTici
+#define Hardware HardwareComma
 #else
 #include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC

openpilot/common/hardware/pc/hardware.py

@@ -1,7 +1,7 @@
 from openpilot.cereal import log
 from openpilot.common.hardware.base import HardwareBase
 
-class Pc(HardwareBase):
+class HardwarePc(HardwareBase):
   def get_device_type(self):
     return "pc"
 

openpilot/common/test.py

@@ -6,7 +6,7 @@ import subprocess
 import unittest
 from unittest import mock
 
-from openpilot.common.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 
@@ -24,7 +24,7 @@ def clean_env():
 class OpenpilotTestCase(unittest.TestCase):
   """TestCase with openpilot's per-test isolation."""
 
-  TICI_TEST = False
+  COMMA_HARDWARE_TEST = False
   SHARED_DOWNLOAD_CACHE = False
 
   def __init_subclass__(cls, **kwargs):
@@ -61,7 +61,7 @@ class OpenpilotTestCase(unittest.TestCase):
   def run(self, result=None):
     # This boundary cannot live in setUp/tearDown: existing unittest classes
     # are allowed to override those hooks without calling super().
-    if (self.TICI_TEST and not TICI) or getattr(type(self), "__unittest_skip__", False):
+    if (self.COMMA_HARDWARE_TEST and not COMMA_HARDWARE) or getattr(type(self), "__unittest_skip__", False):
       return super().run(result)
     test_env = clean_env()
     test_env.__enter__()
@@ -80,8 +80,8 @@ class OpenpilotTestCase(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     super().setUpClass()
-    if cls.TICI_TEST and not TICI:
-      raise unittest.SkipTest("Skipping tici test on PC")
+    if cls.COMMA_HARDWARE_TEST and not COMMA_HARDWARE:
+      raise unittest.SkipTest("Skipping comma hardware test on PC")
     cls._class_env = clean_env()
     cls._class_env.__enter__()
     setup_class = getattr(cls, "setup_class", None)
@@ -100,10 +100,10 @@ class OpenpilotTestCase(unittest.TestCase):
 
   def setUp(self):
     super().setUp()
-    if self.TICI_TEST and not TICI:
-      self.skipTest("Skipping tici test on PC")
+    if self.COMMA_HARDWARE_TEST and not COMMA_HARDWARE:
+      self.skipTest("Skipping comma hardware test on PC")
 
-    if self.TICI_TEST:
+    if self.COMMA_HARDWARE_TEST:
       HARDWARE.initialize_hardware()
       HARDWARE.set_power_save(False)
       subprocess.run(["pkill", "-9", "-f", "athena"], check=False)

openpilot/selfdrive/modeld/SConscript

@@ -27,7 +27,7 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-if arch == 'larch64':
+if arch == 'comma_arm64':
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:

openpilot/selfdrive/pandad/tests/test_pandad.py

@@ -17,7 +17,7 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 
 
 class TestPandad(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   def setUp(self):
     super().setUp()

openpilot/selfdrive/pandad/tests/test_pandad_loopback.py

@@ -73,7 +73,7 @@ def send_random_can_messages(sendcan, count):
 
 
 class TestBoarddLoopback(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     os.environ['STARTED'] = '1'

openpilot/selfdrive/pandad/tests/test_pandad_spi.py

@@ -16,7 +16,7 @@ from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad,
 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 
 class TestBoarddSpi(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     os.environ['STARTED'] = '1'

openpilot/selfdrive/test/test_onroad.py

@@ -105,7 +105,7 @@ def cputime_total(ct):
 
 
 class TestOnroad(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   @classmethod
   def setup_class(cls):

openpilot/selfdrive/test/test_power_draw.py

@@ -42,7 +42,7 @@ PROCS = [
 
 
 class TestPowerDraw(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)

openpilot/selfdrive/ui/SConscript

@@ -3,7 +3,7 @@ from pathlib import Path
 
 Import('env', 'arch', 'common')
 
-if GetOption('extras') and arch == "larch64":
+if GetOption('extras') and arch == "comma_arm64":
   # build installers
   raylib_dir = Path(importlib.util.find_spec("raylib").submodule_search_locations[0]) / "install"
   raylib_env = env.Clone()

openpilot/selfdrive/ui/mici/onroad/alert_renderer.py

@@ -9,7 +9,7 @@ from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -132,7 +132,7 @@ class AlertRenderer(Widget):
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it
-      if TICI and not waiting_for_startup:
+      if COMMA_HARDWARE and not waiting_for_startup:
         ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
         if ss_missing > SELFDRIVE_STATE_TIMEOUT:
           if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:

openpilot/selfdrive/ui/mici/onroad/cameraview.py

@@ -4,7 +4,7 @@ import pyray as rl
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
@@ -38,7 +38,7 @@ void main() {
 """
 
 # Choose fragment shader based on platform capabilities
-if TICI:
+if COMMA_HARDWARE:
   FRAME_FRAGMENT_SHADER = """
     #version 300 es
     #extension GL_OES_EGL_image_external_essl3 : enable
@@ -121,7 +121,7 @@ class CameraView(Widget):
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
-    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not COMMA_HARDWARE else -1
     self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
     self._engaged_val = rl.ffi.new("int[1]", [1])
     self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
@@ -137,8 +137,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
 
-    # Initialize EGL for zero-copy rendering on TICI
-    if TICI:
+    # Initialize EGL for zero-copy rendering on COMMA_HARDWARE
+    if COMMA_HARDWARE:
       if not init_egl():
         raise RuntimeError("Failed to initialize EGL")
 
@@ -185,7 +185,7 @@ class CameraView(Widget):
     self._clear_textures()
 
     # Clean up EGL texture
-    if TICI and self.egl_texture:
+    if COMMA_HARDWARE and self.egl_texture:
       rl.unload_texture(self.egl_texture)
       self.egl_texture = None
 
@@ -260,7 +260,7 @@ class CameraView(Widget):
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
-    if TICI:
+    if COMMA_HARDWARE:
       self._render_egl(src_rect, dst_rect)
     else:
       self._render_textures(src_rect, dst_rect)
@@ -384,7 +384,7 @@ class CameraView(Widget):
 
   def _initialize_textures(self):
     self._clear_textures()
-    if not TICI:
+    if not COMMA_HARDWARE:
       self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
         int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
       self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
@@ -400,7 +400,7 @@ class CameraView(Widget):
       self.texture_uv = None
 
     # Clean up EGL resources
-    if TICI:
+    if COMMA_HARDWARE:
       for data in self.egl_images.values():
         destroy_egl_image(data)
       self.egl_images = {}

openpilot/selfdrive/ui/onroad/alert_renderer.py

@@ -3,7 +3,7 @@ import pyray as rl
 from dataclasses import dataclass
 from openpilot.cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -96,7 +96,7 @@ class AlertRenderer(Widget):
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it
-      if TICI and not waiting_for_startup:
+      if COMMA_HARDWARE and not waiting_for_startup:
         ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
         if ss_missing > SELFDRIVE_STATE_TIMEOUT:
           if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:

openpilot/selfdrive/ui/onroad/cameraview.py

@@ -4,7 +4,7 @@ import pyray as rl
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
@@ -38,7 +38,7 @@ void main() {
 """
 
 # Choose fragment shader based on platform capabilities
-if TICI:
+if COMMA_HARDWARE:
   FRAME_FRAGMENT_SHADER = """
     #version 300 es
     #extension GL_OES_EGL_image_external_essl3 : enable
@@ -82,7 +82,7 @@ class CameraView(Widget):
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
-    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not COMMA_HARDWARE else -1
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -94,8 +94,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
 
-    # Initialize EGL for zero-copy rendering on TICI
-    if TICI:
+    # Initialize EGL for zero-copy rendering on COMMA_HARDWARE
+    if COMMA_HARDWARE:
       if not init_egl():
         raise RuntimeError("Failed to initialize EGL")
 
@@ -146,7 +146,7 @@ class CameraView(Widget):
     self._clear_textures()
 
     # Clean up EGL texture
-    if TICI and self.egl_texture:
+    if COMMA_HARDWARE and self.egl_texture:
       rl.unload_texture(self.egl_texture)
       self.egl_texture = None
 
@@ -220,7 +220,7 @@ class CameraView(Widget):
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
-    if TICI:
+    if COMMA_HARDWARE:
       self._render_egl(src_rect, dst_rect)
     else:
       self._render_textures(src_rect, dst_rect)
@@ -337,7 +337,7 @@ class CameraView(Widget):
 
   def _initialize_textures(self):
     self._clear_textures()
-    if not TICI:
+    if not COMMA_HARDWARE:
       self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
         int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
       self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
@@ -353,7 +353,7 @@ class CameraView(Widget):
       self.texture_uv = None
 
     # Clean up EGL resources
-    if TICI:
+    if COMMA_HARDWARE:
       for data in self.egl_images.values():
         destroy_egl_image(data)
       self.egl_images = {}

openpilot/selfdrive/ui/ui.py

@@ -3,7 +3,7 @@ import os
 import time
 
 from openpilot.cereal import messaging
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
@@ -31,7 +31,7 @@ def main():
 
     if should_render:
       # reaffine after power save offlines our core
-      if TICI and os.sched_getaffinity(0) != cores:
+      if COMMA_HARDWARE and os.sched_getaffinity(0) != cores:
         try:
           set_core_affinity(list(cores))
         except OSError:

openpilot/system/athena/tests/test_athenad_ping.py

@@ -8,13 +8,13 @@ from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 
 TIMEOUT_TOLERANCE = 20  # seconds
 
 
 def wifi_radio(on: bool) -> None:
-  if not TICI:
+  if not COMMA_HARDWARE:
     return
   print(f"wifi {'on' if on else 'off'}")
   subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
@@ -91,12 +91,12 @@ class TestAthenadPing(OpenpilotTestCase):
         time.sleep(0.1)
       print("ping received")
 
