sync: fix upstream conflicts

.gitmodules

@@ -17,5 +17,5 @@
   path = tinygrad_repo
   url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git

SConstruct

@@ -287,7 +287,7 @@ SConscript([
   'openpilot/selfdrive/ui/SConscript',
 ])
 
-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])
 
 # Build desktop-only tools
 if GetOption('extras') and arch != "larch64":

openpilot/common/api/base.py

@@ -4,7 +4,7 @@ import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.common.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 
 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",

openpilot/selfdrive/car/helpers.py

@@ -1,7 +1,7 @@
 import capnp
 from typing import Any
 
-from cereal import custom
+from openpilot.cereal import custom
 from opendbc.car import structs
 
 _FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS

openpilot/selfdrive/modeld/compile_warp.py

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

openpilot/selfdrive/monitoring/test_monitoring.py

@@ -271,10 +271,10 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
   captured = {}
   orig = dm._update_events
 
-  def spy(driver_engaged, op_engaged, standstill, wrong_gear):
+  def spy(driver_engaged, op_engaged, lowspeed, wrong_gear):
     captured['driver_engaged'] = driver_engaged
     captured['op_engaged'] = op_engaged
-    return orig(driver_engaged, op_engaged, standstill, wrong_gear)
+    return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
 
   dm._update_events = spy
   dm.run_step(sm, demo=False)

openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py

@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 
 class SunnylinkConsentPage(Widget):

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

@@ -9,7 +9,7 @@ import re
 import time
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state

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

@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.ui_state import ui_state

openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py

@@ -21,7 +21,7 @@ from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 class TorqueSettingsLayout(Widget):

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

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

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py

@@ -21,7 +21,7 @@ from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 from openpilot.selfdrive.ui.ui_state import ui_state
 
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
 
 
 class LegendWidget(Widget):

openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from collections.abc import Callable
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout

openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py

@@ -8,7 +8,7 @@ import pyray as rl
 
 from collections.abc import Callable
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
@@ -20,7 +20,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 class SunnylinkInfo(Widget):
   def __init__(self):

openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py

@@ -128,8 +128,8 @@ class ChevronMetrics:
     lead_one = radar_state.leadOne
     lead_two = radar_state.leadTwo
 
-    has_lead_one = lead_one.status if lead_one else False
-    has_lead_two = lead_two.status if lead_two else False
+    has_lead_one = lead_one.present if lead_one else False
+    has_lead_two = lead_two.present if lead_two else False
 
     self.update_alpha(has_lead_one or has_lead_two)
 

openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState

openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py

@@ -42,7 +42,7 @@ class LeadInfoElement:
   @staticmethod
   def get_lead_status(sm):
     lead_one = sm['radarState'].leadOne
-    return lead_one.status, lead_one.dRel, lead_one.vRel
+    return lead_one.present, lead_one.dRel, lead_one.vRel
 
   @staticmethod
   def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:

openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py

@@ -9,7 +9,7 @@ from dataclasses import dataclass
 from enum import StrEnum
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
 from openpilot.selfdrive.ui.ui_state import ui_state

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -6,7 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 from enum import Enum
 
-from cereal import messaging, log, car, custom
+from openpilot.cereal import messaging, log, custom
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState

openpilot/sunnypilot

@@ -1 +0,0 @@
-../sunnypilot

openpilot/sunnypilot/livedelay/lagd_toggle.py

@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import log
+from openpilot.cereal import log
 
 from opendbc.car import structs
 from openpilot.common.params import Params

openpilot/sunnypilot/mads/mads.py

@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags

openpilot/sunnypilot/mads/state.py

@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL

openpilot/sunnypilot/mads/tests/test_mads_state_machine.py

@@ -8,7 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert, Events

openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py

@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 import pytest
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from opendbc.car import structs
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP