Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

# Conflicts:
#	opendbc_repo

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])
+              ))

system/hardware/hardwared.py

@@ -22,7 +22,7 @@ from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 from openpilot.system.version import terms_version, training_version, get_build_metadata, terms_version_sp
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -209,14 +209,13 @@ def hardware_thread(end_event, hw_queue) -> None:
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
 
-  fan_controller = None
+  fan_controller = FanController(int(1./DT_HW))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
-    peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
@@ -233,11 +232,6 @@ def hardware_thread(end_event, hw_queue) -> None:
 
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
 
-      # Setup fan handler on first connect to panda
-      if fan_controller is None and peripheral_panda_present:
-        if TICI:
-          fan_controller = TiciFanController()
-
     elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
@@ -288,8 +282,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
-    if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:

system/hardware/pc/hardware.h

@@ -6,7 +6,6 @@
 
 class HardwarePC : public HardwareNone {
 public:
-  static std::string get_os_version() { return "openpilot for PC"; }
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }

system/hardware/pc/hardware.py

@@ -1,78 +1,12 @@
-import random
-
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, LPABase
+from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
+
 
 class Pc(HardwareBase):
-  def get_os_version(self):
-    return None
-
   def get_device_type(self):
     return "pc"
 
-  def reboot(self, reason=None):
-    print("REBOOT!")
-
-  def uninstall(self):
-    print("uninstall")
-
-  def get_imei(self, slot):
-    return f"{random.randint(0, 1 << 32):015d}"
-
-  def get_serial(self):
-    return "cccccccc"
-
-  def get_network_info(self):
-    return None
-
   def get_network_type(self):
     return NetworkType.wifi
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_sim_lpa(self) -> LPABase:
-    raise NotImplementedError("SIM LPA not implemented for PC")
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
-
-  def get_current_power_draw(self):
-    return 0
-
-  def get_som_power_draw(self):
-    return 0
-
-  def shutdown(self):
-    print("SHUTDOWN!")
-
-  def set_screen_brightness(self, percentage):
-    pass
-
-  def get_screen_brightness(self):
-    return 0
-
-  def set_power_save(self, powersave_enabled):
-    pass
-
-  def get_gpu_usage_percent(self):
-    return 0
-
-  def get_modem_temperatures(self):
-    return []
-
-
-  def initialize_hardware(self):
-    pass
-
-  def get_networks(self):
-    return None

system/hardware/tests/test_fan_controller.py

@@ -1,12 +1,12 @@
 import pytest
 
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 
-ALL_CONTROLLERS = [TiciFanController]
+ALL_CONTROLLERS = [FanController]
 
 def patched_controller(mocker, controller_class):
   mocker.patch("os.system", new=mocker.Mock())
-  return controller_class()
+  return controller_class(2)
 
 class TestFanController:
   def wind_up(self, controller, ignition=True):

system/hardware/tici/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz",
-    "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
+    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
+    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
     "size": 17496064,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae"
+    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img.xz",
-    "hash": "a068d4d692ec770884f0a15e1a6d7aba52385ecae138f6d43fb0a9b1643ed5cd",
-    "hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
+    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
+    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4",
+    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
     "alt": {
-      "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img",
+      "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
       "size": 4718592000
     }
   }

system/hardware/tici/all-partitions.json

@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz",
-    "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
+    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
+    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
     "size": 17496064,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae"
+    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img.xz",
-    "hash": "a068d4d692ec770884f0a15e1a6d7aba52385ecae138f6d43fb0a9b1643ed5cd",
-    "hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
+    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
+    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4",
+    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
     "alt": {
-      "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img",
+      "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f9ea618ac97a86da49733ce66cd5e3aa19aa917666ee90de301cd746664e4d22.img.xz",
-    "hash": "dfc6812e76bd1583ed77a86eedf48cafdc306037d2a85c5d0aa7cdb23033b736",
-    "hash_raw": "f9ea618ac97a86da49733ce66cd5e3aa19aa917666ee90de301cd746664e4d22",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ec31b8116125a95755adb32853c401c462a14a74f538535532bf2c34d72c60eb.img.xz",
+    "hash": "aa0f0fe32187493e6135aee9e984d3f9705fc58560d537b34687bb6b51a38428",
+    "hash_raw": "ec31b8116125a95755adb32853c401c462a14a74f538535532bf2c34d72c60eb",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "ff95f994e9ed6504632f4b7c6daecef582f0a4e5261b8240d4474f16059faef4"
+    "ondevice_hash": "9c916b7d05543d4608b0401bc867639f44ce9671639a1a6da83b6d58b4eaa1b4"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-393956e255c277b895bdb98bf65cfa3907e4b57822740ff82f857ac4e1a2f11e.img.xz",
-    "hash": "b5e2f05d31fc18fff18e82dcebfc2bf04de624baeca0511b93e50b3198b8a9ab",
-    "hash_raw": "393956e255c277b895bdb98bf65cfa3907e4b57822740ff82f857ac4e1a2f11e",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-7f092cc841124c10300e43574e90e3367e983bfbe4faa0969024e79e5ce90b11.img.xz",
+    "hash": "fa83d4b7096857136820b0b0a8785c90677256b054c5c14039cd7b9b1065a90b",
+    "hash_raw": "7f092cc841124c10300e43574e90e3367e983bfbe4faa0969024e79e5ce90b11",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "db64c6abc72bfcddc1682c73cc73c7230ed2f6e835d292fd38d054a9d242b8fc"
+    "ondevice_hash": "1699e38de769eb32c21dfa6a5ac21eb3ad620a362c7b8abf1a2c0afe0f717530"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a4b3e2a2fc3612a37322b7b1a4c5737765841dc3b8d6d3bb58b1e5a271023068.img.xz",
-    "hash": "ecec713cf7d8f1f616f122a16b138931f818290447e36a5925da6a4fc0fc7bf3",
-    "hash_raw": "a4b3e2a2fc3612a37322b7b1a4c5737765841dc3b8d6d3bb58b1e5a271023068",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-3df2dcd5e1f426c90b090fdbcd1a95b035d96a4bdaf88d5517245db5ee84f5ed.img.xz",
+    "hash": "890910f20b1ad88a728ee822a47b1234eb3d70cab28ca8a935679c8c2d33cbe9",
+    "hash_raw": "3df2dcd5e1f426c90b090fdbcd1a95b035d96a4bdaf88d5517245db5ee84f5ed",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "48fefa5a1880a4fd3dd50e1f9ddee297122053556816baca310d495129bc8893"
+    "ondevice_hash": "8e7cb392dd6e49c7d59fa850be7d1f44901314c86ba9c88be5bb27a0cd1123c9"
   }
 ]

system/hardware/tici/amplifier.py

@@ -6,23 +6,8 @@ from collections import namedtuple
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
 AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
-EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
 
-def configs_from_eq_params(base, eq_params):
-  return [
-    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
-    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
-    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
-    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
-    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
-    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
-    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
-    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
-    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
-    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
-  ]
-
-BASE_CONFIG = [
+CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
@@ -58,35 +43,31 @@ BASE_CONFIG = [
   AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
   AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
   AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+
+  AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+  AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+  AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+  AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+  AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+  AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+  AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+  AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+  AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+  AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+  AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+  AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+  AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
 ]
 
-CONFIGS = {
-  "tizi": [
-    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
-    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
-
-    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
-    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
-    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
-    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
-    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
-    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
-    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
-    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
-    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
-    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
-    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
-    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
-    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
-    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
-    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
-  ],
-}
-
 class Amplifier:
   AMP_I2C_BUS = 0
   AMP_ADDRESS = 0x10
@@ -127,20 +108,15 @@ class Amplifier:
   def set_global_shutdown(self, amp_disabled: bool) -> bool:
     return self.set_configs([self._get_shutdown_config(amp_disabled), ])
 
-  def initialize_configuration(self, model: str) -> bool:
+  def initialize_configuration(self) -> bool:
     cfgs = [
       self._get_shutdown_config(True),
-      *BASE_CONFIG,
-      *CONFIGS[model],
+      *CONFIG,
       self._get_shutdown_config(False),
     ]
     return self.set_configs(cfgs)
 
 
 if __name__ == "__main__":
-  with open("/sys/firmware/devicetree/base/model") as f:
-    model = f.read().strip('\x00')
-  model = model.split('comma ')[-1]
-
   amp = Amplifier()
-  amp.initialize_configuration(model)
+  amp.initialize_configuration()

system/hardware/tici/esim.py

@@ -40,7 +40,6 @@ class TiciLPA(LPABase):
     self._process_notifications()
 
   def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    self._check_bootstrapped()
     msgs = self._invoke('profile', 'download', '-a', qr)
     self._validate_successful(msgs)
     new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None)
@@ -55,7 +54,6 @@ class TiciLPA(LPABase):
     self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
 
   def switch_profile(self, iccid: str) -> None:
-    self._check_bootstrapped()
     self._validate_profile_exists(iccid)
     latest = self.get_active_profile()
     if latest and latest.iccid == iccid:
@@ -63,33 +61,6 @@ class TiciLPA(LPABase):
     self._validate_successful(self._invoke('profile', 'enable', iccid))
     self._process_notifications()
 
-  def bootstrap(self) -> None:
-    """
-    find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles
-    and must be deleted.
-
-    **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order
-              to use comma prime again.
-    """
-    if self._is_bootstrapped():
-      return
-
-    for p in self.list_profiles():
-      if self.is_comma_profile(p.iccid):
-        self._disable_profile(p.iccid)
-        self.delete_profile(p.iccid)
-
-  def _disable_profile(self, iccid: str) -> None:
-    self._validate_successful(self._invoke('profile', 'disable', iccid))
-    self._process_notifications()
-
-  def _check_bootstrapped(self) -> None:
-    assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation'
-
-  def _is_bootstrapped(self) -> bool:
-    """ check if any comma provisioned profiles are on the eUICC """
-    return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles()))
-
   def _invoke(self, *cmd: str):
     proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
     try:

system/hardware/tici/hardware.py

@@ -8,7 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
-from openpilot.common.util import sudo_read, sudo_write
+from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
@@ -125,7 +125,7 @@ class Tici(HardwareBase):
       return int(f.read())
 
   def set_ir_power(self, percent: int):
-    if self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() == "tizi":
       return
 
     value = int((percent / 100) * 300)
@@ -369,7 +369,7 @@ class Tici(HardwareBase):
     if self.amplifier is not None:
       self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
       if not powersave_enabled:
-        self.amplifier.initialize_configuration(self.get_device_type())
+        self.amplifier.initialize_configuration()
 
     # *** CPU config ***
 
@@ -404,7 +404,7 @@ class Tici(HardwareBase):
 
   def initialize_hardware(self):
     if self.amplifier is not None:
-      self.amplifier.initialize_configuration(self.get_device_type())
+      self.amplifier.initialize_configuration()
 
     # Allow hardwared to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")

system/hardware/tici/tests/test_amplifier.py

@@ -5,7 +5,6 @@ import subprocess
 
 from panda import Panda
 from openpilot.system.hardware import TICI, HARDWARE
-from openpilot.system.hardware.tici.hardware import Tici
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
 
@@ -39,7 +38,7 @@ class TestAmplifier:
 
   def test_init(self):
     amp = Amplifier(debug=True)
-    r = amp.initialize_configuration(Tici().get_device_type())
+    r = amp.initialize_configuration()
     assert r
     assert self._check_for_i2c_errors(False)
 
@@ -61,7 +60,7 @@ class TestAmplifier:
       time.sleep(random.randint(0, 5))
 
       amp = Amplifier(debug=True)
-      r = amp.initialize_configuration(Tici().get_device_type())
+      r = amp.initialize_configuration()
       assert r
 
       if self._check_for_i2c_errors(True):

system/loggerd/tests/loggerd_tests_common.py

@@ -10,7 +10,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
-def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None:
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None:
   file_path.parent.mkdir(parents=True, exist_ok=True)
 
   if lock:
@@ -80,7 +80,7 @@ class UploaderTestCase:
     self.params.put("DongleId", "0000000000000000")
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
-                          upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path:
+                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
     file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 

system/loggerd/tests/test_uploader.py

@@ -50,7 +50,7 @@ class TestUploader(UploaderTestCase):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
+  def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]:
     f_paths = []
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
       f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))

system/loggerd/uploader.py

@@ -226,7 +226,7 @@ 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()
 

system/manager/process.py

@@ -81,7 +81,7 @@ class ManagerProcess(ABC):
     self.stop(sig=signal.SIGKILL)
     self.start()
 
-  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
+  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
     if self.proc is None:
       return None
 

system/qcomgpsd/nmeaport.py

@@ -107,11 +107,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
           match fields[0]:
             case "$GNCLK":
               # fields at end are reserved (not used)
-              gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type]
+              gnss_clock = GnssClockNmeaPort(*fields[1:10])
               print(gnss_clock)
             case "$GNMEAS":
               # fields at end are reserved (not used)
-              gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type]
+              gnss_meas = GnssMeasNmeaPort(*fields[1:14])
               print(gnss_meas)
     except Exception as e:
       print(e)

system/sensord/sensord.py

@@ -7,7 +7,7 @@ import threading
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import sudo_write
+from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data

system/sensord/tests/test_sensord.py

@@ -32,23 +32,17 @@ SENSOR_CONFIGURATIONS: list[set] = {
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
 ALL_SENSORS = {
-  Sensor.lsm6ds3: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
-  },
-
   Sensor.lsm6ds3trc: {
     SensorConfig("acceleration", 5, 15),
     SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
+    SensorConfig("temperature", 10, 40),  # set for max range of our office
   },
 
   Sensor.mmc5603nj: {
     SensorConfig("magneticUncalibrated", 0, 300),
   }
 }
-
+ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:

system/ui/lib/application.py

@@ -187,7 +187,8 @@ class MouseState:
         time.monotonic(),
       )
       # Only add changes
-      if self._prev_mouse_event[slot] is None or ev[:-1] != self._prev_mouse_event[slot][:-1]:
+      prev = self._prev_mouse_event[slot]
+      if prev is None or ev[:-1] != prev[:-1]:
         with self._lock:
           self._events.append(ev)
         self._prev_mouse_event[slot] = ev
@@ -195,6 +196,8 @@ class MouseState:
 
 class GuiApplication(GuiApplicationExt):
   def __init__(self, width: int | None = None, height: int | None = None):
+    self._set_log_callback()
+
     self._fonts: dict[FontWeight, rl.Font] = {}
     self._width = width if width is not None else GuiApplication._default_width()
     self._height = height if height is not None else GuiApplication._default_height()
@@ -218,7 +221,6 @@ class GuiApplication(GuiApplicationExt):
     self._last_fps_log_time: float = time.monotonic()
     self._frame = 0
     self._window_close_requested = False
-    self._trace_log_callback = None
     self._modal_overlay = ModalOverlay()
     self._modal_overlay_shown = False
     self._modal_overlay_tick: Callable[[], None] | None = None
@@ -265,9 +267,6 @@ class GuiApplication(GuiApplicationExt):
       signal.signal(signal.SIGINT, _close)
       atexit.register(self.close)
 
-      self._set_log_callback()
-      rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING)
-
       flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT
       if ENABLE_VSYNC:
         flags |= rl.ConfigFlags.FLAG_VSYNC_HINT
@@ -648,6 +647,9 @@ class GuiApplication(GuiApplicationExt):
       else:
         cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}")
 
+    # ensure we get all the logs forwarded to us
+    rl.set_trace_log_level(rl.TraceLogLevel.LOG_DEBUG)
+
     # Store callback reference
     self._trace_log_callback = trace_log_callback
     rl.set_trace_log_callback(self._trace_log_callback)

system/ui/lib/multilang.py

@@ -48,7 +48,7 @@ class Multilang:
         translation = gettext.GNUTranslations(fh)
       translation.install()
       self._translation = translation
-      cloudlog.warning(f"Loaded translations for language: {self._language}")
+      cloudlog.debug(f"Loaded translations for language: {self._language}")
     except FileNotFoundError:
       cloudlog.error(f"No translation file found for language: {self._language}, using default.")
       gettext.install('app')

system/ui/lib/wifi_manager.py

@@ -631,7 +631,7 @@ class WifiManager:
       known_connections = self._get_connections()
       networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()]
       # sort with quantized strength to reduce jumping
-      networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 4), n.ssid.lower()))
+      networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 2), n.ssid.lower()))
       self._networks = networks
 
       self._update_ipv4_address()

system/ui/mici_reset.py

@@ -132,7 +132,7 @@ class Reset(Widget):
     if self._reset_state == ResetState.FAILED:
       return "Reset failed. Reboot to try again."
     if self._mode == ResetMode.RECOVER:
-      return "Unable to mount data partition. Partition may be corrupted."
+      return "Unable to mount data partition. It may be corrupted."
     return "All content and settings will be erased."
 
 

system/ui/mici_updater.py

@@ -102,14 +102,15 @@ class Updater(Widget):
     self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
                                     text=True, bufsize=1, universal_newlines=True)
 
-    for line in self.process.stdout:
-      parts = line.strip().split(":")
-      if len(parts) == 2:
-        self.progress_text = parts[0].lower()
-        try:
-          self.progress_value = int(float(parts[1]))
-        except ValueError:
-          pass
+    if self.process.stdout is not None:
+      for line in self.process.stdout:
+        parts = line.strip().split(":")
+        if len(parts) == 2:
+          self.progress_text = parts[0].lower()
+          try:
+            self.progress_value = int(float(parts[1]))
+          except ValueError:
+            pass
 
     exit_code = self.process.wait()
     if exit_code == 0:

system/ui/sunnypilot/widgets/list_view.py

@@ -55,7 +55,7 @@ class ButtonSP(Button):
 
 
 class SimpleButtonActionSP(ItemAction):
-  def __init__(self, button_text: str | Callable[[], str], callback: Callable = None,
+  def __init__(self, button_text: str | Callable[[], str], callback: Callable | None = None,
                enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH):
     super().__init__(width=button_width, enabled=enabled)
     self.button_action = ButtonSP(button_text, click_callback=callback, button_style=ButtonStyle.NORMAL,
@@ -99,8 +99,8 @@ class ButtonActionSP(ButtonAction):
 
 
 class DualButtonActionSP(DualButtonAction):
-  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
-               right_callback: Callable = None, enabled: bool | Callable[[], bool] = True, border_radius: int = 15):
+  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+               right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True, border_radius: int = 15):
     DualButtonAction.__init__(self, left_text, right_text, left_callback, right_callback, enabled)
     self.left_button._border_radius = self.right_button._border_radius = border_radius
 
@@ -126,7 +126,7 @@ class DualButtonActionSP(DualButtonAction):
 
 
 class MultipleButtonActionSP(MultipleButtonAction):
-  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None,
+  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None,
                param: str | None = None):
     MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
     self.param_key = param
@@ -192,6 +192,9 @@ class ListItemSP(ListItem):
     self._right_value_font = gui_app.font(FontWeight.NORMAL)
     self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
 
+  def set_title(self, title: str | Callable[[], str] = ""):
+    self._title = title
+
   def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
     self._right_value_source = value
     self._right_value_color = color
@@ -202,6 +205,13 @@ class ListItemSP(ListItem):
       return ""
     return str(_resolve_value(self._right_value_source, ""))
 
+  def _update_state(self):
+    prev_desc = self._prev_description
+    super()._update_state()
+    if self.description_visible and self._prev_description != prev_desc:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      self._rect.height = self.get_item_height(self._font, content_width)
+
   def get_item_height(self, font: rl.Font, max_width: int) -> float:
     height = super().get_item_height(font, max_width)
 
@@ -326,7 +336,7 @@ def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[
 
 
 def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
-                            selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable = None,
+                            selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable | None = None,
                             icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
   action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
   return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)
@@ -351,8 +361,8 @@ def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[
   return ListItemSP(title=title, description=description, action_item=action, callback=callback)
 
 
-def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
-                        right_callback: Callable = None, description: str | Callable[[], str] | None = None,
+def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+                        right_callback: Callable | None = None, description: str | Callable[[], str] | None = None,
                         enabled: bool | Callable[[], bool] = True, border_radius: int = 15) -> ListItemSP:
   action = DualButtonActionSP(left_text, right_text, left_callback, right_callback, enabled, border_radius)
   return ListItemSP(title="", description=description, action_item=action)

system/ui/tici_updater.py

@@ -71,14 +71,15 @@ class Updater(Widget):
     self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
                                     text=True, bufsize=1, universal_newlines=True)
 
-    for line in self.process.stdout:
-      parts = line.strip().split(":")
-      if len(parts) == 2:
-        self.progress_text = parts[0]
-        try:
-          self.progress_value = int(float(parts[1]))
-        except ValueError:
-          pass
+    if self.process.stdout is not None:
+      for line in self.process.stdout:
+        parts = line.strip().split(":")
+        if len(parts) == 2:
+          self.progress_text = parts[0]
+          try:
+            self.progress_value = int(float(parts[1]))
+          except ValueError:
+            pass
 
     exit_code = self.process.wait()
     if exit_code == 0:

system/ui/widgets/__init__.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 import abc
 import pyray as rl
 from enum import IntEnum
@@ -10,7 +12,7 @@ try:
 except ImportError:
   class Device:
     awake = True
-  device = Device()  # type: ignore
+  device = Device()
 
 
 class DialogResult(IntEnum):
@@ -91,7 +93,7 @@ class Widget(abc.ABC):
       return self._rect
     return rl.get_collision_rec(self._rect, self._parent_rect)
 
-  def render(self, rect: rl.Rectangle = None) -> bool | int | None:
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
     if rect is not None:
       self.set_rect(rect)
 
@@ -165,15 +167,13 @@ class Widget(abc.ABC):
   def _update_layout_rects(self) -> None:
     """Optionally update any layout rects on Widget rect change."""
 
-  def _handle_mouse_press(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_press(self, mouse_pos: MousePos) -> None:
     """Optionally handle mouse press events."""
-    return False
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     """Optionally handle mouse release events."""
     if self._click_callback:
       self._click_callback()
-    return False
 
   def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
     """Optionally handle mouse events. This is called before rendering."""
@@ -299,7 +299,7 @@ class NavWidget(Widget, abc.ABC):
 
         # block horizontal swiping if now swiping away
         if self._can_swipe_away:
-          if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD:  # type: ignore
+          if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD:
             self._swiping_away = True
 
     elif mouse_event.left_released:
@@ -361,7 +361,7 @@ class NavWidget(Widget, abc.ABC):
 
     self.set_position(self._rect.x, new_y)
 
-  def render(self, rect: rl.Rectangle = None) -> bool | int | None:
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
     ret = super().render(rect)
 
     if self.back_enabled:

system/ui/widgets/label.py

@@ -31,13 +31,13 @@ class MiciLabel(Widget):
   def __init__(self,
                text: str,
                font_size: int = DEFAULT_TEXT_SIZE,
-               width: int = None,
+               width: int | None = None,
                color: rl.Color = DEFAULT_TEXT_COLOR,
                font_weight: FontWeight = FontWeight.NORMAL,
                alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
                alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
                spacing: int = 0,
-               line_height: int = None,
+               line_height: int | None = None,
                elide_right: bool = True,
                wrap_text: bool = False,
                scroll: bool = False):

system/ui/widgets/list_view.py

@@ -174,8 +174,8 @@ class TextAction(ItemAction):
 
 
 class DualButtonAction(ItemAction):
-  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
-               right_callback: Callable = None, enabled: bool | Callable[[], bool] = True):
+  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+               right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True):
     super().__init__(width=0, enabled=enabled)  # Width 0 means use full width
     self.left_button = Button(left_text, click_callback=left_callback, button_style=ButtonStyle.NORMAL, text_padding=0)
     self.right_button = Button(right_text, click_callback=right_callback, button_style=ButtonStyle.DANGER, text_padding=0)
@@ -207,7 +207,7 @@ class DualButtonAction(ItemAction):
 
 
 class MultipleButtonAction(ItemAction):
-  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None):
+  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None):
     super().__init__(width=len(buttons) * button_width + (len(buttons) - 1) * RIGHT_ITEM_PADDING, enabled=True)
     self.buttons = buttons
     self.button_width = button_width
@@ -454,13 +454,14 @@ def text_item(title: str | Callable[[], str], value: str | Callable[[], str], de
   return ListItem(title=title, description=description, action_item=action, callback=callback)
 
 
-def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, right_callback: Callable = None,
+def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str],
+                     left_callback: Callable | None = None, right_callback: Callable | None = None,
                      description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
   action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled)
   return ListItem(title="", description=description, action_item=action)
 
 
 def multiple_button_item(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]], selected_index: int,
-                         button_width: int = BUTTON_WIDTH, callback: Callable = None, icon: str = ""):
+                         button_width: int = BUTTON_WIDTH, callback: Callable | None = None, icon: str = ""):
   action = MultipleButtonAction(buttons, button_width, selected_index, callback=callback)
   return ListItem(title=title, description=description, icon=icon, action_item=action)

system/ui/widgets/network.py

@@ -28,8 +28,8 @@ try:
   from openpilot.selfdrive.ui.lib.prime_state import PrimeType
 except Exception:
   Params = None
-  ui_state = None  # type: ignore
-  PrimeType = None  # type: ignore
+  ui_state = None
+  PrimeType = None
 
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8

system/updated/casync/casync.py

@@ -168,7 +168,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
 def extract(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
-            progress: Callable[[int], None] = None):
+            progress: Callable[[int], None] | None = None):
   stats: dict[str, int] = defaultdict(int)
 
   mode = 'rb+' if os.path.exists(out_path) else 'wb'
@@ -208,7 +208,7 @@ def extract_directory(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
             tmp_file: str,
-            progress: Callable[[int], None] = None):
+            progress: Callable[[int], None] | None = None):
   """extract a directory stored as a casync tar archive"""
 
   stats = extract(target, sources, tmp_file, progress)

system/updated/updated.py

@@ -67,7 +67,7 @@ def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
   params.put(param, t)
 
-def run(cmd: list[str], cwd: str = None) -> str:
+def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
 
 

system/webrtc/device/audio.py

@@ -16,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
       pyaudio.paFloat32: 'flt',
   }
 
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None):
+  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None):
     super().__init__()
 
     self.p = pyaudio.PyAudio()
@@ -48,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
 
 
 class AudioOutputSpeaker:
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None):
+  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None):
 
     chunk_size = int(packet_time * rate)
     self.p = pyaudio.PyAudio()