Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into 2.1

.vscode/launch.json

@@ -52,6 +52,9 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]

cereal/SConscript

@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")

cereal/deprecated.capnp

@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
 
-# legacy.capnp: a home for deprecated structs
+# deprecated.capnp: a home for deprecated structs
 
 struct LogRotate @0x9811e1f38f62f2d1 {
   segmentNum @0 :Int32;
@@ -571,4 +571,219 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
   pkt @4 :Data;
 }
 
+struct LiveTracksDEPRECATED @0xb16f60103159415a {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}
 
+struct LiveMpcData @0x92a5e332a85f32a0 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  curvature @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+  cost @6 :Float64;
+}
+
+struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+  cost @10 :Float64;
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
+  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  readyProb @24 :List(Float32);
+  notReadyProb @25 :List(Float32);
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+}
+
+struct NavModelData @0xac3de5c437be057a {
+  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData @0xbe09e615b2507e26 {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
+
+struct AndroidBuildInfo @0xfe2919d5c21f426c {
+  board @0 :Text;
+  bootloader @1 :Text;
+  brand @2 :Text;
+  device @3 :Text;
+  display @4 :Text;
+  fingerprint @5 :Text;
+  hardware @6 :Text;
+  host @7 :Text;
+  id @8 :Text;
+  manufacturer @9 :Text;
+  model @10 :Text;
+  product @11 :Text;
+  radioVersion @12 :Text;
+  serial @13 :Text;
+  supportedAbis @14 :List(Text);
+  tags @15 :Text;
+  time @16 :Int64;
+  type @17 :Text;
+  user @18 :Text;
+
+  versionCodename @19 :Text;
+  versionRelease @20 :Text;
+  versionSdk @21 :Int32;
+  versionSecurityPatch @22 :Text;
+}
+
+struct AndroidSensor @0x9b513b93a887dbcd {
+  id @0 :Int32;
+  name @1 :Text;
+  vendor @2 :Text;
+  version @3 :Int32;
+  handle @4 :Int32;
+  type @5 :Int32;
+  maxRange @6 :Float32;
+  resolution @7 :Float32;
+  power @8 :Float32;
+  minDelay @9 :Int32;
+  fifoReservedEventCount @10 :UInt32;
+  fifoMaxEventCount @11 :UInt32;
+  stringType @12 :Text;
+  maxDelay @13 :Int32;
+}
+
+struct IosBuildInfo @0xd97e3b28239f5580 {
+  appVersion @0 :Text;
+  appBuild @1 :UInt32;
+  osVersion @2 :Text;
+  deviceModel @3 :Text;
+}
+
+enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
+  unknown @0;
+  neo @1;
+  chffrAndroid @2;
+  front @3;
+}
+
+struct AndroidCaptureResult @0xbcc3efbac41d2048 {
+  sensitivity @0 :Int32;
+  frameDuration @1 :Int64;
+  exposureTime @2 :Int64;
+  rollingShutterSkew @3 :UInt64;
+  colorCorrectionTransform @4 :List(Int32);
+  colorCorrectionGains @5 :List(Float32);
+  displayRotation @6 :Int8;
+}
+
+enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
+  none @0;
+  client @1;
+  cdp @2;
+  dcp @3;
+}
+
+struct LateralINDIState @0x939463348632375e {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  steeringRateDeg @2 :Float32;
+  steeringAccelDeg @3 :Float32;
+  rateSetPoint @4 :Float32;
+  accelSetPoint @5 :Float32;
+  accelError @6 :Float32;
+  delayedOutput @7 :Float32;
+  delta @8 :Float32;
+  output @9 :Float32;
+  saturated @10 :Bool;
+  steeringAngleDesiredDeg @11 :Float32;
+  steeringRateDesiredDeg @12 :Float32;
+}
+
+struct LateralLQRState @0x9024e2d790c82ade {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  i @2 :Float32;
+  output @3 :Float32;
+  lqrOutput @4 :Float32;
+  saturated @5 :Bool;
+  steeringAngleDesiredDeg @6 :Float32;
+}
+
+struct LateralCurvatureState @0xad9d8095c06f7c61 {
+  active @0 :Bool;
+  actualCurvature @1 :Float32;
+  desiredCurvature @2 :Float32;
+  error @3 :Float32;
+  p @4 :Float32;
+  i @5 :Float32;
+  f @6 :Float32;
+  output @7 :Float32;
+  saturated @8 :Bool;
+}
+
+struct LateralPlannerSolution @0x84caeca5a6b4acfe {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  yaw @2 :List(Float32);
+  yawRate @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  yawStd @6 :List(Float32);
+  yawRateStd @7 :List(Float32);
+}
+
+struct GpsTrajectory @0x8cfeb072f5301000 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+}

cereal/services.py

@@ -39,8 +39,8 @@ _services: dict[str, tuple] = {
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
+  "logMessage": (True, 0., None, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "OP Model (Default)"
+#define DEFAULT_MODEL "POP model (Default)"

common/utils.py

@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     return compressed_stream, compressed_size
 
 
-# remove all keys that end in DEPRECATED
+# remove all keys that end in DEPRECATED, plus any "deprecated" group
 def strip_deprecated_keys(d):
   for k in list(d.keys()):
     if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
+      if k.endswith('DEPRECATED') or k == 'deprecated':
         d.pop(k)
       elif isinstance(d[k], dict):
         strip_deprecated_keys(d[k])

scripts/reporter.py

@@ -33,16 +33,7 @@ if __name__ == "__main__":
   print("|-| -----  | --------- |")
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
-    # TODO: add checkpoint to DM
-    if "dmonitoring" in f:
-      continue
-
     fn = os.path.basename(f)
-    master_path = MASTER_PATH + MODEL_PATH + fn
-    if os.path.exists(master_path):
-      master = get_checkpoint(master_path)
-      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
-    else:
-      master_col = "N/A (new model)"
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")

selfdrive/controls/lib/drive_helpers.py

@@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
     v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
   else:
+    v_now = 0.0
     v_target = 0.0
-    v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
+  should_stop = (v_now < vEgoStopping and a_target < 0.1)
   return a_target, should_stop
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):

selfdrive/debug/cycle_alerts.py

@@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
-    (EventName.preDriverDistracted, ET.WARNING),
-    (EventName.promptDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted, ET.WARNING),
+    (EventName.driverDistracted1, ET.WARNING),
+    (EventName.driverDistracted2, ET.WARNING),
+    (EventName.driverDistracted3, ET.WARNING),
   ]
 
   # debug alerts

selfdrive/modeld/SConscript

@@ -17,11 +17,11 @@ def estimate_pickle_max_size(onnx_size):
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
 tg_flags = {
     'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0')
+    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
 
 # Get model metadata
-for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
   cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -59,5 +59,6 @@ def tg_compile(flags, model_name):
   )
 
 # Compile small models
-for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   tg_compile(tg_flags, model_name)
+

selfdrive/modeld/modeld.py

@@ -40,10 +40,8 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODELS_DIR = Path(__file__).parent / 'models'
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
-ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl'
-OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl'
-OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl'
+POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
+POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
 
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
@@ -158,13 +156,7 @@ class ModelState(ModelStateBase):
       self.vision_output_slices = vision_metadata['output_slices']
       vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
-    with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
-      off_policy_metadata = pickle.load(f)
-      self.off_policy_input_shapes =  off_policy_metadata['input_shapes']
-      self.off_policy_output_slices = off_policy_metadata['output_slices']
-      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
-
-    with open(ON_POLICY_METADATA_PATH, 'rb') as f:
+    with open(POLICY_METADATA_PATH, 'rb') as f:
       policy_metadata = pickle.load(f)
       self.policy_input_shapes =  policy_metadata['input_shapes']
       self.policy_output_slices = policy_metadata['output_slices']
@@ -188,13 +180,11 @@ class ModelState(ModelStateBase):
     self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
-    self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
     self.parser = Parser()
     self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
     self.update_imgs = None
     self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH)))
-    self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH)))
+    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -243,17 +233,9 @@ class ModelState(ModelStateBase):
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-
-    self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
-    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices))
-    off_policy_outputs_dict.pop('plan')
-
-
-    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
-    if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict:
-      combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus']
+    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
 
     return combined_outputs_dict
 
@@ -414,7 +396,9 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       mdv2sp_send = messaging.new_message('modelDataV2SP')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

selfdrive/modeld/models/big_driving_policy.onnx

@@ -0,0 +1 @@
+driving_policy.onnx

selfdrive/modeld/models/big_driving_vision.onnx

@@ -0,0 +1 @@
+driving_vision.onnx

selfdrive/modeld/models/driving_off_policy.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eb6992bd60bada6162fea298e1a414b6b3d6a326db4eda46b9de62bcd8554754
-size 13393859

selfdrive/modeld/models/driving_on_policy.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:86680a657bbb34f997034d1930bb2cb65c38b9222cea199732f72bd45791cfad
-size 13022803

selfdrive/modeld/models/driving_policy.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
+size 14061595

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7af05e03fd170653ff5771baf373a2c57b363da12c4c411cd416dee067b4cf58
-size 23266366
+oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
+size 46887794

selfdrive/modeld/parse_model_outputs.py

@@ -96,17 +96,11 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
-    return outs
-
-  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_binary_crossentropy('lane_lines_prob', outs)
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
     lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
     lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -116,7 +110,7 @@ class Parser:
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
     plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
     self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     if 'planplus' in outs:
@@ -126,6 +120,5 @@ class Parser:
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     outs = self.parse_vision_outputs(outs)
-    outs = self.parse_off_policy_outputs(outs)
     outs = self.parse_policy_outputs(outs)
     return outs

selfdrive/monitoring/helpers.py

@@ -345,10 +345,14 @@ class DriverMonitoring:
       self._reset_awareness()
       return
 
-    driver_attentive = self.driver_distraction_filter.x < 0.37
     awareness_prev = self.awareness
+    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
+    _reaching_terminal = self.awareness - self.step_change <= 0
+    standstill_orange_exemption = standstill and _reaching_pre
+    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
 
-    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
+    if self.awareness > 0 and \
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
       if driver_engaged:
         self._reset_awareness()
         return
@@ -361,34 +365,28 @@ class DriverMonitoring:
       if self.awareness > self.threshold_prompt:
         return
 
-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_exemption or always_on_red_exemption):
+      if not (standstill_orange_exemption or always_on_red_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
     if self.awareness <= 0.:
       # terminal red alert: disengagement required
-      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
+      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
-      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
+      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
     elif self.awareness <= self.threshold_pre:
       # pre green alert
-      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
+      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
 
     if alert is not None:
       self.current_events.add(alert)

selfdrive/monitoring/test_monitoring.py

@@ -76,11 +76,11 @@ class TestMonitoring:
     assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
     assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
                     ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.preDriverDistracted
+                    EventName.driverDistracted1
     assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
+                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
     assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
+                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
@@ -89,11 +89,11 @@ class TestMonitoring:
     assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
     assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
                       ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverUnresponsive
+                      EventName.driverUnresponsive1
     assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
     assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
+                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -106,10 +106,10 @@ class TestMonitoring:
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
     events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
     assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
     assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
     assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
@@ -129,9 +129,9 @@ class TestMonitoring:
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
+    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
     assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
@@ -145,13 +145,13 @@ class TestMonitoring:
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
     assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
     assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
       assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
@@ -166,10 +166,10 @@ class TestMonitoring:
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
     assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
     assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
 
   # disengaged, always distracted driver
@@ -187,8 +187,19 @@ class TestMonitoring:
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
     _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
+    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
+
+  # engaged, distracted while moving, then car stops after reaching orange
+  #  - should reset timer to pre green at standstill
+  def test_distracted_then_stops(self):
+    _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
+    standstill_vector = always_false[:]
+    standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
+    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    # just before and briefly after stopping: orange alert; goes away quickly after stopped
+    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
@@ -196,11 +207,11 @@ class TestMonitoring:
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.preDriverUnresponsive in \
+    assert EventName.driverUnresponsive1 in \
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.promptDriverUnresponsive in \
+    assert EventName.driverUnresponsive2 in \
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive in \
+    assert EventName.driverUnresponsive3 in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
 
@@ -265,4 +276,3 @@ def test_enabled_states(enabled_state, lat_active_state, expected):
   actual_enabled = captured_args[0]
 
   assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
-

selfdrive/pandad/pandad.cc

@@ -21,8 +21,6 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
-
 ExitHandler do_exit;
 
 bool check_connected(Panda *panda) {
@@ -34,15 +32,8 @@ bool check_connected(Panda *panda) {
 }
 
 bool process_mads_heartbeat(SubMaster *sm) {
-  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
-
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
-  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
-
-  const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
-
-  return engaged;
+  return sm->allAliveAndValid({"selfdriveStateSP"}) && mads.getEnabled();
 }
 
 Panda *connect(std::string serial) {
@@ -152,6 +143,8 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
   ps.setSoundOutputLevel(health.sound_output_level_pkt);
+  ps.setControlsAllowedLateral(health.controls_allowed_lateral_pkt);
+  ps.setControlsAllowedLongitudinal(health.controls_allowed_longitudinal_pkt);
 }
 
 void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
@@ -380,7 +373,7 @@ void pandad_run(Panda *panda) {
 
   Params params;
   RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
+  SubMaster sm({"selfdriveState", "selfdriveStateSP"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(panda);
   bool engaged = false;

selfdrive/selfdrived/events.py

@@ -338,7 +338,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
-  EventName.preDriverDistracted: {
+  EventName.driverDistracted1: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "",
@@ -346,7 +346,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverDistracted: {
+  EventName.driverDistracted2: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "Driver Distracted",
@@ -354,7 +354,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverDistracted: {
+  EventName.driverDistracted3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Distracted",
@@ -362,7 +362,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
-  EventName.preDriverUnresponsive: {
+  EventName.driverUnresponsive1: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel: No Face Detected",
       "",
@@ -370,7 +370,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverUnresponsive: {
+  EventName.driverUnresponsive2: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel",
       "Driver Unresponsive",
@@ -378,7 +378,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverUnresponsive: {
+  EventName.driverUnresponsive3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Unresponsive",
@@ -858,14 +858,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
 if HARDWARE.get_device_type() == 'mici':
   EVENTS.update({
-    EventName.preDriverDistracted: {
+    EventName.driverDistracted1: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
         Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
     },
-    EventName.promptDriverDistracted: {
+    EventName.driverDistracted2: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "Driver Distracted",

selfdrive/test/fuzzy_generation.py

@@ -46,8 +46,8 @@ class FuzzyGenerator:
 
   def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = schema.non_union_fields + single_fill
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
+    fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
 
   @staticmethod
   @cache

selfdrive/test/process_replay/migration.py

@@ -100,6 +100,17 @@ def migration(inputs: list[str], product: str|None=None):
   return decorator
 
 
+def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
+  event_dict = event.to_dict()
+  try:
+    return log.OnroadEvent(**event_dict)
+  except capnp.lib.capnp.KjException as e:
+    # Ignore legacy events the current schema no longer defines.
+    if "enum has no such enumerant" in str(e):
+      return None
+    raise
+
+
 @migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
   ops = []
@@ -216,7 +227,7 @@ def migrate_controlsState(msgs):
     for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
-      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+      setattr(ss, field, getattr(msg.controlsState.deprecated, field))
     add_ops.append(m.as_reader())
   return [], add_ops, []
 
@@ -229,10 +240,10 @@ def migrate_carState(msgs):
     if msg.which() == 'controlsState':
       last_cs = msg
     elif msg.which() == 'carState' and last_cs is not None:
-      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
+      if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
-        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
-        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
+        msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
+        msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
         ops.append((index, msg.as_reader()))
   return ops, [], []
 
@@ -458,12 +469,13 @@ def migrate_onroadEvents(msgs):
     for event in msg.onroadEventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            onroadEvents.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 
-    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
@@ -478,11 +490,12 @@ def migrate_driverMonitoringState(msgs):
   for index, msg in msgs:
     msg = msg.as_builder()
     events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
+    for event in msg.driverMonitoringState.deprecated.events:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            events.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 

selfdrive/ui/installer/installer.cc

@@ -144,6 +144,7 @@ int cachedFetch(const std::string &cache) {
   LOGD("Fetching with cache: %s", cache.c_str());
 
   run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str());
   run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
 
   renderProgress(10);

selfdrive/ui/mici/layouts/main.py

@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
 
-
 ONROAD_DELAY = 2.5  # seconds
 
 

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -153,7 +153,7 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):

selfdrive/ui/onroad/hud_renderer.py

@@ -86,7 +86,7 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1

selfdrive/ui/soundd.py

@@ -20,6 +20,7 @@ SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
+ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
@@ -82,6 +83,9 @@ class Soundd(QuietMode):
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
+    self.ramp_start_volume = MIN_VOLUME
+    self.ramp_start_time = 0.
+
     self.selfdrive_timeout_alert = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
@@ -130,6 +134,9 @@ class Soundd(QuietMode):
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
+      if new_alert == AudibleAlert.warningImmediate:
+        self.ramp_start_volume = self.current_volume
+        self.ramp_start_time = time.monotonic()
       self.current_alert = new_alert
       self.current_sound_frame = 0
 
@@ -170,12 +177,19 @@ class Soundd(QuietMode):
 
         self.load_param()
 
-        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+        # Always update volume, even when alert is playing
+        if sm.updated['soundPressure']:
           self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
 
+        # Ramp up immediate warning sound over 4s
+        if self.current_alert == AudibleAlert.warningImmediate:
+          elapsed = time.monotonic() - self.ramp_start_time
+          ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
+          self.current_volume = max(self.current_volume, ramp_vol)
+
         rk.keep_time()
 
         assert stream.active

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

@@ -6,12 +6,10 @@ See the LICENSE.md file in the root directory for more details.
 """
 from enum import IntEnum
 
-from openpilot.common.params import Params
-from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp
 from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
 
 
@@ -25,7 +23,6 @@ class DisplayLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._params = Params()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
@@ -87,17 +84,7 @@ class DisplayLayout(Widget):
   def _update_state(self):
     super()._update_state()
 
-    for _item in self._scroller._items:
-      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
-        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
-      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
-        raw_value = self._params.get(_item.action_item.param_key, return_default=True)
-        if _item.action_item.value_map:
-          reverse_map = {v: k for k, v in _item.action_item.value_map.items()}
-          raw_value = reverse_map.get(raw_value, _item.action_item.current_value)
-        _item.action_item.set_value(raw_value)
-
-    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
+    brightness_val = self._onroad_brightness.action_item.current_value
     self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
 
   def _render(self, rect):

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

@@ -41,7 +41,7 @@ class ModelsLayout(Widget):
 
     self._initialize_items()
 
-    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+    self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
     for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
       ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
 
@@ -112,7 +112,7 @@ class ModelsLayout(Widget):
             self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
 
   @staticmethod
-  def _calculate_cache_size():
+  def calculate_cache_size():
     cache_size = 0.0
     if os.path.exists(CUSTOM_MODEL_PATH):
       cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
@@ -122,7 +122,7 @@ class ModelsLayout(Widget):
     def _callback(response):
       if response == DialogResult.CONFIRM:
         ui_state.params.put_bool("ModelManager_ClearCache", True)
-        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+        self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
     dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
                            tr("Clear Cache"), callback=_callback)
@@ -155,7 +155,7 @@ class ModelsLayout(Widget):
 
     if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
       self.last_cache_calc_time = current_time
-      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+      self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
     if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
       device._reset_interactive_timeout()

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

@@ -5,13 +5,45 @@ 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 collections.abc import Callable
+import pyray as rl
 
 from cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.ui.lib.application import FontWeight, gui_app
 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
 
+class CurrentModelInfo(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
+    self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
+
+    self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
+    self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
+
+  def _render(self, _):
+    self.current_model_header.set_position(self._rect.x + 20, self._rect.y - 10)
+    self.current_model_header.render()
+
+    self.current_model_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self.current_model_text.render()
+
+    self.info_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self.info_header.render()
+
+    self.info_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self.info_text.render()
 
 class ModelsLayoutMici(NavScroller):
   def __init__(self, back_callback: Callable):
@@ -20,25 +52,35 @@ class ModelsLayoutMici(NavScroller):
     self.original_back_callback = back_callback
     self.focused_widget = None
 
-    self.current_model_btn = BigButton(tr("current model"))
-    self.current_model_btn.set_click_callback(self._show_folders)
+    self.current_model_info = CurrentModelInfo()
+    self._download_progress = "."
+    self._download_frame = 0
+    self._was_downloading = False
+
+    self.select_model_btn = BigButton(tr("select model"))
+    self.select_model_btn.set_click_callback(self._show_folders)
 
     self.cancel_download_btn = BigButton(tr("cancel download"))
     self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
 
-    self.main_items = [self.current_model_btn, self.cancel_download_btn]
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
     self._scroller.add_widgets(self.main_items)
 
   @property
   def model_manager(self):
     return ui_state.sm["modelManagerSP"]
 
-  def _get_grouped_bundles(self):
+  def _get_grouped_bundles(self, favorites = None):
     bundles = self.model_manager.availableBundles
     folders = {}
     for bundle in bundles:
       folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
       folders.setdefault(folder, []).append(bundle)
+
+    if favorites:
+      for fav_bundle in [bundle for bundle in bundles if bundle.ref in favorites]:
+        folders.setdefault("favorites", []).append(fav_bundle)
+
     return folders
 
   def _show_selection_view(self, items, back_callback: Callable):
@@ -49,18 +91,25 @@ class ModelsLayoutMici(NavScroller):
     self.set_back_callback(back_callback)
 
   def _show_folders(self):
-    self.focused_widget = self.current_model_btn
-    folders = self._get_grouped_bundles()
+    self.focused_widget = self.select_model_btn
+
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
     folder_buttons = []
     default_btn = BigButton(tr("default model"))
     default_btn.set_click_callback(self._select_default)
     folder_buttons.append(default_btn)
 
     for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
-      if folder.lower() in ["release models", "master models"]:
+      if folder.lower() in ["release models", "master models", "favorites"]:
         btn = BigButton(folder.lower())
         btn.set_click_callback(lambda f=folder: self._select_folder(f))
-        folder_buttons.append(btn)
+        if folder.lower() == "favorites":
+          folder_buttons.insert(0, btn)
+        else:
+          folder_buttons.append(btn)
     self._show_selection_view(folder_buttons, self._reset_main_view)
 
   def _select_model(self, bundle):
@@ -72,7 +121,10 @@ class ModelsLayoutMici(NavScroller):
     self._reset_main_view()
 
   def _select_folder(self, folder_name):
-    folders = self._get_grouped_bundles()
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
     bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
 
     btns = []
@@ -86,29 +138,62 @@ class ModelsLayoutMici(NavScroller):
   def _reset_main_view(self):
     self._scroller._items = self.main_items
     self.set_back_callback(self.original_back_callback)
-    if self.focused_widget and self.focused_widget in self.main_items:
-      x = self._scroller._pad
-      for item in self.main_items:
-        if not item.is_visible:
-          continue
-        if item == self.focused_widget:
-          break
-        x += item.rect.width + self._scroller._spacing
-      self._scroller.scroll_panel.set_offset(0)
-      self._scroller.scroll_to(x)
-      self.focused_widget = None
-    else:
-      self._scroller.scroll_panel.set_offset(0)
+    self._scroller.scroll_panel.set_offset(0)
+    self._scroller.scroll_to(0)
+
+  def hide_event(self):
+    super().hide_event()
+    if self._was_downloading:
+      device.set_override_interactive_timeout(None)
+      self._was_downloading = False
 
   def _update_state(self):
     super()._update_state()
 
+    self.select_model_btn.set_enabled(ui_state.is_offroad())
+    self.cancel_download_btn.set_visible(False)
+    self.current_model_info.current_model_header._shimmer = False
+    self.current_model_info.info_header._shimmer = False
+
     manager = self.model_manager
-    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
-      self.current_model_btn.set_value("downloading...")
+    self._download_frame += 1
+    should_update = self._download_frame % (gui_app.target_fps / 2) == 0
+    if should_update:
+      self._download_progress = self._download_progress + "." if len(self._download_progress) < 3 else ""
+
+    is_downloading = (manager.selectedBundle
+                      and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
+    if self._was_downloading and not is_downloading:
+      device.set_override_interactive_timeout(None)
+    self._was_downloading = is_downloading
+
+    self.current_model_info.current_model_header.set_text(tr("active model"))
+    self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
+    self.current_model_info.info_header.set_text(tr("cache size"))
+    self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
+
+    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed:
+      self.current_model_info.info_header.set_text(tr("error") + self._download_progress)
+      self.current_model_info.info_text.set_text(tr("download failed"))
+
+    elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
       self.cancel_download_btn.set_visible(True)
-    else:
-      self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model"))
-      self.cancel_download_btn.set_visible(False)
-    self.current_model_btn.set_enabled(ui_state.is_offroad())
-    self.current_model_btn.set_text(tr("current model"))
+      device.set_override_interactive_timeout(5)
+      progress = 0.0
+      count = 0
+      for model in manager.selectedBundle.models:
+        count += 1
+        p = model.artifact.downloadProgress
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          progress += p.progress
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
+                          custom.ModelManagerSP.DownloadStatus.cached):
+          progress += 100.0
+
+      self.current_model_info.current_model_header.set_text(tr("downloading"))
+      self.current_model_info.current_model_header._shimmer = True
+      self.current_model_info.current_model_text.set_text(f"{manager.selectedBundle.internalName.lower()}")
+      self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
+      self.current_model_info.info_header._shimmer = True
+      self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
+

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

@@ -5,18 +5,32 @@ 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 openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
 
 ICON_SIZE = 70
+BIG_ICON_SIZE = 110
 
 
 class SettingsLayoutSP(OP.SettingsLayout):
   def __init__(self):
     OP.SettingsLayout.__init__(self)
 
+    device_panel = DeviceLayoutMici()
+    self._scroller._items[2].set_click_callback(lambda: gui_app.push_widget(device_panel))
+
+    self.icon_offroad_enable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/always_offroad.png", BIG_ICON_SIZE,
+                                               BIG_ICON_SIZE)
+    self.icon_offroad_disable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png", BIG_ICON_SIZE,
+                                                BIG_ICON_SIZE)
+    self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
+
     sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
     sunnylink_btn = BigButton("sunnylink", "", gui_app.texture("icons_mici/settings/developer/ssh.png", ICON_SIZE, ICON_SIZE))
     sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
@@ -25,10 +39,53 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
+    # onroad: enable button sits at the front (left of toggles)
+    self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_onroad.set_visible(lambda: ui_state.started and not ui_state.always_offroad)
+
+    # offroad: enable button sits at the end (right of developer)
+    self._enable_offroad_btn_offroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_offroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_offroad.set_visible(lambda: not ui_state.started and not ui_state.always_offroad)
+
+    self._disable_offroad_btn = BigCircleButton(self.icon_offroad_disable, red=False)
+    self._disable_offroad_btn.set_click_callback(lambda: self._handle_always_offroad(False))
+    self._disable_offroad_btn.set_visible(lambda: ui_state.always_offroad)
+
     items = self._scroller._items.copy()
 
     items.insert(1, sunnylink_btn)
     items.insert(2, models_btn)
+
+    # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
+    items.insert(0, self._enable_offroad_btn_onroad)
+    items.insert(0, self._disable_offroad_btn)
+    # end slot: enable-offroad (right of developer)
+    items.append(self._enable_offroad_btn_offroad)
+
     self._scroller._items.clear()
     for item in items:
       self._scroller.add_widget(item)
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_always_offroad(self, enable: bool):
+
+    def _set_offroad_status(status: bool):
+      if not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", status)
+        ui_state.always_offroad = status
+
+    if not enable:
+      dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
+                                  confirm_callback=lambda: _set_offroad_status(False))
+    else:
+      if ui_state.engaged:
+        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
+        return
+
+      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
+                                  confirm_callback=lambda: _set_offroad_status(True))
+    gui_app.push_widget(dlg)

selfdrive/ui/sunnypilot/ui_state.py

@@ -148,6 +148,7 @@ class UIStateSP:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.always_offroad = self.params.get_bool("OffroadMode")
 
   def _enforce_sp_constraints(self) -> None:
     has_long = getattr(self, 'has_longitudinal_control', False)

sunnypilot/mads/mads.py

@@ -33,6 +33,7 @@ class ModularAssistiveDrivingSystem:
     self.enabled = False
     self.active = False
     self.available = False
+    self.lateral_mismatch_counter = 0
     self.allow_always = False
     self.no_main_cruise = False
     self.selfdrive = selfdrive
@@ -104,6 +105,17 @@ class ModularAssistiveDrivingSystem:
     self.events.remove(old_event)
     self.events_sp.add(new_event)
 
+  def data_sample(self):
+    # When the safety and selfdrived do not agree on controls_allowed_lateral
+    # we want to disengage sunnypilot. However the status from the panda goes through
+    # another socket other than the CAN messages and one can arrive earlier than the other.
+    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    if not self.active or self.selfdrive.enabled:
+      self.lateral_mismatch_counter = 0
+    elif any(not ps.controlsAllowedLateral for ps in self.selfdrive.sm['pandaStates']
+             if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.lateral_mismatch_counter += 1
+
   def update_events(self, CS: structs.CarState):
     if not self.selfdrive.enabled and self.enabled:
       if CS.standstill:
@@ -186,6 +198,9 @@ class ModularAssistiveDrivingSystem:
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
 
+    if self.lateral_mismatch_counter >= 200:
+      self.events_sp.add(EventNameSP.controlsMismatchLateral)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
@@ -195,6 +210,8 @@ class ModularAssistiveDrivingSystem:
     if not self.enabled_toggle:
       return
 
+    self.data_sample()
+
     self.update_events(CS)
 
     if not self.CP.passive and self.selfdrive.initialized:

sunnypilot/modeld_v2/SConscript

@@ -13,7 +13,7 @@ if PC:
   model_dir = Dir("models").abspath
   cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
 
-  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
+  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
     if File(f"models/{model_name}.onnx").exists():
         inputs.append(File(f"models/{model_name}.onnx"))
         inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
@@ -42,7 +42,7 @@ def tg_compile(flags, model_name):
   )
 
 # Compile models
-for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
+for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
   if File(f"models/{model_name}.onnx").exists():
     tg_compile(tg_flags, model_name)
 

sunnypilot/modeld_v2/fill_model_msg.py

@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPoseDEPRECATED
+  temporal_pose = modelV2.deprecated.temporalPose
   if 'sim_pose' in net_output_data:
     temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
     temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()

sunnypilot/models/default_model.py

@@ -8,16 +8,14 @@ from openpilot.sunnypilot import get_file_hash
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
-OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx")
-ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx")
+POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
 
 
 def update_model_hash():
   vision_hash = get_file_hash(VISION_ONNX_PATH)
-  off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
-  on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
+  policy_hash = get_file_hash(POLICY_ONNX_PATH)
 
-  combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
+  combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
     f.write(combined_hash)

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-adfcb5ccac9cfaf291af6091d12e71be3f543c7694fc29d80caa561dc32194d7
+5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350

sunnypilot/models/tests/test_default_model.py

@@ -6,17 +6,16 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
 import hashlib
 
 
 class TestDefaultModel:
   def test_compare_onnx_hashes(self):
     vision_hash = get_file_hash(VISION_ONNX_PATH)
-    off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
-    on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
+    policy_hash = get_file_hash(POLICY_ONNX_PATH)
 
-    combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
+    combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
 
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()

sunnypilot/selfdrive/assets/icons_mici/always_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e459241d896824f5e8207d568847acab3dedd41caae7af59d4c17e043663b0c9
+size 4035

sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a0fca872d4586f578d246890b83674cdb7ecb03f58b2b0379b4b64a5816053
+size 3908

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -14,11 +14,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
-# from selfdrive/controls/lib/latcontrol_torque.py
-KP = 0.8
-KI = 0.15
-INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
-KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+KP = 1.0
+KI = 0.3
 
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
@@ -61,9 +58,10 @@ class LatControlTorqueExtBase:
     self.lookahead_lateral_jerk: float = 0.0
 
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
+    self.torque_params = lac_torque.torque_params
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
+    self._pid = PIDController(KP, KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -75,14 +75,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
   def update_feedforward_torque_space(self, CS):
     torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                          self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                          self.torque_params, gravity_adjusted=False)
     torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                             self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                             self.torque_params, gravity_adjusted=False)
     self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
     self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
-                                                                               CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
     self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
-                                             FRICTION_THRESHOLD, self.lac_torque.torque_params)
+                                             FRICTION_THRESHOLD, self.torque_params)
 
   def update_output_torque(self, CS):
     freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
@@ -159,6 +159,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
-      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
+      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
     self.update_output_torque(CS)

sunnypilot/tools/memory_profiler/mem_usage.py

@@ -0,0 +1,164 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import matplotlib.pyplot as plt
+import os
+import sys
+import argparse
+import numpy as np
+import base64
+import io
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def extract_mem_cpu_data(lr):
+  times, mems, cpus = [], [], []
+  start_time = None
+
+  for msg in lr:
+    if msg.which() == 'procLog':
+      if start_time is None:
+        start_time = msg.logMonoTime
+      mem = msg.procLog.mem
+      mem_usage = (mem.total - mem.available) / mem.total * 100
+      cpu_usages = [(total - cpu.idle) / total * 100 for cpu in msg.procLog.cpuTimes
+                    if (total := cpu.idle + cpu.user + cpu.system + cpu.nice + cpu.iowait + cpu.irq + cpu.softirq) > 0]
+      avg_cpu = sum(cpu_usages) / len(cpu_usages) if cpu_usages else 0
+      times.append((msg.logMonoTime - start_time) / 1e9)
+      mems.append(mem_usage)
+      cpus.append(avg_cpu)
+  return times, mems, cpus
+
+
+def process_segment(lr):
+  return [extract_mem_cpu_data(lr)]
+
+
+def calculate_r_squared(y_true, y_pred):
+  ss_res = np.sum((y_true - y_pred) ** 2)
+  ss_tot = np.sum((y_true - np.mean(y_true)) ** 2)
+  return 1 - (ss_res / ss_tot) if ss_tot != 0 else 0
+
+
+def plot_results(segments, segment_data, route_name):
+  valid_data = [d for d in segment_data if d and d[0]]
+  if not valid_data:
+    print("No valid data to plot")
+    return
+
+  avg_mems = [np.mean(d[1]) for d in valid_data]
+  avg_cpus = [np.mean(d[2]) for d in valid_data]
+  valid_segments = [segments[i] for i, d in enumerate(segment_data) if d and d[0]]
+
+  height = max(10, 5 + len(valid_segments) * 0.4)
+  fig1, ax1 = plt.subplots(1, 1, figsize=(12, height), dpi=150)
+
+  y_pos = range(len(valid_segments))
+  ax1.barh([y - 0.2 for y in y_pos], avg_mems, height=0.4, color="dodgerblue", alpha=0.8, label="Avg Mem %")
+  ax1.barh([y + 0.2 for y in y_pos], avg_cpus, height=0.4, color="green", alpha=0.8, label="Avg CPU %")
+
+  for i, (mem, cpu) in enumerate(zip(avg_mems, avg_cpus, strict=True)):
+    ax1.text(mem, i - 0.2, f"{mem:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
+    ax1.text(cpu, i + 0.2, f"{cpu:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
+
+  ax1.set_yticks(y_pos)
+  ax1.set_yticklabels([f"Seg {s}" for s in valid_segments])
+  ax1.set_xlabel("Usage (%)")
+  ax1.set_title("Average Memory and CPU Usage by Segment")
+  ax1.legend()
+  ax1.grid(axis="x", linestyle="--", alpha=0.5)
+  ax1.invert_yaxis()
+
+  fig2, ax2 = plt.subplots(1, 1, figsize=(12, 8), dpi=150)
+  combined_times, combined_mems, combined_cpus = [], [], []
+  time_offset = 0.0
+  for times, mems, cpus in valid_data:
+    if times:
+      combined_times.extend([t + time_offset for t in times])
+      combined_mems.extend(mems)
+      combined_cpus.extend(cpus)
+      time_offset += max(times)
+
+  ax2.plot(combined_times, combined_mems, color="red", label="Memory Usage", alpha=0.6)
+  ax2.plot(combined_times, combined_cpus, color="blue", label="CPU Usage", alpha=0.6)
+
+  warmup_sec = 60
+  if len(combined_times) > 1 and combined_times[-1] > warmup_sec:
+    mask = np.array(combined_times) > warmup_sec
+    x_reg = np.array(combined_times)[mask]
+
+    y_mem_reg = np.array(combined_mems)[mask]
+    slope_mem, intercept_mem = np.polyfit(x_reg, y_mem_reg, 1)
+    trend_mem = slope_mem * x_reg + intercept_mem
+    r2_mem = calculate_r_squared(y_mem_reg, trend_mem)
+    ax2.plot(x_reg, trend_mem, color="darkred", linestyle="--", linewidth=2.5,
+             label=f"Mem Trend (Slope: {slope_mem:.4f} %/s, R²: {r2_mem:.2f})")
+
+    y_cpu_reg = np.array(combined_cpus)[mask]
+    slope_cpu, intercept_cpu = np.polyfit(x_reg, y_cpu_reg, 1)
+    trend_cpu = slope_cpu * x_reg + intercept_cpu
+    r2_cpu = calculate_r_squared(y_cpu_reg, trend_cpu)
+    ax2.plot(x_reg, trend_cpu, color="navy", linestyle="--", linewidth=2.5,
+             label=f"CPU Trend (Slope: {slope_cpu:.4f} %/s, R²: {r2_cpu:.2f})")
+
+  ax2.set_xlabel("Time (s)")
+  ax2.set_ylabel("Usage (%)")
+  ax2.set_title("Memory and CPU Usage Over Time")
+  ax2.legend(loc='lower left', fontsize='small', framealpha=0.9)
+  ax2.grid(True, linestyle="--", alpha=0.5)
+
+  buffer1 = io.BytesIO()
+  fig1.savefig(buffer1, format='webp', bbox_inches='tight', pad_inches=1.0)
+  buffer1.seek(0)
+  img1 = base64.b64encode(buffer1.getvalue()).decode()
+
+  buffer2 = io.BytesIO()
+  fig2.savefig(buffer2, format='webp', bbox_inches='tight', pad_inches=1.0)
+  buffer2.seek(0)
+  img2 = base64.b64encode(buffer2.getvalue()).decode()
+
+  filename = f"memory_usage_{route_name}.html"
+  save_path = os.path.join(os.path.dirname(__file__), "plots", filename)
+  os.makedirs(os.path.dirname(save_path), exist_ok=True)
+
+  html_template = (
+    "<style>body{font-family:Arial,sans-serif;margin:20px}" +
+    "h1,h2,h3{text-align:center;margin:5px 0}h2{margin-bottom:10px}" +
+    "img{width:100%;max-width:800px;height:auto;display:block;margin:0 auto}</style>" +
+    f"<h1>Memory Profile Report</h1><h3>Route: {route_name.replace('_', '/')}</h3>" +
+    f"<img src='data:image/webp;base64,{img1}'>" +
+    f"<img src='data:image/webp;base64,{img2}'>"
+  )
+
+  plt.close(fig1)
+  plt.close(fig2)
+
+  with open(save_path, "w") as f:
+    f.write(html_template)
+
+  print(f"Report saved to {save_path}")
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Extract memory usage from route logs.')
+  parser.add_argument('route_or_segment_name', help='Route or segment name from comma connect')
+  args = parser.parse_args()
+
+  try:
+    print(f"Fetching logs for {args.route_or_segment_name}")
+    lr = LogReader(args.route_or_segment_name, default_mode=ReadMode.QLOG)
+    segment_data = lr.run_across_segments(24, process_segment)
+    segments = list(range(len(segment_data)))
+    route_name = args.route_or_segment_name.replace('/', '_')
+    plot_results(segments, segment_data, route_name)
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

sunnypilot/tools/pull_footage.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+import requests
+from openpilot.tools.lib.route import Route
+
+
+def get_segments(source, route_id, camera, seg_range):
+  if "@" in source or "comma-" in source or "sunny-" in source:  # SSH
+    if not route_id:
+      raise ValueError("route_id required for SSH")
+    cmd = ["ssh", source, f"ls -d /data/media/0/realdata/{route_id.split('--')[0]}--*"]
+    output = subprocess.check_output(cmd, stderr=subprocess.DEVNULL).decode("utf-8").strip()
+    return [{
+      "type": "ssh",
+      "host": source,
+      "src": os.path.join(path, camera),
+      "num": int(path.split("--")[-1])
+    } for path in sorted(output.split("\n"), key=lambda x: int(x.split("--")[-1])) if path]
+  else:  # URL
+    route = Route(route_id)
+    cameras = [camera]
+    if camera == "fcamera.hevc":
+      cameras.extend([c for c in ["ecamera.hevc", "qcamera.ts"] if c != camera])
+
+    for cam in cameras:
+      attr_name = "camera_paths" if cam == "fcamera.hevc" else f"{cam.split('.')[0]}_paths"
+      paths = getattr(route, attr_name)()
+      if any(paths):
+        return [{"type": "url", "src": url, "num": idx, "cam": cam} for idx, url in enumerate(paths) if url]
+
+    raise ValueError(f"No footage found for {route_id}")
+
+
+def download(job, out_dir):
+  destination = os.path.join(out_dir, f"{job['num']}_{os.path.basename(job.get('cam', job.get('src')))}")
+  if os.path.exists(destination) and os.path.getsize(destination) > 0:
+    return destination
+
+  print(f"Downloading segment {job['num']}")
+  if job["type"] == "ssh":
+    subprocess.check_call(["scp", f"{job['host']}:{job['src']}", destination])
+  else:
+    with requests.get(job["src"], stream=True) as r:
+      r.raise_for_status()
+      with open(destination, 'wb') as f:
+        shutil.copyfileobj(r.raw, f)
+  return destination
+
+
+def mux(files, output_file, codec):
+  list_filename = f"{output_file}.list.txt"
+  with open(list_filename, 'w') as f:
+    f.write('\n'.join([f"file '{os.path.abspath(name)}'" for name in files]))
+
+  try:
+    cmd = [
+      "ffmpeg", "-y", "-probesize", "100M", "-analyzeduration", "100M", "-f", "concat",
+      "-safe", "0", "-r", "20", "-i", list_filename, "-c", "copy", "-tag:v", codec, output_file
+    ]
+    subprocess.check_call(cmd)
+    print(f"Saved: {output_file} ({os.path.getsize(output_file) / 1048576:.2f} MB)")
+    if sys.platform == "darwin":
+      subprocess.run(["open", "-R", output_file])
+  finally:
+    if os.path.exists(list_filename):
+      os.remove(list_filename)
+
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument("source")
+  parser.add_argument("route_id", nargs='?')
+  parser.add_argument("--output", "-o", default="output.mp4")
+  parser.add_argument("--camera", "-c", default="fcamera.hevc")
+  parser.add_argument("--keep-segments", action="store_true")
+  args = parser.parse_args()
+
+  try:
+    route_id_str = args.route_id or args.source
+    segment_range = None
+    if "/" in route_id_str:
+      route_id_str, range_str = route_id_str.rsplit("/", 1)
+      if ":" in range_str or range_str.isdigit():
+        segment_range = range_str
+
+    is_ssh = "@" in args.source or "comma-" in args.source or "sunny-" in args.source
+    if not is_ssh and len(route_id_str.split("--")) > 2:
+      route_id_str = "--".join(route_id_str.split("--")[:2])
+
+    segments = get_segments(args.source, route_id_str, args.camera, segment_range)
+    if segment_range:
+      if ":" in segment_range:
+        parts = segment_range.split(":")
+        start_idx = int(parts[0]) if parts[0] else None
+        end_idx = int(parts[1]) if parts[1] else None
+      else:
+        start_idx = int(segment_range)
+        end_idx = start_idx + 1
+
+      segments = [
+        segment for segment in segments
+        if (start_idx is None or segment['num'] >= start_idx) and (end_idx is None or segment['num'] < end_idx)
+      ]
+
+    download_dir = f"{route_id_str}_segments"
+    os.makedirs(download_dir, exist_ok=True)
+
+    downloaded_files = sorted(
+      [download(segment, download_dir) for segment in segments],
+      key=lambda x: int(os.path.basename(x).split("_")[0])
+    )
+
+    camera_name = segments[0].get('cam', args.camera)
+    codec = "hvc1" if camera_name.endswith("hevc") else "avc1"
+    mux(downloaded_files, f"{route_id_str}--{args.output}", codec)
+
+    if not args.keep_segments:
+      shutil.rmtree(download_dir)
+
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

system/hardware/esim.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import argparse
-import time
 from openpilot.system.hardware import HARDWARE
 
 
@@ -13,16 +12,13 @@ if __name__ == '__main__':
   parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
   args = parser.parse_args()
 
-  mutated = False
   lpa = HARDWARE.get_sim_lpa()
   if args.switch:
     lpa.switch_profile(args.switch)
-    mutated = True
   elif args.delete:
     confirm = input('are you sure you want to delete this profile? (y/N) ')
     if confirm == 'y':
       lpa.delete_profile(args.delete)
-      mutated = True
     else:
       print('cancelled')
       exit(0)
@@ -33,11 +29,6 @@ if __name__ == '__main__':
   else:
     parser.print_help()
 
-  if mutated:
-    HARDWARE.reboot_modem()
-    # eUICC needs a small delay post-reboot before querying profiles
-    time.sleep(.5)
-
   profiles = lpa.list_profiles()
   print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
   for p in profiles:

system/hardware/hardwared.py

@@ -338,6 +338,9 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    if show_alert:
+      msg.deviceState.fanSpeedPercentDesired = 100
+
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:
@@ -435,9 +438,10 @@ def hardware_thread(end_event, hw_queue) -> None:
     statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
-    # report to server once every 10 minutes
+    # report to server once every 10 minutes, or every 1s when thermally blocked
     rising_edge_started = should_start and not should_start_prev
-    if rising_edge_started or (count % int(600. / DT_HW)) == 0:
+    status_packet_interval = 1. if show_alert else 600.
+    if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0:
       dat = {
         'count': count,
         'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],

system/hardware/tici/lpa.py

@@ -2,17 +2,23 @@
 
 import atexit
 import base64
+import fcntl
 import math
 import os
 import serial
+import subprocess
 import sys
+import termios
+import time
 
-from collections.abc import Generator
+from collections.abc import Callable, Generator
+from contextlib import contextmanager
+from typing import Any
 
-from openpilot.system.hardware.base import LPABase, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, Profile
 
 
-DEFAULT_DEVICE = "/dev/ttyUSB2"
+DEFAULT_DEVICE = "/dev/modem_at0"
 DEFAULT_BAUD = 9600
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
@@ -20,44 +26,82 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100"
 MM = "org.freedesktop.ModemManager1"
 MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
+OPEN_ISDR_RETRIES = 10
+OPEN_ISDR_RETRY_DELAY_S = 0.25
+OPEN_ISDR_RESET_ATTEMPT = 5
+SEND_APDU_RETRIES = 3
+LOCK_FILE = '/dev/shm/modem_lpa.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
+
 # TLV Tags
 TAG_ICCID = 0x5A
+TAG_STATUS = 0x80
 TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_SET_NICKNAME = 0xBF29
+TAG_ENABLE_PROFILE = 0xBF31
+TAG_DELETE_PROFILE = 0xBF33
+TAG_OK = 0xA0
+
+PROFILE_OK = 0x00
+PROFILE_NOT_IN_DISABLED_STATE = 0x02
+PROFILE_CAT_BUSY = 0x05
+
+PROFILE_ERROR_CODES = {
+  0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState",
+  0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
+  PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
+}
 
 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
 ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
 CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
 
+# TLV tag -> (field_name, decoder)
+FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
+
 
 def b64e(data: bytes) -> str:
   return base64.b64encode(data).decode("ascii")
 
 
+def base64_trim(s: str) -> str:
+  return "".join(c for c in s if c not in "\n\r \t")
+
+
+def b64d(s: str) -> bytes:
+  return base64.b64decode(base64_trim(s))
+
+
 class AtClient:
-  def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None:
-    self.debug = debug
+  def __init__(self, device: str, baud: int, timeout: float) -> None:
     self.channel: str | None = None
+    self._device = device
+    self._baud = baud
     self._timeout = timeout
     self._serial: serial.Serial | None = None
-    try:
-      self._serial = serial.Serial(device, baudrate=baud, timeout=timeout)
-      self._serial.reset_input_buffer()
-    except (serial.SerialException, PermissionError, OSError):
-      pass
+    self._use_dbus = not os.path.exists(device)
+
+  def send_raw(self, data: bytes) -> None:
+    self._ensure_serial()
+    self._serial.reset_input_buffer()
+    self._serial.write(data)
+    self._serial.flush()
 
   def close(self) -> None:
     try:
       if self.channel:
-        self.query(f"AT+CCHC={self.channel}")
+        try:
+          self.query(f"AT+CCHC={self.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
         self.channel = None
     finally:
       if self._serial:
         self._serial.close()
 
   def _send(self, cmd: str) -> None:
-    if self.debug:
+    if DEBUG:
       print(f"SER >> {cmd}", file=sys.stderr)
     self._serial.write((cmd + "\r").encode("ascii"))
 
@@ -70,7 +114,7 @@ class AtClient:
       line = raw.decode(errors="ignore").strip()
       if not line:
         continue
-      if self.debug:
+      if DEBUG:
         print(f"SER << {line}", file=sys.stderr)
       if line == "OK":
         return lines
@@ -78,6 +122,18 @@ class AtClient:
         raise RuntimeError(f"AT command failed: {line}")
       lines.append(line)
 
+  def _ensure_serial(self, reconnect: bool = False) -> None:
+    if reconnect:
+      self.channel = None
+      try:
+        if self._serial:
+          self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    if self._serial is None:
+      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+
   def _get_modem(self):
     import dbus
     bus = dbus.SystemBus()
@@ -87,48 +143,88 @@ class AtClient:
     return bus.get_object(MM, modem_path)
 
   def _dbus_query(self, cmd: str) -> list[str]:
-    if self.debug:
+    if DEBUG:
       print(f"DBUS >> {cmd}", file=sys.stderr)
     try:
       result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
     except Exception as e:
       raise RuntimeError(f"AT command failed: {e}") from e
     lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if self.debug:
+    if DEBUG:
       for line in lines:
         print(f"DBUS << {line}", file=sys.stderr)
     return lines
 
   def query(self, cmd: str) -> list[str]:
-    if self._serial:
+    if self._use_dbus:
+      return self._dbus_query(cmd)
+    self._ensure_serial()
+    try:
+      self._send(cmd)
+      return self._expect()
+    except serial.SerialException:
+      self._ensure_serial(reconnect=True)
       self._send(cmd)
       return self._expect()
-    return self._dbus_query(cmd)
 
-  def open_isdr(self) -> None:
-    # close any stale logical channel from a previous crashed session
-    try:
-      self.query("AT+CCHC=1")
-    except RuntimeError:
-      pass
+  def _open_isdr_once(self) -> None:
+    if self.channel:
+      try:
+        self.query(f"AT+CCHC={self.channel}")
+      except RuntimeError:
+        pass
+      self.channel = None
+    # drain any unsolicited responses before opening
+    if self._serial and not self._use_dbus:
+      try:
+        self._serial.reset_input_buffer()
+      except (OSError, serial.SerialException, termios.error):
+        self._ensure_serial(reconnect=True)
     for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
       if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
         self.channel = ch
         return
     raise RuntimeError("Failed to open ISD-R application")
 
+  def _reset_modem(self) -> None:
+    if self._serial:
+      try:
+        self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+
+  def open_isdr(self) -> None:
+    for attempt in range(OPEN_ISDR_RETRIES):
+      try:
+        self._open_isdr_once()
+        return
+      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
+        if attempt == OPEN_ISDR_RESET_ATTEMPT:
+          self._reset_modem()
+    raise RuntimeError("Failed to open ISD-R after retries")
+
   def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
-    if not self.channel:
-      raise RuntimeError("Logical channel is not open")
-    hex_payload = apdu.hex().upper()
-    for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
-      if line.startswith("+CGLA:"):
-        parts = line.split(":", 1)[1].split(",", 1)
-        if len(parts) == 2:
-          data = bytes.fromhex(parts[1].strip().strip('"'))
-          if len(data) >= 2:
-            return data[:-2], data[-2], data[-1]
-    raise RuntimeError("Missing +CGLA response")
+    for attempt in range(SEND_APDU_RETRIES):
+      try:
+        if not self.channel:
+          self.open_isdr()
+        hex_payload = apdu.hex().upper()
+        for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+          if line.startswith("+CGLA:"):
+            parts = line.split(":", 1)[1].split(",", 1)
+            if len(parts) == 2:
+              data = bytes.fromhex(parts[1].strip().strip('"'))
+              if len(data) >= 2:
+                return data[:-2], data[-2], data[-1]
+        raise RuntimeError("Missing +CGLA response")
+      except (RuntimeError, ValueError):
+        self.channel = None
+        if attempt == SEND_APDU_RETRIES - 1:
+          raise
+    raise RuntimeError("send_apdu failed")
 
 
 # --- TLV utilities ---
@@ -170,12 +266,37 @@ def find_tag(data: bytes, target: int) -> bytes | None:
   return next((v for t, v in iter_tlv(data) if t == target), None)
 
 
+def require_tag(data: bytes, target: int, label: str = "") -> bytes:
+  v = find_tag(data, target)
+  if v is None:
+    raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
+  return v
+
+
 def tbcd_to_string(raw: bytes) -> str:
   return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
 
 
-# Profile field decoders: TLV tag -> (field_name, decoder)
-_PROFILE_FIELDS = {
+def string_to_tbcd(s: str) -> bytes:
+  digits = [int(c) for c in s if c.isdigit()]
+  return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
+
+
+def encode_tlv(tag: int, value: bytes) -> bytes:
+  tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
+  vlen = len(value)
+  if vlen <= 127:
+    return tag_bytes + bytes([vlen]) + value
+  length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
+  return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
+
+
+def int_bytes(n: int) -> bytes:
+  """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
+  return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
+
+
+PROFILE: FieldMap = {
   TAG_ICCID: ("iccid", tbcd_to_string),
   0x4F: ("isdpAid", lambda v: v.hex().upper()),
   0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
@@ -188,11 +309,11 @@ _PROFILE_FIELDS = {
 }
 
 
-def _decode_profile_fields(data: bytes) -> dict:
-  """Parse known profile metadata TLV fields into a dict."""
-  result = {}
+def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+  """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+  result: dict[str, Any] = {name: None for name, _ in field_map.values()}
   for tag, value in iter_tlv(data):
-    if (field := _PROFILE_FIELDS.get(tag)):
+    if (field := field_map.get(tag)):
       result[field[0]] = field[1](value)
   return result
 
@@ -225,57 +346,102 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
 # --- Profile operations ---
 
 def decode_profiles(blob: bytes) -> list[dict]:
-  root = find_tag(blob, TAG_PROFILE_INFO_LIST)
-  if root is None:
-    raise RuntimeError("Missing ProfileInfoList")
-  list_ok = find_tag(root, 0xA0)
+  root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+  list_ok = find_tag(root, TAG_OK)
   if list_ok is None:
     return []
-  defaults = {name: None for name, _ in _PROFILE_FIELDS.values()}
-  return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+  return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]
 
 
 def list_profiles(client: AtClient) -> list[dict]:
   return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
 
 
+def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
+  nickname_bytes = nickname.encode("utf-8")
+  if len(nickname_bytes) > 64:
+    raise ValueError("Profile nickname must be 64 bytes or less")
+  content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
+  response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
+  code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0]
+  if code == 0x01:
+    raise LPAError(f"profile {iccid} not found")
+  if code != 0x00:
+    raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+
+
 class TiciLPA(LPABase):
-  _instance = None
-
-  def __new__(cls):
-    if cls._instance is None:
-      cls._instance = super().__new__(cls)
-    return cls._instance
-
   def __init__(self):
     if hasattr(self, '_client'):
       return
-    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG)
-    self._client.open_isdr()
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
     atexit.register(self._client.close)
 
+  @contextmanager
+  def _acquire_channel(self):
+    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX)
+      self._client.open_isdr()
+      yield
+    finally:
+      if self._client.channel:
+        try:
+          self._client.query(f"AT+CCHC={self._client.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
+        self._client.channel = None
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
   def list_profiles(self) -> list[Profile]:
-    return [
-      Profile(
-        iccid=p.get("iccid", ""),
-        nickname=p.get("profileNickname") or "",
-        enabled=p.get("profileState") == "enabled",
-        provider=p.get("serviceProviderName") or "",
-      )
-      for p in list_profiles(self._client)
-    ]
+    with self._acquire_channel():
+      return [
+        Profile(
+          iccid=p.get("iccid", ""),
+          nickname=p.get("profileNickname") or "",
+          enabled=p.get("profileState") == "enabled",
+          provider=p.get("serviceProviderName") or "",
+        )
+        for p in list_profiles(self._client)
+      ]
 
   def get_active_profile(self) -> Profile | None:
     return None
 
   def delete_profile(self, iccid: str) -> None:
-    return None
+    if self.is_comma_profile(iccid):
+      raise LPAError("refusing to delete a comma profile")
+    with self._acquire_channel():
+      request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+      response = es10x_command(self._client, request)
+      code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0]
+    if code != PROFILE_OK:
+      raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
 
   def download_profile(self, qr: str, nickname: str | None = None) -> None:
     return None
 
   def nickname_profile(self, iccid: str, nickname: str) -> None:
-    return None
+    with self._acquire_channel():
+      set_profile_nickname(self._client, iccid, nickname)
+
+  def _enable_profile(self, iccid: str) -> int:
+    inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+    inner += b'\x01\x01\x01'  # refreshFlag=1
+    response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner))
+    return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0]
 
   def switch_profile(self, iccid: str) -> None:
-    return None
+    with self._acquire_channel():
+      code = self._enable_profile(iccid)
+      if code == PROFILE_CAT_BUSY:  # stale eUICC transaction, reset and retry
+        self._client._reset_modem()
+        self._client.open_isdr()
+        code = self._enable_profile(iccid)
+      if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
+        raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+    from openpilot.system.hardware import HARDWARE
+    if HARDWARE.get_device_type() == "mici":
+      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
+      self._client._ensure_serial(reconnect=True)

system/ubloxd/ubloxd.py

@@ -365,7 +365,7 @@ class UbloxMsgParser:
     assert isinstance(s1, Glonass.String1)
     eph.p1 = int(s1.p1)
     tk = int(s1.t_k)
-    eph.tkDEPRECATED = tk
+    eph.deprecated.tk = tk
     eph.xVel = float(s1.x_vel) * math.pow(2, -20)
     eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
     eph.x = float(s1.x) * math.pow(2, -11)

system/ui/sunnypilot/widgets/option_control.py

@@ -60,17 +60,19 @@ class OptionControlSP(ItemAction):
 
   def set_value(self, value: int):
     """Set the control to a specific value"""
-    if self.min_value <= value <= self.max_value:
-      self.current_value = value
-      if self.value_map:
-        self.params.put(self.param_key, self.value_map[value])
-      else:
-        if self.use_float_scaling:
-          self.params.put(self.param_key, value / 100.0)
-        else:
-          self.params.put(self.param_key, value)
-      if self.on_value_changed:
-        self.on_value_changed(value)
+    if not (self.min_value <= value <= self.max_value):
+      return
+    if value == self.current_value:
+      return
+    self.current_value = value
+    if self.value_map:
+      self.params.put(self.param_key, self.value_map[value])
+    elif self.use_float_scaling:
+      self.params.put(self.param_key, value / 100.0)
+    else:
+      self.params.put(self.param_key, value)
+    if self.on_value_changed:
+      self.on_value_changed(value)
 
   def get_displayed_value(self) -> str:
     """Get the displayed value, handling value mapping if present"""
@@ -157,10 +159,10 @@ class OptionControlSP(ItemAction):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
-      self.current_value -= self.value_change_step
-      self.current_value = max(self.min_value, self.current_value)
+      new_value = self.current_value - self.value_change_step
+      new_value = max(self.min_value, new_value)
+      self.set_value(new_value)
     elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
-      self.current_value += self.value_change_step
-      self.current_value = min(self.max_value, self.current_value)
-
-    self.set_value(self.current_value)
+      new_value = self.current_value + self.value_change_step
+      new_value = min(self.max_value, new_value)
+      self.set_value(new_value)

system/ui/sunnypilot/widgets/tree_dialog.py

@@ -198,7 +198,10 @@ class TreeOptionDialog(MultiOptionDialog):
 
     self.option_buttons = self.visible_items
     self.options = [item.text for item in self.visible_items]
-    self.scroller._items = self.visible_items
+    # Rebuild scroller items to ensure proper setup of touch callbacks
+    self.scroller._items.clear()
+    for item in self.option_buttons:
+      self.scroller.add_widget(item)
     if reset_scroll:
       self.scroller.scroll_panel.set_offset(0)
 

system/webrtc/schema.py

@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
 
 
 def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
-  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
+  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
 
 
 def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:

tools/bodyteleop/static/index.html

@@ -15,29 +15,23 @@
   <body>
     <div id="main">
       <p class="jumbo">comma body</p>
-      <audio id="audio" autoplay="true"></audio>
       <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
-      <div id="icon-panel" class="row">
-        <div class="col-sm-12 col-md-6 details">
-          <div class="icon-sup-panel col-12">
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-                <i class="bi bi-camera-video-fill pre-blob"></i>
-              </div>
-              <p class="small">body</p>
+      <div class="row" style="width: 100%; padding: 10px 10px 0px 10px;">
+        <div id="wasd" class="col-md-12 row">
+          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+            <div class="wasd-row">
+              <div class="keys" id="key-w">W</div>
             </div>
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-              </div>
-              <p class="small">you</p>
+            <div class="wasd-row">
+              <div class="keys" id="key-a">A</div>
+              <div class="keys" id="key-s">S</div>
+              <div class="keys" id="key-d">D</div>
             </div>
           </div>
         </div>
-        <div class="col-sm-12 col-md-6 details">
+      </div>
+      <div id="icon-panel" class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
+        <div class="col-12 details">
           <div class="icon-sup-panel col-12">
             <div class="icon-sub-panel">
               <div class="icon-sub-sub-panel">
@@ -53,43 +47,6 @@
             </div>
           </div>
         </div>
-        <!-- <div class="icon-sub-panel">
-                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
-                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
-            </div> -->
-      </div>
-      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
-        <div id="wasd" class="col-md-12 row">
-          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
-            <div class="wasd-row">
-              <div class="keys" id="key-w">W</div>
-              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
-            </div>
-            <div class="wasd-row">
-              <div class="keys" id="key-a">A</div>
-              <div class="keys" id="key-s">S</div>
-              <div class="keys" id="key-d">D</div>
-            </div>
-          </div>
-          <div class="col-md-6 col-sm-12 form-group plan-form">
-            <label for="plan-text">Plan (w, a, s, d, t)</label>
-            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
-            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
-            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
-          </div>
-        </div>
-      </div>
-      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
-        <div class="panel row">
-          <div class="col-sm-3" style="text-align: center;">
-            <p>Play Sounds</p>
-          </div>
-          <div class="btn-group col-sm-8">
-            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
-            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
-            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
-          </div>
-        </div>
       </div>
       <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
         <div class="panel row">

tools/bodyteleop/static/js/controls.js

@@ -18,37 +18,3 @@ export const handleKeyX = (key, setValue) => {
     $("#pos-vals").text(x+","+y);
   }
 };
-
-export async function executePlan() {
-  let plan = $("#plan-text").val();
-  const planList = [];
-  plan.split("\n").forEach(function(e){
-    let line = e.split(",").map(k=>parseInt(k));
-    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
-      console.log("invalid plan");
-    }
-    else{
-      planList.push(line)
-    }
-  });
-
-  async function execute() {
-    for (var i = 0; i < planList.length; i++) {
-      let [w, a, s, d, t] = planList[i];
-      while(t > 0){
-        console.log(w, a, s, d, t);
-        if(w==1){$("#key-w").mousedown();}
-        if(a==1){$("#key-a").mousedown();}
-        if(s==1){$("#key-s").mousedown();}
-        if(d==1){$("#key-d").mousedown();}
-        await sleep(50);
-        $("#key-w").mouseup();
-        $("#key-a").mouseup();
-        $("#key-s").mouseup();
-        $("#key-d").mouseup();
-        t = t - 0.05;
-      }
-    }
-  }
-  execute();
-}

tools/bodyteleop/static/js/jsmain.js

@@ -1,5 +1,5 @@
-import { handleKeyX, executePlan } from "./controls.js";
-import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
+import { handleKeyX } from "./controls.js";
+import { start, stop, lastChannelMessageTime } from "./webrtc.js";
 
 export var pc = null;
 export var dc = null;
@@ -8,12 +8,6 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
 document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
 $(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
 $(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
-$("#plan-button").click(executePlan);
-$(".sound").click((e)=>{
-  const sound = $(e.target).attr('id').replace('sound-', '')
-  return playSoundRequest(sound);
-});
-
 setInterval( () => {
   const dt = new Date().getTime();
   if ((dt - lastChannelMessageTime) > 1000) {

tools/bodyteleop/static/js/webrtc.js

@@ -15,15 +15,6 @@ export function offerRtcRequest(sdp, type) {
 }
 
 
-export function playSoundRequest(sound) {
-  return fetch('/sound', {
-    body: JSON.stringify({sound}),
-    headers: {'Content-Type': 'application/json'},
-    method: 'POST'
-  });
-}
-
-
 export function pingHeadRequest() {
   return fetch('/', {
     method: 'HEAD'
@@ -38,20 +29,18 @@ export function createPeerConnection(pc) {
 
   pc = new RTCPeerConnection(config);
 
-  // connect audio / video
+  // connect video
   pc.addEventListener('track', function(evt) {
     console.log("Adding Tracks!")
     if (evt.track.kind == 'video')
       document.getElementById('video').srcObject = evt.streams[0];
-    else
-      document.getElementById('audio').srcObject = evt.streams[0];
   });
   return pc;
 }
 
 
 export function negotiate(pc) {
-  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
+  return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
     return pc.setLocalDescription(offer);
   }).then(function() {
     return new Promise(function(resolve) {
@@ -90,14 +79,6 @@ function isMobile() {
 
 
 export const constraints = {
-  audio: {
-    autoGainControl: false,
-    sampleRate: 48000,
-    sampleSize: 16,
-    echoCancellation: true,
-    noiseSuppression: true,
-    channelCount: 1
-  },
   video: isMobile()
 };
 
@@ -105,23 +86,8 @@ export const constraints = {
 export function start(pc, dc) {
   pc = createPeerConnection(pc);
 
-  // add audio track
-  navigator.mediaDevices.enumerateDevices()
-    .then(function(devices) {
-      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
-      var modifiedConstraints = {};
-      modifiedConstraints.video = constraints.video;
-      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
-
-      return Promise.resolve(modifiedConstraints);
-    })
-    .then(function(constraints) {
-      if (constraints.audio || constraints.video) {
-        return navigator.mediaDevices.getUserMedia(constraints);
-      } else{
-        return Promise.resolve(null);
-      }
-    })
+  // add a local video track on mobile
+  (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
     .then(function(stream) {
       if (stream) {
         stream.getTracks().forEach(function(track) {

tools/bodyteleop/static/main.css

@@ -172,13 +172,6 @@ video {
   display: none;
 }
 
-.plan-form {
-  display: flex;
-  flex-direction: column;
-  justify-content: space-between;
-  align-items: center;
-}
-
 .details {
   display: flex;
   padding: 0px 10px 0px 10px;

tools/cabana/cabana

@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j4 tools/cabana/_cabana
+scons -j4 tools/cabana/_cabana cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"

tools/cabana/panda.cc

@@ -106,8 +106,8 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
 
 
 
-void Panda::send_heartbeat(bool engaged) {
-  control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+  control_write(0xf3, engaged, engaged_mads);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {

tools/cabana/panda.h

@@ -64,7 +64,7 @@ public:
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
-  void send_heartbeat(bool engaged);
+  void send_heartbeat(bool engaged, bool engaged_mads = false);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   bool can_receive(std::vector<can_frame>& out_vec);

tools/jotpluggler/browser.cc

@@ -73,7 +73,7 @@ std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &path
 }
 
 bool is_deprecated_browser_path(const std::string &path) {
-  return path.find("DEPRECATED") != std::string::npos;
+  return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
 }
 
 std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {

tools/jotpluggler/plot.cc

@@ -6,7 +6,6 @@
 #include <cmath>
 #include <cstdio>
 #include <limits>
-#include <unordered_set>
 
 constexpr double PLOT_Y_PAD_FRACTION = 0.4;
 
@@ -74,10 +73,6 @@ struct StateBlock {
   std::string label;
 };
 
-struct PaneEnumContext {
-  std::vector<const EnumInfo *> enums;
-};
-
 struct PaneValueFormatContext {
   SeriesFormat format;
   bool valid = false;
@@ -106,38 +101,6 @@ bool curves_are_bool_like(const std::vector<PreparedCurve> &prepared_curves) {
   return true;
 }
 
-bool curve_is_state_like(const PreparedCurve &curve) {
-  if (!curve.display_info.integer_like || curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
-    return false;
-  }
-  if (curve.enum_info != nullptr) {
-    return true;
-  }
-  std::unordered_set<int> distinct_values;
-  for (double value : curve.ys) {
-    if (!std::isfinite(value)) {
-      continue;
-    }
-    distinct_values.insert(static_cast<int>(std::llround(value)));
-    if (distinct_values.size() > 12) {
-      return false;
-    }
-  }
-  return !distinct_values.empty();
-}
-
-bool curves_use_state_blocks(const std::vector<PreparedCurve> &prepared_curves) {
-  if (prepared_curves.empty()) {
-    return false;
-  }
-  for (const PreparedCurve &curve : prepared_curves) {
-    if (!curve_is_state_like(curve)) {
-      return false;
-    }
-  }
-  return true;
-}
-
 ImU32 state_block_color(int value, float alpha = 1.0f) {
   static constexpr std::array<std::array<uint8_t, 3>, 8> kPalette = {{
     {{111, 143, 175}},
@@ -307,36 +270,6 @@ std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
   return y0 + (y1 - y0) * alpha;
 }
 
-int format_enum_axis_tick(double value, char *buf, int size, void *user_data) {
-  const auto *ctx = static_cast<const PaneEnumContext *>(user_data);
-  const int idx = static_cast<int>(std::llround(value));
-  if (ctx != nullptr && idx >= 0 && std::abs(value - static_cast<double>(idx)) < 0.01) {
-    std::vector<std::string_view> names;
-    names.reserve(ctx->enums.size());
-    for (const EnumInfo *info : ctx->enums) {
-      if (info == nullptr || static_cast<size_t>(idx) >= info->names.size()) {
-        continue;
-      }
-      const std::string &name = info->names[static_cast<size_t>(idx)];
-      if (name.empty()) continue;
-      if (std::find(names.begin(), names.end(), std::string_view(name)) == names.end()) {
-        names.emplace_back(name);
-      }
-    }
-    if (!names.empty()) {
-      std::string joined;
-      for (size_t i = 0; i < names.size(); ++i) {
-        if (i != 0) {
-          joined += ", ";
-        }
-        joined += names[i];
-      }
-      return std::snprintf(buf, size, "%d (%s)", idx, joined.c_str());
-    }
-  }
-  return std::snprintf(buf, size, "%.6g", value);
-}
-
 int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
   const auto *ctx = static_cast<const PaneValueFormatContext *>(user_data);
   if (ctx == nullptr || !ctx->valid) {
@@ -831,23 +764,16 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
   }
 
   const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
-  PaneEnumContext enum_context;
   PaneValueFormatContext pane_value_format;
-  const bool state_block_mode = curves_use_state_blocks(prepared_curves);
-  bool all_enum_curves = !prepared_curves.empty();
+  bool state_block_mode = !prepared_curves.empty();
   size_t max_legend_label_width = 0;
   for (const PreparedCurve &curve : prepared_curves) {
     max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
-    if (curve.enum_info != nullptr) {
-      enum_context.enums.push_back(curve.enum_info);
-    } else {
-      all_enum_curves = false;
+    if (curve.enum_info == nullptr) {
+      state_block_mode = false;
       merge_pane_value_format(&pane_value_format, curve.display_info);
     }
   }
-  if (prepared_curves.empty()) {
-    all_enum_curves = false;
-  }
   const int supported_count = static_cast<int>(prepared_curves.size());
   const ImVec2 plot_size = ImGui::GetContentRegionAvail();
   const bool has_cursor_time = state->has_tracker_time;
@@ -895,8 +821,6 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
     ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
     if (state_block_mode) {
       ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
-    } else if (all_enum_curves && !enum_context.enums.empty()) {
-      ImPlot::SetupAxisFormat(ImAxis_Y1, format_enum_axis_tick, &enum_context);
     } else if (pane_value_format.valid) {
       ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
     } else {

tools/jotpluggler/sketch_layout.cc

@@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which,
         append_can_frame(can_service,
                          static_cast<uint8_t>(msg.getSrc()),
                          msg.getAddress(),
-                         msg.getBusTimeDEPRECATED(),
+                         msg.getDeprecated().getBusTime(),
                          msg.getDat(),
                          tm,
                          series);
@@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which,
         append_can_frame(can_service,
                          static_cast<uint8_t>(msg.getSrc()),
                          msg.getAddress(),
-                         msg.getBusTimeDEPRECATED(),
+                         msg.getDeprecated().getBusTime(),
                          msg.getDat(),
                          tm,
                          series);

tools/lib/github_utils.py

@@ -62,7 +62,7 @@ class GithubUtils:
     self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
 
   def get_bucket_sha(self, bucket):
-    github_path = f"git/refs/heads/{bucket}"
+    github_path = f"git/ref/heads/{bucket}"
     r = self.api_call(github_path, data_call=True, raise_on_failure=False)
     return r.json()['object']['sha'] if r.ok else None
 

tools/op.sh

@@ -383,6 +383,9 @@ function op_switch() {
   git submodule update --init --recursive
   git submodule foreach git reset --hard
   git submodule foreach git clean -df
+
+  # remove openpilot update flag if present
+  rm -f .overlay_init
 }
 
 function op_start() {

tools/replay/lib/ui_helpers.py

@@ -5,6 +5,7 @@ import numpy as np
 import pyray as rl
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
 
 from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -94,6 +95,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
 
 def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
   color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
+  label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}
 
   dpi = 90
   fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -116,10 +118,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
       plots.append(plot)
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    # Build colored title: each label colored to match its plot line
+    title_texts = []
+    for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
+      if j2 > 0:
+        title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
+      title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
+    packed = HPacker(children=title_texts, pad=0, sep=0)
+    ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
+                           bbox_transform=axs[i].transAxes, frameon=False, pad=0)
+    axs[i].add_artist(ab)
     axs[i].tick_params(axis="x", colors="white")
     axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
 
     if i < len(plot_ylims) - 1:
       axs[i].set_xticks([])

tools/replay/logreader.cc

@@ -142,18 +142,19 @@ void LogReader::migrateOldEvents() {
       new_evt.setLogMonoTime(old_evt.getLogMonoTime());
       auto new_state = new_evt.initSelfdriveState();
 
-      new_state.setActive(old_state.getActiveDEPRECATED());
-      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setState(old_state.getStateDEPRECATED());
+      auto old_dep = old_state.getDeprecated();
+      new_state.setActive(old_dep.getActive());
+      new_state.setAlertSize(old_dep.getAlertSize());
+      new_state.setAlertSound(old_dep.getAlertSound2());
+      new_state.setAlertStatus(old_dep.getAlertStatus());
+      new_state.setAlertText1(old_dep.getAlertText1());
+      new_state.setAlertText2(old_dep.getAlertText2());
+      new_state.setAlertType(old_dep.getAlertType());
+      new_state.setEnabled(old_dep.getEnabled());
+      new_state.setEngageable(old_dep.getEngageable());
+      new_state.setExperimentalMode(old_dep.getExperimentalMode());
+      new_state.setPersonality(old_dep.getPersonality());
+      new_state.setState(old_dep.getState());
 
       // Serialize the new event to the buffer
       auto buf_size = msg.getSerializedSize();

tools/replay/ui.py

@@ -3,7 +3,6 @@ import argparse
 import os
 import sys
 
-import cv2
 import numpy as np
 import pyray as rl
 
@@ -22,7 +21,8 @@ from openpilot.tools.replay.lib.ui_helpers import (
   plot_lead,
   plot_model,
 )
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 
 os.environ['BASEDIR'] = BASEDIR
 
@@ -30,8 +30,6 @@ ANGLE_SCALE = 5.0
 
 
 def ui_thread(addr):
-  cv2.setNumThreads(1)
-
   # Get monitor info before creating window
   rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
   rl.init_window(1, 1, "")
@@ -59,14 +57,15 @@ def ui_thread(addr):
   font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
   font = rl.load_font_ex(font_path, 32, None, 0)
 
-  # Create textures for camera and top-down view
-  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
-  camera_texture = rl.load_texture_from_image(camera_image)
-  rl.unload_image(camera_image)
+  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+  # Overlay texture for model/lane line drawing
+  overlay_img = np.zeros((480, 640, 4), dtype='uint8')
+  overlay_image = rl.gen_image_color(640, 480, rl.BLANK)
+  overlay_texture = rl.load_texture_from_image(overlay_image)
+  rl.unload_image(overlay_image)
 
   # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
-  # pygame treats first axis as width, so texture is 384 wide x 960 tall
-  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
   top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
   top_down_texture = rl.load_texture_from_image(top_down_image)
   rl.unload_image(top_down_image)
@@ -89,7 +88,6 @@ def ui_thread(addr):
   )
 
   img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
   num_px = 0
   calibration = None
 
@@ -116,7 +114,7 @@ def ui_thread(addr):
   plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
 
   plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
   plot_names = [
     ["gas", "computer_gas", "user_brake", "computer_brake"],
     ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
@@ -138,20 +136,16 @@ def ui_thread(addr):
   palette[110] = [110, 110, 110, 255]  # car_color (gray)
   palette[255] = [255, 255, 255, 255]  # WHITE
 
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
   while not rl.window_should_close():
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(False)
-
     rl.begin_drawing()
     rl.clear_background(rl.Color(64, 64, 64, 255))
 
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE)
-      rl.end_drawing()
-      continue
+    # Render camera (NV12->RGB on GPU via shader)
+    if camera_view.frame:
+      cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width
+    else:
+      cam_h = 480.0
+    camera_view.render(rl.Rectangle(0, 0, 640, cam_h))
 
     lid_overlay = lid_overlay_blank.copy()
     top_down = top_down_texture, lid_overlay
@@ -159,19 +153,10 @@ def ui_thread(addr):
     sm.update(0)
 
     camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
-    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
-    nv12_size = h * 3 // 2 * stride
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
-    num_px = w * h
-    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.0
     calib_scale = camera.fcam.width / 640.0
-    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+    if camera_view.frame:
+      num_px = camera_view.frame.width * camera_view.frame.height
 
     intrinsic_matrix = camera.fcam.intrinsics
 
@@ -183,7 +168,8 @@ def ui_thread(addr):
     else:
       angle_steers_k = np.inf
 
-    plot_arr[:-1] = plot_arr[1:]
+    if sm.updated['carState']:
+      plot_arr[:-1] = plot_arr[1:]
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
@@ -198,9 +184,10 @@ def ui_thread(addr):
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
 
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+    plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
 
+    # Draw model overlays onto img, then blit as transparent overlay
+    img[:] = 0
     if sm.recv_frame['modelV2']:
       plot_model(sm['modelV2'], img, calibration, top_down)
 
@@ -214,11 +201,12 @@ def ui_thread(addr):
       rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
       calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
-    # *** blits ***
-    # Update camera texture from numpy array
-    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
-    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
-    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)  # noqa: TID251
+    # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
+    mask = np.any(img > 0, axis=2)
+    overlay_img[:, :, :3] = img
+    overlay_img[:, :, 3] = mask * 255
+    rl.update_texture(overlay_texture, rl.ffi.cast("void *", overlay_img.ctypes.data))
+    rl.draw_texture(overlay_texture, 0, 0, rl.WHITE)  # noqa: TID251
 
     # display alerts
     rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
@@ -257,9 +245,10 @@ def ui_thread(addr):
 
     rl.end_drawing()
 
-  rl.unload_texture(camera_texture)
+  rl.unload_texture(overlay_texture)
   rl.unload_texture(top_down_texture)
   rl.unload_font(font)
+  camera_view.close()
   rl.close_window()
 
 

tools/sim/lib/simulated_car.py

@@ -92,6 +92,8 @@ class SimulatedCar:
       'ignitionLine': simulator_state.ignition,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
+      'controlsAllowedLateral': True,
+      'controlsAllowedLongitudinal': True,
       'safetyModel': 'hondaBosch',
       'alternativeExperience': self.sm["carParams"].alternativeExperience,
       'safetyParam': HondaSafetyFlags.RADARLESS.value | HondaSafetyFlags.BOSCH_LONG.value,

uv.lock

@@ -291,41 +291,41 @@ wheels = [
 
 [[package]]
 name = "cryptography"
-version = "46.0.6"
+version = "46.0.7"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi", marker = "platform_python_implementation != 'PyPy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/a4/ba/04b1bd4218cbc58dc90ce967106d51582371b898690f3ae0402876cc4f34/cryptography-46.0.6.tar.gz", hash = "sha256:27550628a518c5c6c903d84f637fbecf287f6cb9ced3804838a1295dc1fd0759", size = 750542, upload-time = "2026-03-25T23:34:53.396Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/47/93/ac8f3d5ff04d54bc814e961a43ae5b0b146154c89c61b47bb07557679b18/cryptography-46.0.7.tar.gz", hash = "sha256:e4cfd68c5f3e0bfdad0d38e023239b96a2fe84146481852dffbcca442c245aa5", size = 750652, upload-time = "2026-04-08T01:57:54.692Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/47/23/9285e15e3bc57325b0a72e592921983a701efc1ee8f91c06c5f0235d86d9/cryptography-46.0.6-cp311-abi3-macosx_10_9_universal2.whl", hash = "sha256:64235194bad039a10bb6d2d930ab3323baaec67e2ce36215fd0952fad0930ca8", size = 7176401, upload-time = "2026-03-25T23:33:22.096Z" },
-    { url = "https://files.pythonhosted.org/packages/60/f8/e61f8f13950ab6195b31913b42d39f0f9afc7d93f76710f299b5ec286ae6/cryptography-46.0.6-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:26031f1e5ca62fcb9d1fcb34b2b60b390d1aacaa15dc8b895a9ed00968b97b30", size = 4275275, upload-time = "2026-03-25T23:33:23.844Z" },
-    { url = "https://files.pythonhosted.org/packages/19/69/732a736d12c2631e140be2348b4ad3d226302df63ef64d30dfdb8db7ad1c/cryptography-46.0.6-cp311-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:9a693028b9cbe51b5a1136232ee8f2bc242e4e19d456ded3fa7c86e43c713b4a", size = 4425320, upload-time = "2026-03-25T23:33:25.703Z" },
-    { url = "https://files.pythonhosted.org/packages/d4/12/123be7292674abf76b21ac1fc0e1af50661f0e5b8f0ec8285faac18eb99e/cryptography-46.0.6-cp311-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:67177e8a9f421aa2d3a170c3e56eca4e0128883cf52a071a7cbf53297f18b175", size = 4278082, upload-time = "2026-03-25T23:33:27.423Z" },
-    { url = "https://files.pythonhosted.org/packages/5b/ba/d5e27f8d68c24951b0a484924a84c7cdaed7502bac9f18601cd357f8b1d2/cryptography-46.0.6-cp311-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:d9528b535a6c4f8ff37847144b8986a9a143585f0540fbcb1a98115b543aa463", size = 4926514, upload-time = "2026-03-25T23:33:29.206Z" },
-    { url = "https://files.pythonhosted.org/packages/34/71/1ea5a7352ae516d5512d17babe7e1b87d9db5150b21f794b1377eac1edc0/cryptography-46.0.6-cp311-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:22259338084d6ae497a19bae5d4c66b7ca1387d3264d1c2c0e72d9e9b6a77b97", size = 4457766, upload-time = "2026-03-25T23:33:30.834Z" },
-    { url = "https://files.pythonhosted.org/packages/01/59/562be1e653accee4fdad92c7a2e88fced26b3fdfce144047519bbebc299e/cryptography-46.0.6-cp311-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:760997a4b950ff00d418398ad73fbc91aa2894b5c1db7ccb45b4f68b42a63b3c", size = 3986535, upload-time = "2026-03-25T23:33:33.02Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/8b/b1ebfeb788bf4624d36e45ed2662b8bd43a05ff62157093c1539c1288a18/cryptography-46.0.6-cp311-abi3-manylinux_2_34_aarch64.whl", hash = "sha256:3dfa6567f2e9e4c5dceb8ccb5a708158a2a871052fa75c8b78cb0977063f1507", size = 4277618, upload-time = "2026-03-25T23:33:34.567Z" },
-    { url = "https://files.pythonhosted.org/packages/dd/52/a005f8eabdb28df57c20f84c44d397a755782d6ff6d455f05baa2785bd91/cryptography-46.0.6-cp311-abi3-manylinux_2_34_ppc64le.whl", hash = "sha256:cdcd3edcbc5d55757e5f5f3d330dd00007ae463a7e7aa5bf132d1f22a4b62b19", size = 4890802, upload-time = "2026-03-25T23:33:37.034Z" },
-    { url = "https://files.pythonhosted.org/packages/ec/4d/8e7d7245c79c617d08724e2efa397737715ca0ec830ecb3c91e547302555/cryptography-46.0.6-cp311-abi3-manylinux_2_34_x86_64.whl", hash = "sha256:d4e4aadb7fc1f88687f47ca20bb7227981b03afaae69287029da08096853b738", size = 4457425, upload-time = "2026-03-25T23:33:38.904Z" },
-    { url = "https://files.pythonhosted.org/packages/1d/5c/f6c3596a1430cec6f949085f0e1a970638d76f81c3ea56d93d564d04c340/cryptography-46.0.6-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:2b417edbe8877cda9022dde3a008e2deb50be9c407eef034aeeb3a8b11d9db3c", size = 4405530, upload-time = "2026-03-25T23:33:40.842Z" },
-    { url = "https://files.pythonhosted.org/packages/7e/c9/9f9cea13ee2dbde070424e0c4f621c091a91ffcc504ffea5e74f0e1daeff/cryptography-46.0.6-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:380343e0653b1c9d7e1f55b52aaa2dbb2fdf2730088d48c43ca1c7c0abb7cc2f", size = 4667896, upload-time = "2026-03-25T23:33:42.781Z" },
-    { url = "https://files.pythonhosted.org/packages/ad/b5/1895bc0821226f129bc74d00eccfc6a5969e2028f8617c09790bf89c185e/cryptography-46.0.6-cp311-abi3-win32.whl", hash = "sha256:bcb87663e1f7b075e48c3be3ecb5f0b46c8fc50b50a97cf264e7f60242dca3f2", size = 3026348, upload-time = "2026-03-25T23:33:45.021Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/f8/c9bcbf0d3e6ad288b9d9aa0b1dee04b063d19e8c4f871855a03ab3a297ab/cryptography-46.0.6-cp311-abi3-win_amd64.whl", hash = "sha256:6739d56300662c468fddb0e5e291f9b4d084bead381667b9e654c7dd81705124", size = 3483896, upload-time = "2026-03-25T23:33:46.649Z" },
-    { url = "https://files.pythonhosted.org/packages/c4/cc/f330e982852403da79008552de9906804568ae9230da8432f7496ce02b71/cryptography-46.0.6-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:12cae594e9473bca1a7aceb90536060643128bb274fcea0fc459ab90f7d1ae7a", size = 7162776, upload-time = "2026-03-25T23:34:13.308Z" },
-    { url = "https://files.pythonhosted.org/packages/49/b3/dc27efd8dcc4bff583b3f01d4a3943cd8b5821777a58b3a6a5f054d61b79/cryptography-46.0.6-cp38-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:639301950939d844a9e1c4464d7e07f902fe9a7f6b215bb0d4f28584729935d8", size = 4270529, upload-time = "2026-03-25T23:34:15.019Z" },
-    { url = "https://files.pythonhosted.org/packages/e6/05/e8d0e6eb4f0d83365b3cb0e00eb3c484f7348db0266652ccd84632a3d58d/cryptography-46.0.6-cp38-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:ed3775295fb91f70b4027aeba878d79b3e55c0b3e97eaa4de71f8f23a9f2eb77", size = 4414827, upload-time = "2026-03-25T23:34:16.604Z" },
-    { url = "https://files.pythonhosted.org/packages/2f/97/daba0f5d2dc6d855e2dcb70733c812558a7977a55dd4a6722756628c44d1/cryptography-46.0.6-cp38-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:8927ccfbe967c7df312ade694f987e7e9e22b2425976ddbf28271d7e58845290", size = 4271265, upload-time = "2026-03-25T23:34:18.586Z" },
-    { url = "https://files.pythonhosted.org/packages/89/06/fe1fce39a37ac452e58d04b43b0855261dac320a2ebf8f5260dd55b201a9/cryptography-46.0.6-cp38-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:b12c6b1e1651e42ab5de8b1e00dc3b6354fdfd778e7fa60541ddacc27cd21410", size = 4916800, upload-time = "2026-03-25T23:34:20.561Z" },
-    { url = "https://files.pythonhosted.org/packages/ff/8a/b14f3101fe9c3592603339eb5d94046c3ce5f7fc76d6512a2d40efd9724e/cryptography-46.0.6-cp38-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:063b67749f338ca9c5a0b7fe438a52c25f9526b851e24e6c9310e7195aad3b4d", size = 4448771, upload-time = "2026-03-25T23:34:22.406Z" },
-    { url = "https://files.pythonhosted.org/packages/01/b3/0796998056a66d1973fd52ee89dc1bb3b6581960a91ad4ac705f182d398f/cryptography-46.0.6-cp38-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:02fad249cb0e090b574e30b276a3da6a149e04ee2f049725b1f69e7b8351ec70", size = 3978333, upload-time = "2026-03-25T23:34:24.281Z" },
-    { url = "https://files.pythonhosted.org/packages/c5/3d/db200af5a4ffd08918cd55c08399dc6c9c50b0bc72c00a3246e099d3a849/cryptography-46.0.6-cp38-abi3-manylinux_2_34_aarch64.whl", hash = "sha256:7e6142674f2a9291463e5e150090b95a8519b2fb6e6aaec8917dd8d094ce750d", size = 4271069, upload-time = "2026-03-25T23:34:25.895Z" },
-    { url = "https://files.pythonhosted.org/packages/d7/18/61acfd5b414309d74ee838be321c636fe71815436f53c9f0334bf19064fa/cryptography-46.0.6-cp38-abi3-manylinux_2_34_ppc64le.whl", hash = "sha256:456b3215172aeefb9284550b162801d62f5f264a081049a3e94307fe20792cfa", size = 4878358, upload-time = "2026-03-25T23:34:27.67Z" },
-    { url = "https://files.pythonhosted.org/packages/8b/65/5bf43286d566f8171917cae23ac6add941654ccf085d739195a4eacf1674/cryptography-46.0.6-cp38-abi3-manylinux_2_34_x86_64.whl", hash = "sha256:341359d6c9e68834e204ceaf25936dffeafea3829ab80e9503860dcc4f4dac58", size = 4448061, upload-time = "2026-03-25T23:34:29.375Z" },
-    { url = "https://files.pythonhosted.org/packages/e0/25/7e49c0fa7205cf3597e525d156a6bce5b5c9de1fd7e8cb01120e459f205a/cryptography-46.0.6-cp38-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:9a9c42a2723999a710445bc0d974e345c32adfd8d2fac6d8a251fa829ad31cfb", size = 4399103, upload-time = "2026-03-25T23:34:32.036Z" },
-    { url = "https://files.pythonhosted.org/packages/44/46/466269e833f1c4718d6cd496ffe20c56c9c8d013486ff66b4f69c302a68d/cryptography-46.0.6-cp38-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:6617f67b1606dfd9fe4dbfa354a9508d4a6d37afe30306fe6c101b7ce3274b72", size = 4659255, upload-time = "2026-03-25T23:34:33.679Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/09/ddc5f630cc32287d2c953fc5d32705e63ec73e37308e5120955316f53827/cryptography-46.0.6-cp38-abi3-win32.whl", hash = "sha256:7f6690b6c55e9c5332c0b59b9c8a3fb232ebf059094c17f9019a51e9827df91c", size = 3010660, upload-time = "2026-03-25T23:34:35.418Z" },
-    { url = "https://files.pythonhosted.org/packages/1b/82/ca4893968aeb2709aacfb57a30dec6fa2ab25b10fa9f064b8882ce33f599/cryptography-46.0.6-cp38-abi3-win_amd64.whl", hash = "sha256:79e865c642cfc5c0b3eb12af83c35c5aeff4fa5c672dc28c43721c2c9fdd2f0f", size = 3471160, upload-time = "2026-03-25T23:34:37.191Z" },
+    { url = "https://files.pythonhosted.org/packages/0b/5d/4a8f770695d73be252331e60e526291e3df0c9b27556a90a6b47bccca4c2/cryptography-46.0.7-cp311-abi3-macosx_10_9_universal2.whl", hash = "sha256:ea42cbe97209df307fdc3b155f1b6fa2577c0defa8f1f7d3be7d31d189108ad4", size = 7179869, upload-time = "2026-04-08T01:56:17.157Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/45/6d80dc379b0bbc1f9d1e429f42e4cb9e1d319c7a8201beffd967c516ea01/cryptography-46.0.7-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:b36a4695e29fe69215d75960b22577197aca3f7a25b9cf9d165dcfe9d80bc325", size = 4275492, upload-time = "2026-04-08T01:56:19.36Z" },
+    { url = "https://files.pythonhosted.org/packages/4a/9a/1765afe9f572e239c3469f2cb429f3ba7b31878c893b246b4b2994ffe2fe/cryptography-46.0.7-cp311-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:5ad9ef796328c5e3c4ceed237a183f5d41d21150f972455a9d926593a1dcb308", size = 4426670, upload-time = "2026-04-08T01:56:21.415Z" },
+    { url = "https://files.pythonhosted.org/packages/8f/3e/af9246aaf23cd4ee060699adab1e47ced3f5f7e7a8ffdd339f817b446462/cryptography-46.0.7-cp311-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:73510b83623e080a2c35c62c15298096e2a5dc8d51c3b4e1740211839d0dea77", size = 4280275, upload-time = "2026-04-08T01:56:23.539Z" },
+    { url = "https://files.pythonhosted.org/packages/0f/54/6bbbfc5efe86f9d71041827b793c24811a017c6ac0fd12883e4caa86b8ed/cryptography-46.0.7-cp311-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:cbd5fb06b62bd0721e1170273d3f4d5a277044c47ca27ee257025146c34cbdd1", size = 4928402, upload-time = "2026-04-08T01:56:25.624Z" },
+    { url = "https://files.pythonhosted.org/packages/2d/cf/054b9d8220f81509939599c8bdbc0c408dbd2bdd41688616a20731371fe0/cryptography-46.0.7-cp311-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:420b1e4109cc95f0e5700eed79908cef9268265c773d3a66f7af1eef53d409ef", size = 4459985, upload-time = "2026-04-08T01:56:27.309Z" },
+    { url = "https://files.pythonhosted.org/packages/f9/46/4e4e9c6040fb01c7467d47217d2f882daddeb8828f7df800cb806d8a2288/cryptography-46.0.7-cp311-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:24402210aa54baae71d99441d15bb5a1919c195398a87b563df84468160a65de", size = 3990652, upload-time = "2026-04-08T01:56:29.095Z" },
+    { url = "https://files.pythonhosted.org/packages/36/5f/313586c3be5a2fbe87e4c9a254207b860155a8e1f3cca99f9910008e7d08/cryptography-46.0.7-cp311-abi3-manylinux_2_34_aarch64.whl", hash = "sha256:8a469028a86f12eb7d2fe97162d0634026d92a21f3ae0ac87ed1c4a447886c83", size = 4279805, upload-time = "2026-04-08T01:56:30.928Z" },
+    { url = "https://files.pythonhosted.org/packages/69/33/60dfc4595f334a2082749673386a4d05e4f0cf4df8248e63b2c3437585f2/cryptography-46.0.7-cp311-abi3-manylinux_2_34_ppc64le.whl", hash = "sha256:9694078c5d44c157ef3162e3bf3946510b857df5a3955458381d1c7cfc143ddb", size = 4892883, upload-time = "2026-04-08T01:56:32.614Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/0b/333ddab4270c4f5b972f980adef4faa66951a4aaf646ca067af597f15563/cryptography-46.0.7-cp311-abi3-manylinux_2_34_x86_64.whl", hash = "sha256:42a1e5f98abb6391717978baf9f90dc28a743b7d9be7f0751a6f56a75d14065b", size = 4459756, upload-time = "2026-04-08T01:56:34.306Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/14/633913398b43b75f1234834170947957c6b623d1701ffc7a9600da907e89/cryptography-46.0.7-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:91bbcb08347344f810cbe49065914fe048949648f6bd5c2519f34619142bbe85", size = 4410244, upload-time = "2026-04-08T01:56:35.977Z" },
+    { url = "https://files.pythonhosted.org/packages/10/f2/19ceb3b3dc14009373432af0c13f46aa08e3ce334ec6eff13492e1812ccd/cryptography-46.0.7-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:5d1c02a14ceb9148cc7816249f64f623fbfee39e8c03b3650d842ad3f34d637e", size = 4674868, upload-time = "2026-04-08T01:56:38.034Z" },
+    { url = "https://files.pythonhosted.org/packages/1a/bb/a5c213c19ee94b15dfccc48f363738633a493812687f5567addbcbba9f6f/cryptography-46.0.7-cp311-abi3-win32.whl", hash = "sha256:d23c8ca48e44ee015cd0a54aeccdf9f09004eba9fc96f38c911011d9ff1bd457", size = 3026504, upload-time = "2026-04-08T01:56:39.666Z" },
+    { url = "https://files.pythonhosted.org/packages/2b/02/7788f9fefa1d060ca68717c3901ae7fffa21ee087a90b7f23c7a603c32ae/cryptography-46.0.7-cp311-abi3-win_amd64.whl", hash = "sha256:397655da831414d165029da9bc483bed2fe0e75dde6a1523ec2fe63f3c46046b", size = 3488363, upload-time = "2026-04-08T01:56:41.893Z" },
+    { url = "https://files.pythonhosted.org/packages/a7/7f/cd42fc3614386bc0c12f0cb3c4ae1fc2bbca5c9662dfed031514911d513d/cryptography-46.0.7-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:462ad5cb1c148a22b2e3bcc5ad52504dff325d17daf5df8d88c17dda1f75f2a4", size = 7165618, upload-time = "2026-04-08T01:57:10.645Z" },
+    { url = "https://files.pythonhosted.org/packages/a5/d0/36a49f0262d2319139d2829f773f1b97ef8aef7f97e6e5bd21455e5a8fb5/cryptography-46.0.7-cp38-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:84d4cced91f0f159a7ddacad249cc077e63195c36aac40b4150e7a57e84fffe7", size = 4270628, upload-time = "2026-04-08T01:57:12.885Z" },
+    { url = "https://files.pythonhosted.org/packages/8a/6c/1a42450f464dda6ffbe578a911f773e54dd48c10f9895a23a7e88b3e7db5/cryptography-46.0.7-cp38-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:128c5edfe5e5938b86b03941e94fac9ee793a94452ad1365c9fc3f4f62216832", size = 4415405, upload-time = "2026-04-08T01:57:14.923Z" },
+    { url = "https://files.pythonhosted.org/packages/9a/92/4ed714dbe93a066dc1f4b4581a464d2d7dbec9046f7c8b7016f5286329e2/cryptography-46.0.7-cp38-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:5e51be372b26ef4ba3de3c167cd3d1022934bc838ae9eaad7e644986d2a3d163", size = 4272715, upload-time = "2026-04-08T01:57:16.638Z" },
+    { url = "https://files.pythonhosted.org/packages/b7/e6/a26b84096eddd51494bba19111f8fffe976f6a09f132706f8f1bf03f51f7/cryptography-46.0.7-cp38-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:cdf1a610ef82abb396451862739e3fc93b071c844399e15b90726ef7470eeaf2", size = 4918400, upload-time = "2026-04-08T01:57:19.021Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/08/ffd537b605568a148543ac3c2b239708ae0bd635064bab41359252ef88ed/cryptography-46.0.7-cp38-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:1d25aee46d0c6f1a501adcddb2d2fee4b979381346a78558ed13e50aa8a59067", size = 4450634, upload-time = "2026-04-08T01:57:21.185Z" },
+    { url = "https://files.pythonhosted.org/packages/16/01/0cd51dd86ab5b9befe0d031e276510491976c3a80e9f6e31810cce46c4ad/cryptography-46.0.7-cp38-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:cdfbe22376065ffcf8be74dc9a909f032df19bc58a699456a21712d6e5eabfd0", size = 3985233, upload-time = "2026-04-08T01:57:22.862Z" },
+    { url = "https://files.pythonhosted.org/packages/92/49/819d6ed3a7d9349c2939f81b500a738cb733ab62fbecdbc1e38e83d45e12/cryptography-46.0.7-cp38-abi3-manylinux_2_34_aarch64.whl", hash = "sha256:abad9dac36cbf55de6eb49badd4016806b3165d396f64925bf2999bcb67837ba", size = 4271955, upload-time = "2026-04-08T01:57:24.814Z" },
+    { url = "https://files.pythonhosted.org/packages/80/07/ad9b3c56ebb95ed2473d46df0847357e01583f4c52a85754d1a55e29e4d0/cryptography-46.0.7-cp38-abi3-manylinux_2_34_ppc64le.whl", hash = "sha256:935ce7e3cfdb53e3536119a542b839bb94ec1ad081013e9ab9b7cfd478b05006", size = 4879888, upload-time = "2026-04-08T01:57:26.88Z" },
+    { url = "https://files.pythonhosted.org/packages/b8/c7/201d3d58f30c4c2bdbe9b03844c291feb77c20511cc3586daf7edc12a47b/cryptography-46.0.7-cp38-abi3-manylinux_2_34_x86_64.whl", hash = "sha256:35719dc79d4730d30f1c2b6474bd6acda36ae2dfae1e3c16f2051f215df33ce0", size = 4449961, upload-time = "2026-04-08T01:57:29.068Z" },
+    { url = "https://files.pythonhosted.org/packages/a5/ef/649750cbf96f3033c3c976e112265c33906f8e462291a33d77f90356548c/cryptography-46.0.7-cp38-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:7bbc6ccf49d05ac8f7d7b5e2e2c33830d4fe2061def88210a126d130d7f71a85", size = 4401696, upload-time = "2026-04-08T01:57:31.029Z" },
+    { url = "https://files.pythonhosted.org/packages/41/52/a8908dcb1a389a459a29008c29966c1d552588d4ae6d43f3a1a4512e0ebe/cryptography-46.0.7-cp38-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:a1529d614f44b863a7b480c6d000fe93b59acee9c82ffa027cfadc77521a9f5e", size = 4664256, upload-time = "2026-04-08T01:57:33.144Z" },
+    { url = "https://files.pythonhosted.org/packages/4b/fa/f0ab06238e899cc3fb332623f337a7364f36f4bb3f2534c2bb95a35b132c/cryptography-46.0.7-cp38-abi3-win32.whl", hash = "sha256:f247c8c1a1fb45e12586afbb436ef21ff1e80670b2861a90353d9b025583d246", size = 3013001, upload-time = "2026-04-08T01:57:34.933Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/f1/00ce3bde3ca542d1acd8f8cfa38e446840945aa6363f9b74746394b14127/cryptography-46.0.7-cp38-abi3-win_amd64.whl", hash = "sha256:506c4ff91eff4f82bdac7633318a526b1d1309fc07ca76a3ad182cb5b686d6d3", size = 3472985, upload-time = "2026-04-08T01:57:36.714Z" },
 ]
 
 [[package]]
@@ -1219,7 +1219,7 @@ wheels = [
 
 [[package]]
 name = "pytest"
-version = "9.0.2"
+version = "9.0.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
@@ -1228,9 +1228,9 @@ dependencies = [
     { name = "pluggy" },
     { name = "pygments" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/d1/db/7ef3487e0fb0049ddb5ce41d3a49c235bf9ad299b6a25d5780a89f19230f/pytest-9.0.2.tar.gz", hash = "sha256:75186651a92bd89611d1d9fc20f0b4345fd827c41ccd5c299a868a05d70edf11", size = 1568901, upload-time = "2025-12-06T21:30:51.014Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/7d/0d/549bd94f1a0a402dc8cf64563a117c0f3765662e2e668477624baeec44d5/pytest-9.0.3.tar.gz", hash = "sha256:b86ada508af81d19edeb213c681b1d48246c1a91d304c6c81a427674c17eb91c", size = 1572165, upload-time = "2026-04-07T17:16:18.027Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/3b/ab/b3226f0bd7cdcf710fbede2b3548584366da3b19b5021e74f5bde2a8fa3f/pytest-9.0.2-py3-none-any.whl", hash = "sha256:711ffd45bf766d5264d487b917733b453d917afd2b0ad65223959f59089f875b", size = 374801, upload-time = "2025-12-06T21:30:49.154Z" },
+    { url = "https://files.pythonhosted.org/packages/d4/24/a372aaf5c9b7208e7112038812994107bc65a84cd00e0354a88c2c77a617/pytest-9.0.3-py3-none-any.whl", hash = "sha256:2c5efc453d45394fdd706ade797c0a81091eccd1d6e4bccfcd476e2b8e0ab5d9", size = 375249, upload-time = "2026-04-07T17:16:16.13Z" },
 ]
 
 [[package]]