-  @unittest.skipIf(not TICI, "only run on desk")
+  @unittest.skipIf(not COMMA_HARDWARE, "only run on desk")
   def test_offroad(self, subtests, mocker) -> None:
     self.params.put_bool("IsOffroad", True, block=True)
     self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings
 
-  @unittest.skipIf(not TICI, "only run on desk")
+  @unittest.skipIf(not COMMA_HARDWARE, "only run on desk")
   def test_onroad(self, subtests, mocker) -> None:
     self.params.put_bool("IsOffroad", False, block=True)
     self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)

openpilot/system/camerad/test/test_camerad.py

@@ -73,7 +73,7 @@ def _camera_session():
   return ts, exposure
 
 class TestCamerad(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   @classmethod
   def setUpClass(cls):

openpilot/system/hardware/hardwared.py

@@ -17,7 +17,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.common.hardware import HARDWARE, TICI, PC
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE, PC
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_ROM_USB_IDS, CHESTNUT_USB_IDS, get_usb_state, get_usb_topology, set_usb_state
 from openpilot.common.linux import LinuxSystemStats
@@ -478,7 +478,7 @@ def main():
     threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
   ]
 
-  if TICI:
+  if COMMA_HARDWARE:
     threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
 
   for t in threads:

openpilot/system/loggerd/SConscript

@@ -4,7 +4,7 @@ libs = [common, messaging, visionipc] + ffmpeg_libs + ['pthread', 'm', 'zstd']
 frameworks = []
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
-if arch == "larch64":
+if arch == "comma_arm64":
   src += ['clip_encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/v4l_decoder.cc']
 else:
   src += ['encoder/ffmpeg_encoder.cc']

openpilot/system/loggerd/encoderd.cc

@@ -1,16 +1,16 @@
 #include <cassert>
-#ifdef __TICI__
+#ifdef __COMMA_HARDWARE__
 #include <exception>
 #include <stdexcept>
 #endif
 
-#ifdef __TICI__
+#ifdef __COMMA_HARDWARE__
 #include "system/loggerd/clip_encoder.h"
 #endif
 #include "system/loggerd/loggerd.h"
 #include "system/loggerd/encoder/jpeg_encoder.h"
 
-#ifdef __TICI__
+#ifdef __COMMA_HARDWARE__
 #include "system/loggerd/encoder/v4l_encoder.h"
 #define Encoder V4LEncoder
 #else
@@ -178,7 +178,7 @@ void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
 }
 
 int main(int argc, char* argv[]) {
-#ifdef __TICI__
+#ifdef __COMMA_HARDWARE__
   if (argc > 1 && std::string(argv[1]) == "--clip") {
     if (argc < 6) {
       fprintf(stderr, "usage: encoderd --clip OUTPUT START DURATION [--bitrate BPS] [--speedup N] "

openpilot/system/loggerd/tests/test_encoder.py

@@ -13,7 +13,7 @@ from tqdm import trange
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.common.hardware.hw import Paths
@@ -33,7 +33,7 @@ FILE_SIZE_TOLERANCE = 0.7
 
 
 class TestEncoder(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     self._clear_logs()
@@ -86,7 +86,7 @@ class TestEncoder(OpenpilotTestCase):
         # TODO: this ffprobe call is really slow
         # get width and check frame count
         cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
-        if TICI:
+        if COMMA_HARDWARE:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 
         expected_frames = fps * SEGMENT_LENGTH
@@ -130,7 +130,7 @@ class TestEncoder(OpenpilotTestCase):
 
       assert 1 == len(set(first_frames))
 
-      if TICI:
+      if COMMA_HARDWARE:
         expected_frames = fps * SEGMENT_LENGTH
         assert min(counts) == expected_frames
       shutil.rmtree(f"{route_prefix_path}--{i}")

openpilot/system/loggerd/tests/test_loggerd.py

@@ -18,7 +18,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.common.hardware.hw import Paths
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
@@ -234,7 +234,7 @@ class TestLoggerd(OpenpilotTestCase):
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    if TICI:
+    if COMMA_HARDWARE:
       for fn in ["console-ramoops", "pmsg-ramoops-0"]:
         path = Path(os.path.join("/sys/fs/pstore/", fn))
         if path.is_file():

openpilot/system/manager/process_config.py

@@ -4,7 +4,7 @@ import platform
 
 from opendbc.car.structs import car
 from openpilot.common.params import Params
-from openpilot.common.hardware import PC, TICI
+from openpilot.common.hardware import PC, COMMA_HARDWARE
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -101,18 +101,18 @@ procs = [
   PythonProcess("card", "openpilot.selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "openpilot.system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "openpilot.selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
-  PythonProcess("qcomgpsd", "openpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  PythonProcess("qcomgpsd", "openpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=COMMA_HARDWARE),
   PythonProcess("pandad", "openpilot.selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "openpilot.selfdrive.locationd.paramsd", only_onroad),
   PythonProcess("lagd", "openpilot.selfdrive.locationd.lagd", only_onroad),
-  PythonProcess("ubloxd", "openpilot.system.ubloxd.ubloxd", ublox, enabled=TICI),
-  PythonProcess("pigeond", "openpilot.system.ubloxd.pigeond", ublox, enabled=TICI),
+  PythonProcess("ubloxd", "openpilot.system.ubloxd.ubloxd", ublox, enabled=COMMA_HARDWARE),
+  PythonProcess("pigeond", "openpilot.system.ubloxd.pigeond", ublox, enabled=COMMA_HARDWARE),
   PythonProcess("plannerd", "openpilot.selfdrive.controls.plannerd", not_long_maneuver),
   PythonProcess("maneuversd", "openpilot.tools.longitudinal_maneuvers.maneuversd", long_maneuver),
   PythonProcess("lateral_maneuversd", "openpilot.tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "openpilot.selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "openpilot.system.hardware.hardwared", always_run),
-  PythonProcess("modem", "openpilot.common.hardware.comma.modem", always_run, enabled=TICI),
+  PythonProcess("modem", "openpilot.common.hardware.comma.modem", always_run, enabled=COMMA_HARDWARE),
   PythonProcess("tombstoned", "openpilot.system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "openpilot.system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "openpilot.system.loggerd.uploader", always_run),

openpilot/system/sensord/tests/test_sensord.py

@@ -58,7 +58,7 @@ def iter_measurements(events):
       yield measurement, getattr(measurement, measurement.which())
 
 class TestSensord(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     # enable LSM self test

openpilot/system/ubloxd/pigeond.py

@@ -12,7 +12,7 @@ from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.hardware.comma.pins import GPIO
 
@@ -302,7 +302,7 @@ def run_receiving(duration: int = 0):
 
 
 def main():
-  assert TICI, "unsupported hardware for pigeond"
+  assert COMMA_HARDWARE, "unsupported hardware for pigeond"
   run_receiving()
 
 if __name__ == "__main__":

openpilot/system/ubloxd/tests/test_pigeond.py

@@ -11,7 +11,7 @@ from openpilot.common.hardware.comma.pins import GPIO
 
 # TODO: test TTFF when we have good A-GNSS
 class TestPigeond(OpenpilotTestCase):
-  TICI_TEST = True
+  COMMA_HARDWARE_TEST = True
 
   def teardown_method(self):
     managed_processes['pigeond'].stop()

openpilot/system/ui/lib/scroll_panel2.py

@@ -5,7 +5,7 @@ from collections.abc import Callable
 from enum import Enum
 from typing import cast
 from openpilot.system.ui.lib.application import gui_app, MouseEvent
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from collections import deque
 
 MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
@@ -52,7 +52,7 @@ class GuiScrollPanel2:
     self._initial_click_event: MouseEvent | None = None
     self._previous_mouse_event: MouseEvent | None = None
     self._velocity = 0.0  # pixels per second
-    self._velocity_buffer: deque[float] = deque(maxlen=12 if TICI else 6)
+    self._velocity_buffer: deque[float] = deque(maxlen=12 if COMMA_HARDWARE else 6)
     self._enabled: bool | Callable[[], bool] = True
 
   def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:

openpilot/system/ui/mici_setup.py

@@ -13,7 +13,7 @@ import pyray as rl
 
 from openpilot.cereal import log
 from openpilot.common.filter_simple import BounceFilter
-from openpilot.common.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.time_helpers import system_time_valid
@@ -570,7 +570,7 @@ class Setup(Widget):
 def main():
   config_realtime_process(0, 51)
   # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
-  if TICI:
+  if COMMA_HARDWARE:
     try:
       set_core_affinity([5])
     except OSError:

openpilot/system/ui/mici_updater.py

@@ -5,7 +5,7 @@ import threading
 import pyray as rl
 
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
-from openpilot.common.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets.nav_widget import NavWidget
@@ -152,7 +152,7 @@ class Updater(Scroller):
 def main():
   config_realtime_process(0, 51)
   # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
-  if TICI:
+  if COMMA_HARDWARE:
     try:
       set_core_affinity([5])
     except OSError: