Merge branch 'master-new' into alc-new

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -67,14 +67,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     }
   });
 
-  connect(buttons["resetParams"], &PushButtonSP::clicked, [=]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all sunnypilot settings to default ? This cannot be undone."), tr("Reset"), this)) {
-      int rm = std::system("sudo rm -rf /data/params/d/*");
-      if (rm == 0) {
-        Hardware::reboot();
-      }
-    }
-  });
+  connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
   addItem(device_grid_layout);
 
@@ -141,6 +134,19 @@ void DevicePanelSP::setOffroadMode() {
   updateState();
 }
 
+void DevicePanelSP::resetSettings() {
+  if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."), tr("Reset"), this)) {
+    if (ConfirmationDialog::confirm(tr("The reset cannot be undone. You have been warned."), tr("Confirm"), this)) {
+      const std::vector<std::string> keys = params.allKeys();
+      for (const auto& key : keys) {
+        params.remove(key);
+      }
+
+      Hardware::reboot();
+    }
+  }
+}
+
 void DevicePanelSP::showEvent(QShowEvent *event) {
   updateState();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h

@@ -18,6 +18,7 @@ public:
   void showEvent(QShowEvent *event) override;
   void setOffroadMode();
   void updateState();
+  void resetSettings();
 
 private:
   std::map<QString, PushButtonSP*> buttons;

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

@@ -5,12 +5,14 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import os
+import tomllib
 from difflib import SequenceMatcher
 
 from opendbc.car import structs
 from openpilot.common.basedir import BASEDIR
 
 TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
+TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data/substitute.toml")
 MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
 
 
@@ -42,16 +44,24 @@ def get_nn_model_path(CP: structs.CarParams) -> tuple[str, str, bool]:
 
   model_path, max_similarity = check_nn_path(nn_candidate)
 
+  exact_match = max_similarity >= 0.99
+
   if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.8:
     nn_candidate = car_fingerprint
     model_path, max_similarity = check_nn_path(nn_candidate)
     if 0.0 <= max_similarity < 0.8:
-      model_path = MOCK_MODEL_PATH
+      with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
+        sub = tomllib.load(f)
+      sub_candidate = sub.get(car_fingerprint, car_fingerprint)
+
+      for candidate in [car_fingerprint, sub_candidate]:
+        model_path, max_similarity = check_nn_path(candidate)
+
+      exact_match = False
 
   if CP.steerControlType == structs.CarParams.SteerControlType.angle:
     model_path = MOCK_MODEL_PATH
 
   model_name = os.path.splitext(os.path.basename(model_path))[0]
-  exact_match = max_similarity >= 0.99
 
   return model_path, model_name, exact_match

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

@@ -1,4 +1,3 @@
-from numpy.ma.testutils import assert_equal
 from parameterized import parameterized
 
 from opendbc.car.car_helpers import interfaces
@@ -13,8 +12,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 
 class TestNNTorqueModel:
 
-  @parameterized.expand([(HONDA.HONDA_CIVIC, True), (TOYOTA.TOYOTA_RAV4, True), (HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, False)])
-  def test_load_model(self, car_name, should_load_model):
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  def test_load_model(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
 
@@ -29,4 +28,4 @@ class TestNNTorqueModel:
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
 
-    assert_equal(should_load_model, controller.extension.has_nn_model)
+    assert controller.extension.has_nn_model

system/athena/registration.py

@@ -91,6 +91,7 @@ def register(show_spinner=False) -> str | None:
 
       if time.monotonic() - start_time > 60 and show_spinner:
         spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        return UNREGISTERED_DONGLE_ID  # hotfix to prevent an infinite wait for registration
 
     if show_spinner:
       spinner.close()