Merge branch 'refs/heads/model-manager-improvements' into model-selector-multi-runner-debug-model-download

Previously, the button's state update was misplaced, leading to potential issues with its interactive availability. The logic has been adjusted to ensure it is properly enabled or disabled based on onroad status and download progress. This change improves UX consistency and prevents unintended actions.

.gitattributes

@@ -3,6 +3,8 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+*.thneed filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -0,0 +1,13 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -0,0 +1,31 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+-->

.github/build.py

@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()

.github/workflows/selfdrive_tests.yaml

@@ -352,7 +352,7 @@ jobs:
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&

.github/workflows/sunnypilot-build-model.yaml

@@ -18,18 +18,6 @@ on:
         description: 'Custom name for the model'
         required: false
         type: string
-      file_name:
-        description: 'File name prefix for the model files'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: false
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
   build_model:
@@ -49,15 +37,12 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-master-new
+            scons-${{ runner.os }}-${{ runner.arch }}-master
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Setup build environment
@@ -84,8 +69,6 @@ jobs:
         run: |
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
-          
-          # Copy the model files
           rsync -avm \
             --include='*.dlc' \
             --include='*.thneed' \
@@ -95,36 +78,6 @@ jobs:
             --delete-excluded \
             --chown=comma:comma \
             ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
-          
-          # Rename files if file_name is provided
-          if [ ! -z "${{ inputs.file_name }}" ]; then
-            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
-            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
-          fi
-          
-          # Calculate SHA256 hashes
-          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
-          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
-          
-          # Create metadata.json
-          cat > ${OUTPUT_DIR}/metadata.json << EOF
-          {
-            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
-            "full_name": "${{ inputs.file_name || 'default' }}",
-            "is_20hz": ${{ inputs.is_20hz || false }},
-            "files": {
-              "drive_model": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
-                "sha256": "${HASH}"
-              },
-              "metadata": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
-                "sha256": "${METADATA_HASH}"
-              }
-            },
-            "ref": "${{ inputs.upstream_branch }}",
-            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
-          }     
 
       - name: Upload Build Artifacts
         uses: actions/upload-artifact@v4

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -51,10 +51,9 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
@@ -120,7 +119,6 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Panda
         run: |
@@ -189,11 +187,6 @@ jobs:
           name: prebuilt
           path: prebuilt.tar.gz
 
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}

.github/workflows/ui_preview.yaml

@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""

.gitignore

@@ -75,8 +75,6 @@ selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 sunnypilot/modeld/thneed/compile
-sunnypilot/modeld/models/*.thneed
-sunnypilot/modeld/models/*.pkl
 
 *.bz2
 *.zst

SConstruct

@@ -49,6 +49,10 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',

cereal/custom.capnp

@@ -8,11 +8,6 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-enum MpcSource {
-  acc @0;
-  blended @1;
-}
-
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 
@@ -69,7 +64,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
-
+  
   enum Runner {
     snpe @0;
     tinygrad @1;
@@ -83,15 +78,10 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     status @4 :DownloadStatus;
     generation @5 :UInt32;
     environment @6 :Text;
-    runner @7 :Runner;
   }
 }
 
-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  e2eBlended @0 :Text;
-  e2eStatus @1 :Bool;
-  mpcSource @2 :MpcSource;
-  dynamicExperimentalControl @3 :Bool;
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }
 
 struct CustomReserved3 @0xda96579883444c35 {

cereal/log.capnp

@@ -2633,7 +2633,7 @@ struct Event {
     # *********** Custom: reserved for forks ***********
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;

cereal/maptile.capnp

@@ -0,0 +1,49 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}

cereal/services.py

@@ -77,7 +77,6 @@ _services: dict[str, tuple] = {
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 5),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params.cc

@@ -133,6 +133,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
+    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
@@ -201,9 +202,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
 
     // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
@@ -223,7 +222,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
-    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace

common/util.cc

@@ -255,29 +255,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {
          strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
-std::string strip(const std::string &str) {
-  auto should_trim = [](unsigned char ch) {
-    // trim whitespace or a null character
-    return std::isspace(ch) || ch == '\0';
-  };
-
-  size_t start = 0;
-  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
-    start++;
-  }
-
-  if (start == str.size()) {
-    return "";
-  }
-
-  size_t end = str.size() - 1;
-  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
-    end--;
-  }
-
-  return str.substr(start, end - start + 1);
-}
-
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;

common/util.h

@@ -74,7 +74,6 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
-std::string strip(const std::string &str);
 
 // ***** random helpers *****
 int random_int(int min, int max);

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 290 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -56,7 +56,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -80,7 +79,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -92,7 +91,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -295,7 +294,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 

pyproject.toml

@@ -103,6 +103,7 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -111,10 +112,13 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 
@@ -133,7 +137,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=sunnypilot/tinygrad_repo/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"

release/ci/install_github_runner.sh

@@ -4,7 +4,6 @@ set -e
 # Default values
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
-RESTORE_MODE=false
 
 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -21,10 +20,6 @@ while [[ $# -gt 0 ]]; do
             REPO_URL="$2"
             shift 2
             ;;
-        --restore)
-            RESTORE_MODE=true
-            shift
-            ;;
         *)
             if [ -z "$GITHUB_TOKEN" ]; then
                 GITHUB_TOKEN="$1"
@@ -36,6 +31,19 @@ while [[ $# -gt 0 ]]; do
     esac
 done
 
+# Check required arguments
+if [ -z "$GITHUB_TOKEN" ]; then
+    echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
+    echo "Required argument: github_token"
+    echo "Optional arguments:"
+    echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+    echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+    exit 1
+fi
+
+# Set repository URL if not provided
+REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+
 # Determine BASE_DIR based on mount point
 if mountpoint -q /data/media; then
     BASE_DIR="/data/media/0/github"
@@ -52,19 +60,20 @@ LOGS_DIR="${BASE_DIR}/logs"
 CACHE_DIR="${BASE_DIR}/cache"
 OPENPILOT_DIR="${BASE_DIR}/openpilot"
 
-# Basic utility functions (no dependencies)
-remount_rw() {
-    sudo mount -o remount,rw /
+create_directories() {
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
 }
 
-remount_ro() {
-    sync || true  # Try to sync but continue even if it fails
-    sudo mount -o remount,ro /  # Always try to remount as read-only
+download_and_setup_runner() {
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
 }
 
-# Always ensure we try to remount as read-only on exit
-trap remount_ro EXIT
-
 setup_runner_user() {
     sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
     export BASE_DIR
@@ -75,45 +84,18 @@ create_sudoers_entry() {
     sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
 }
 
+configure_runner() {
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+}
+
 set_directory_permissions() {
     sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
     sudo chmod g+rwx "$BASE_DIR"
     sudo chmod g+s "$BASE_DIR"
 }
 
-setup_directories() {
-    echo "Creating necessary directories..."
-    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-    mkdir -p "/data/openpilot"
-    sudo chown -R comma:comma "/data/openpilot"
-}
-
-# System configuration functions (depends on basic utility functions)
-setup_system_configs() {
-    echo "Setting up system configurations..."
-    setup_runner_user
-    create_sudoers_entry
-    set_directory_permissions
-}
-
-# Runner setup functions
-install_runner() {
-    echo "Downloading and setting up runner..."
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
-    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
-    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
-    chmod +x ./config.sh
-}
-
-configure_runner() {
-    echo "Configuring runner..."
-    cd "$RUNNER_DIR"
-    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-}
-
-create_service_template() {
-    echo "Creating service template..."
+modify_service_template() {
     cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
 [Unit]
 Description={{Description}}
@@ -138,116 +120,28 @@ WantedBy=multi-user.target
 EOL
 }
 
-install_service() {
-    echo "Installing systemd service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh install $RUNNER_USER
+# Make filesystem writable
+sudo mount -o remount,rw /
 
-    if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
-        sudo systemctl disable "${service_name}"
-    fi
-}
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount,ro /" EXIT
 
-check_restore_prerequisites() {
-    local needs_restore=false
-    local can_restore=false
-    local service_name=""
+# Execute installation steps
+setup_runner_user
+create_sudoers_entry
+create_directories
+download_and_setup_runner
+modify_service_template
+configure_runner
+set_directory_permissions
 
-    # Check if base runner directory exists
-    if [ ! -d "${RUNNER_DIR}" ]; then
-        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
-        echo "This directory is required for restore operations"
-        exit 1
-    fi
+# Install and start service using built-in installer
+cd "$RUNNER_DIR"
+sudo ./svc.sh install $RUNNER_USER
 
-    # First check if we have the required files for restoration
-    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
-        can_restore=true
-        service_name=$(cat "${RUNNER_DIR}/.service")
-        echo "Found required runner configuration files"
-    else
-        echo "Missing required runner configuration files"
-        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
-        exit 1
-    fi
+# Handle auto-start configuration
+if [ "$START_AT_BOOT" = false ]; then
+    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
+fi
 
-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
-    if ! id "${RUNNER_USER}" &>/dev/null; then
-        echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
-    fi
-
-    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
-        return 0
-    else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
-        exit 0
-    fi
-}
-
-perform_restore() {
-    echo "Starting runner restoration..."
-    setup_directories
-    remount_rw
-    setup_system_configs
-    install_service
-    remount_ro
-    echo "Runner restoration completed successfully"
-}
-
-perform_install() {
-    echo "Starting fresh installation..."
-    setup_directories
-    install_runner
-    create_service_template
-    remount_rw
-    setup_system_configs
-    configure_runner
-    install_service
-    remount_ro
-    echo "Installation completed successfully"
-}
-
-main() {
-    if [ "$RESTORE_MODE" = true ]; then
-        echo "Running in restore mode - will only restore system configurations..."
-        check_restore_prerequisites
-        perform_restore
-    else
-        # Check required arguments for normal installation
-        if [ -z "$GITHUB_TOKEN" ]; then
-            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
-            echo "Required argument (except for --restore): github_token"
-            echo "Optional arguments:"
-            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
-            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
-            echo "  --restore         Restore existing runner configuration"
-            exit 1
-        fi
-
-        # Set repository URL if not provided
-        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
-        perform_install
-    fi
-
-    echo "Starting runner service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh start
-}
-
-main
+sudo ./svc.sh start

scripts/build_small.sh

@@ -0,0 +1,39 @@
+#!/usr/bin/env bash
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# git clone --mirror
+SRC=/tmp/openpilot.git/
+OUT=/tmp/smallpilot/
+
+echo "starting size $(du -hs .git/)"
+
+rm -rf $OUT
+
+cd $SRC
+git remote update
+
+# copy contents
+#rsync -a --exclude='.git/' $DIR $OUT
+
+cp -r $SRC $OUT
+
+cd $OUT
+
+# remove all tags
+git tag -l | xargs git tag -d
+
+# remove non-master branches
+BRANCHES="release2 release3 devel master-ci nightly"
+for branch in $BRANCHES; do
+  git branch -D $branch
+  git branch -D ${branch}-staging || true
+done
+
+#git gc
+git reflog expire --expire=now --all
+git gc --prune=now
+git gc --aggressive --prune=now
+echo "new one is $(du -hs .)"

scripts/code_stats.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import os
+import ast
+import stat
+import subprocess
+
+fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
+
+pyf = []
+for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
+  for root, _, files in os.walk(d):
+    for f in files:
+      if f.endswith(".py"):
+        pyf.append(os.path.join(root, f))
+
+imps: set[str] = set()
+
+class Analyzer(ast.NodeVisitor):
+  def visit_Import(self, node):
+    for alias in node.names:
+      imps.add(alias.name)
+    self.generic_visit(node)
+
+  def visit_ImportFrom(self, node):
+    imps.add(node.module)
+    self.generic_visit(node)
+
+tlns = 0
+carlns = 0
+scriptlns = 0
+testlns = 0
+for f in sorted(pyf):
+  if f not in fouts:
+    continue
+  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
+  src = open(f).read()
+  lns = len(src.split("\n"))
+  tree = ast.parse(src)
+  Analyzer().visit(tree)
+  print(f"{lns:5d} {f} {xbit}")
+  if 'test' in f:
+    testlns += lns
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
+    scriptlns += lns
+  elif f.startswith('selfdrive/car'):
+    carlns += lns
+  else:
+    tlns += lns
+
+print(f"{tlns} lines of openpilot python")
+print(f"{carlns} lines of car ports")
+print(f"{scriptlns} lines of tools/scripts/debug")
+print(f"{testlns} lines of tests")
+#print(sorted(list(imps)))

scripts/count_cars.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+from collections import Counter
+from pprint import pprint
+
+from opendbc.car.docs import get_all_car_docs
+
+if __name__ == "__main__":
+  cars = get_all_car_docs()
+  make_count = Counter(l.make for l in cars)
+  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
+  pprint(make_count)

scripts/git_rewrite/rewrite-git-history.sh

@@ -0,0 +1,391 @@
+#!/usr/bin/env bash
+set -e
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1 > /dev/null 2>&1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files" > /dev/null
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
+  cd $SRC_CLONE
+  > rewrite-branches-done
+
+  # empty file
+  > $BRANCH_DIFF_LOG
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
+  cd $SRC_CLONE
+  > validation-done
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+
+  # empty file
+  > $COMMIT_DIFF_LOG
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
+
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/rewrite.sh

@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+git clone --bare https://github.com/commaai/openpilot
+cp -r openpilot.git openpilot_backup
+cd openpilot.git
+
+# backup old repo
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
+git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
+git push --mirror git@github.com:commaai/openpilot-archive.git
+
+# ignore all release branches
+git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
+
+# re-tag old releases on master
+declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
+for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
+
+# get master root commit
+ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
+
+# link master and devel
+git replace --graft $ROOT_COMMIT v0.7.1
+git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
+
+# delete replace refs
+git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
+
+# machine validation
+tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
+# human validation
+less /tmp/GIT_HASH
+
+# cleanup
+git reflog expire --expire=now --all
+git gc --prune=now --aggressive
+
+# get all lfs files
+set +e
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git lfs fetch --all
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git lfs fetch --all
+set -e
+
+# add new files to lfs
+git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
+
+# set new lfs endpoint
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+
+# push all branch+tag (scary stuff...)
+git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/tag-commit-map.txt

@@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
+v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
+v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
+v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
+v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
+v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
+v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
+v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
+v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
+v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
+v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
+v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
+v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
+v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
+v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
+v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
+v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
+v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
+v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
+v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
+v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
+v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
+v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
+v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
+v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
+v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
+v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
+v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
+v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
+v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
+v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
+v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
+v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
+v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
+v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
+v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
+v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
+v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
+v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
+v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22
+v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
+v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
+v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
+v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
+v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
+v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
+v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
+v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
+v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
+v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
+v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
+v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
+v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
+v0.7.8 2189fe8741b635d8394d55dee28959425cfd5ad0
+v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
+v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
+v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
+v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
+v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
+v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
+v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
+v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
+v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
+v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
+v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
+v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
+v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
+v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
+v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
+v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
+v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
+v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
+v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
+v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
+v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
+v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
+v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
+v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
+v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
+v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
+v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
+v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee

scripts/manage-powersave.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import multiprocessing
-from openpilot.system.hardware import HARDWARE
-
-
-def main():
-  parser = argparse.ArgumentParser(description='Control power saving mode')
-  parser.add_argument('--enable', action='store_true', help='Enable power saving mode')
-  parser.add_argument('--disable', action='store_true', help='Disable power saving mode')
-  args = parser.parse_args()
-
-  if args.enable and args.disable:
-    parser.error("Cannot specify both --enable and --disable")
-  elif not (args.enable or args.disable):
-    parser.error("Must specify either --enable or --disable")
-
-  print(f"Number of CPU cores available before: [{multiprocessing.cpu_count()}]")
-  HARDWARE.set_power_save(args.enable)
-
-  state = "enabled" if args.enable else "disabled"
-  print(f"Power save mode set to: [{state}]")
-  print(f"Number of CPU cores available now: [{multiprocessing.cpu_count()}]")
-
-
-if __name__ == "__main__":
-  main()

scripts/pyqt_demo.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+
+from PyQt5.QtWidgets import QApplication, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+
+if __name__ == "__main__":
+  app = QApplication([])
+  label = QLabel('Hello World!')
+
+  # Set full screen and rotate
+  set_main_window(label)
+
+  app.exec_()

selfdrive/assets/offroad/icon_plus.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3f1c39a4e82adfb52d43fc0ad6773a70dbaa4fc79109a7d6b6c1f73b298eac
+size 2833

selfdrive/car/card.py

@@ -76,8 +76,6 @@ class Car:
     self.CC_prev = car.CarControl.new_message()
     self.initialized_prev = False
 
-    self.dynamic_experimental_control = False
-
     self.last_actuators_output = structs.CarControl.Actuators()
 
     self.params = Params()
@@ -159,7 +157,6 @@ class Car:
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)

selfdrive/controls/controlsd.py

@@ -38,7 +38,7 @@ class Controls:
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'longitudinalPlanSP'], poll='selfdriveState')
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False

selfdrive/controls/lib/longitudinal_planner.py

@@ -15,8 +15,6 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDX
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
-from sunnypilot.selfdrive.controls.dec.dynamic_experimental_controller import DynamicExperimentalController
-from sunnypilot.selfdrive.controls.dec.helpers import get_mpc_mode, publish_longitudinal_plan_sp
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
@@ -85,7 +83,6 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
-    self.dynamic_experimental_controller = DynamicExperimentalController()
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -108,7 +105,7 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = get_mpc_mode(sm, self.dynamic_experimental_controller, self.mpc, self.CP)
+    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -209,4 +206,3 @@ class LongitudinalPlanner:
     longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
-    publish_longitudinal_plan_sp(sm, pm, self.mpc, self.dynamic_experimental_controller)

selfdrive/controls/plannerd.py

@@ -18,7 +18,7 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 

selfdrive/debug/touch_replay.py

@@ -30,7 +30,7 @@ if __name__ == '__main__':
         elif event.type == 3 and event.code == 57 and event.value == -1:
           fingers[current_slot] = [-1, -1]
         elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = event.value
+          fingers[current_slot][1] = h - (h - event.value)
           if fingers[current_slot][0] != -1:
             touch_points.append(fingers[current_slot].copy())
         elif event.type == 3 and event.code == 54:

selfdrive/debug/uiview.py

@@ -3,19 +3,14 @@ import time
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
-  params = Params()
-  params.put("CarParams", CP.to_bytes())
-  if use_snpe_modeld := is_snpe_model(False, params, CP):
-    print("Using SNPE modeld")
-  HARDWARE.set_power_save(False)
+  Params().put("CarParams", CP.to_bytes())
 
-  procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
+  procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
   for p in procs:
     managed_processes[p].start()
 

selfdrive/modeld/SConscript

@@ -26,6 +26,10 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)

selfdrive/modeld/constants.py

@@ -16,6 +16,7 @@ class ModelConstants:
   MODEL_FREQ = 20
   FEATURE_LEN = 512
   FULL_HISTORY_BUFFER_LEN = 99
+  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
@@ -72,13 +73,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 36, 7)
-  BRAKE_DISENGAGE = slice(2, 36, 7)
-  STEER_OVERRIDE = slice(3, 36, 7)
-  HARD_BRAKE_3 = slice(4, 36, 7)
-  HARD_BRAKE_4 = slice(5, 36, 7)
-  HARD_BRAKE_5 = slice(6, 36, 7)
-  GAS_PRESS = slice(7, 36, 7)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(36, 48, 2)
-  RIGHT_BLINKER = slice(37, 48, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)

selfdrive/modeld/fill_model_msg.py

@@ -3,11 +3,21 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
 
 class PublishState:
   def __init__(self):
@@ -65,6 +75,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
+  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
+
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -73,7 +85,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -108,7 +120,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -169,8 +181,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]

selfdrive/modeld/modeld.py

@@ -59,14 +59,14 @@ class ModelState:
   def __init__(self, context: CLContext):
     self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
@@ -98,11 +98,11 @@ class ModelState:
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
-    self.numpy_inputs['desire'][0,-1] = new_desire
+    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+    self.desire_20Hz[-1] = new_desire
+    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
@@ -113,7 +113,7 @@ class ModelState:
           self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
     else:
       for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
 
     if prepare_only:
       return None
@@ -125,13 +125,11 @@ class ModelState:
 
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
-    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
+    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
 
-
-    # TODO model only uses last value now
-    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
-    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
+    idxs = np.arange(-4,-100,-4)[::-1]
+    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
     return outputs
 
 
@@ -242,7 +240,6 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -273,7 +270,6 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
       }
 
     mt1 = time.perf_counter()

selfdrive/modeld/models/commonmodel.cc

@@ -8,8 +8,8 @@
 DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
-  region.origin = 1 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
+  region.origin = 4 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -20,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 1; i++) {
+  for (int i = 0; i < 4; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
-size 51453312
+oid sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
+size 49096168

selfdrive/modeld/parse_model_outputs.py

@@ -96,8 +96,6 @@ class Parser:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))

selfdrive/modeld/tests/snpe_benchmark/.gitignore

@@ -0,0 +1 @@
+benchmark

selfdrive/modeld/tests/snpe_benchmark/benchmark.cc

@@ -0,0 +1,192 @@
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+using namespace std;
+
+int64_t timespecDiff(struct timespec *timeA_p, struct timespec *timeB_p) {
+  return ((timeA_p->tv_sec * 1000000000) + timeA_p->tv_nsec) - ((timeB_p->tv_sec * 1000000000) + timeB_p->tv_nsec);
+}
+
+void PrintErrorStringAndExit() {
+  cout << "ERROR!" << endl;
+  const char* const errStr = zdl::DlSystem::getLastErrorString();
+  std::cerr << errStr << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+
+zdl::DlSystem::Runtime_t checkRuntime() {
+  static zdl::DlSystem::Version_t Version = zdl::SNPE::SNPEFactory::getLibraryVersion();
+  static zdl::DlSystem::Runtime_t Runtime;
+  std::cout << "SNPE Version: " << Version.asString().c_str() << std::endl; //Print Version number
+  if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::DSP)) {
+    std::cout << "Using DSP runtime" << std::endl;
+    Runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::GPU)) {
+    std::cout << "Using GPU runtime" << std::endl;
+    Runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else {
+    std::cout << "Using cpu runtime" << std::endl;
+    Runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  return Runtime;
+}
+
+void test(char *filename) {
+  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
+  container = zdl::DlContainer::IDlContainer::open(filename);
+
+  if (!container) { PrintErrorStringAndExit(); }
+  cout << "start build" << endl;
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  {
+    snpe = NULL;
+    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
+    snpe = snpeBuilder.setOutputLayers({})
+      .setRuntimeProcessor(runtime)
+      .setUseUserSuppliedBuffers(false)
+      //.setDebugMode(true)
+      .build();
+    if (!snpe) {
+      cout << "ERROR!" << endl;
+      const char* const errStr = zdl::DlSystem::getLastErrorString();
+      std::cerr << errStr << std::endl;
+    }
+    cout << "ran snpeBuilder" << endl;
+  }
+
+  const auto &strList_opt = snpe->getInputTensorNames();
+  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
+
+  cout << "get input tensor names done" << endl;
+  const auto &strList = *strList_opt;
+  static zdl::DlSystem::TensorMap inputTensorMap;
+  static zdl::DlSystem::TensorMap outputTensorMap;
+  vector<std::unique_ptr<zdl::DlSystem::ITensor> > inputs;
+  for (int i = 0; i < strList.size(); i++) {
+    cout << "input name: " << strList.at(i) << endl;
+
+    const auto &inputDims_opt = snpe->getInputDimensions(strList.at(i));
+    const auto &inputShape = *inputDims_opt;
+    inputs.push_back(zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape));
+    inputTensorMap.add(strList.at(i), inputs[i].get());
+  }
+
+  struct timespec start, end;
+  cout << "**** starting benchmark ****" << endl;
+  for (int i = 0; i < 50; i++) {
+    clock_gettime(CLOCK_MONOTONIC, &start);
+    int err = snpe->execute(inputTensorMap, outputTensorMap);
+    assert(err == true);
+    clock_gettime(CLOCK_MONOTONIC, &end);
+    uint64_t timeElapsed = timespecDiff(&end, &start);
+    printf("time: %f ms\n", timeElapsed*1.0/1e6);
+  }
+}
+
+void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
+  FILE * pFile;
+  string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index);
+  pFile = fopen(filepath.c_str(), "rb");
+  int length = 1*6*160*320*4;
+  float * frame_buffer = new float[length/4]; // 32/8
+  fread(frame_buffer, length, 1, pFile);
+  // std::cout << *(frame_buffer+length/4-1) << std::endl;
+  std::copy(frame_buffer, frame_buffer+(length/4), input->begin());
+  fclose(pFile);
+}
+
+void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor)
+{
+   std::ofstream os(path, std::ofstream::binary);
+   if (!os)
+   {
+      std::cerr << "Failed to open output file for writing: " << path << "\n";
+      std::exit(EXIT_FAILURE);
+   }
+   for ( auto it = tensor->cbegin(); it != tensor->cend(); ++it )
+   {
+      float f = *it;
+      if (!os.write(reinterpret_cast<char*>(&f), sizeof(float)))
+      {
+         std::cerr << "Failed to write data to: " << path << "\n";
+         std::exit(EXIT_FAILURE);
+      }
+   }
+}
+
+void testrun(char* modelfile) {
+  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
+  container = zdl::DlContainer::IDlContainer::open(modelfile);
+
+  if (!container) { PrintErrorStringAndExit(); }
+  cout << "start build" << endl;
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  {
+    snpe = NULL;
+    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
+    snpe = snpeBuilder.setOutputLayers({})
+      .setRuntimeProcessor(runtime)
+      .setUseUserSuppliedBuffers(false)
+      //.setDebugMode(true)
+      .build();
+    if (!snpe) {
+      cout << "ERROR!" << endl;
+      const char* const errStr = zdl::DlSystem::getLastErrorString();
+      std::cerr << errStr << std::endl;
+    }
+    cout << "ran snpeBuilder" << endl;
+  }
+
+  const auto &strList_opt = snpe->getInputTensorNames();
+  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
+  cout << "get input tensor names done" << endl;
+
+  const auto &strList = *strList_opt;
+  static zdl::DlSystem::TensorMap inputTensorMap;
+  static zdl::DlSystem::TensorMap outputTensorMap;
+
+  assert(strList.size() == 1);
+  const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
+  const auto &inputShape = *inputDims_opt;
+  std::cout << "winkwink" << std::endl;
+
+  for (int i=0; i<10000; i++) {
+    std::unique_ptr<zdl::DlSystem::ITensor> input;
+    input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape);
+    get_testframe(i, input);
+    snpe->execute(input.get(), outputTensorMap);
+    zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
+    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
+      std::ostringstream path;
+      path << "/data/opt/Result_" << std::to_string(i) << ".raw";
+      auto tensorPtr = outputTensorMap.getTensor(name);
+      SaveITensor(path.str(), tensorPtr);
+    });
+  }
+}
+
+int main(int argc, char* argv[]) {
+  if (argc < 2) {
+    printf("usage: %s <filename>\n", argv[0]);
+    return -1;
+  }
+
+  if (argc == 2) {
+    while (true) test(argv[1]);
+  } else if (argc == 3) {
+    testrun(argv[1]);
+  }
+  return 0;
+}
+

selfdrive/modeld/tests/snpe_benchmark/benchmark.sh

@@ -0,0 +1,4 @@
+#!/bin/sh -e
+clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
+export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH"
+exec ./benchmark $1

selfdrive/test/ciui.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import signal
+import subprocess
+
+signal.signal(signal.SIGINT, signal.SIG_DFL)
+signal.signal(signal.SIGTERM, signal.SIG_DFL)
+
+from PyQt5.QtCore import QTimer
+from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+class Window(QWidget):
+  def __init__(self, parent=None):
+    super().__init__(parent)
+
+    layout = QVBoxLayout()
+    self.setLayout(layout)
+
+    self.l = QLabel("jenkins runner")
+    layout.addWidget(self.l)
+    layout.addStretch(1)
+    layout.setContentsMargins(20, 20, 20, 20)
+
+    cmds = [
+      "cat /etc/hostname",
+      "echo AGNOS v$(cat /VERSION)",
+      "uptime -p",
+    ]
+    self.labels = {}
+    for c in cmds:
+      self.labels[c] = QLabel(c)
+      layout.addWidget(self.labels[c])
+
+    self.setStyleSheet("""
+      * {
+        color: white;
+        font-size: 55px;
+        background-color: black;
+        font-family: "JetBrains Mono";
+      }
+    """)
+
+    self.timer = QTimer()
+    self.timer.timeout.connect(self.update)
+    self.timer.start(10 * 1000)
+    self.update()
+
+  def update(self):
+    for cmd, label in self.labels.items():
+      out = subprocess.run(cmd, capture_output=True,
+                           shell=True, check=False, encoding='utf8').stdout
+      label.setText(out.strip())
+
+if __name__ == "__main__":
+  app = QApplication([])
+  w = Window()
+  set_main_window(w)
+  app.exec_()

selfdrive/test/docker_tag_multiarch.sh

@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+if [ $# -lt 2 ]; then
+  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
+  exit 1
+fi
+
+SCRIPT_DIR=$(dirname "$0")
+ARCHS=("${@:2}")
+
+source $SCRIPT_DIR/docker_common.sh $1
+
+MANIFEST_AMENDS=""
+for ARCH in ${ARCHS[@]}; do
+  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
+done
+
+docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
+docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
+
+if [[ -n "$PUSH_IMAGE" ]]; then
+  docker manifest push $REMOTE_TAG
+  docker manifest push $REMOTE_SHA_TAG
+fi

selfdrive/test/loop_until_fail.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+# Loop something forever until it fails, for verifying new tests
+
+while true; do
+  $@
+done

selfdrive/test/process_replay/imgproc_replay_ref_hash

@@ -0,0 +1 @@
+707434c540e685bbe2886b3ff7c82fd61939d362

selfdrive/test/process_replay/model_replay.py

@@ -57,7 +57,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: x.action.desiredCurvature, "desiredCurvature"),
                      (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
                      (lambda x: x.laneLines[1].y[0], "laneLines.y"),
-                     #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                     ], "modelV2")
   DriverStateV2_Plots = zl([
                      (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),

selfdrive/test/process_replay/test_imgproc.py

@@ -0,0 +1,98 @@
+import os
+import numpy as np
+import hashlib
+
+import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
+
+from openpilot.system.hardware import PC, TICI
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
+from openpilot.tools.lib.logreader import LogReader
+
+# TODO: check all sensors
+TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
+
+cam = DEVICE_CAMERAS[("tici", "ar0231")]
+FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
+FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
+
+UV_WIDTH = FRAME_WIDTH // 2
+UV_HEIGHT = FRAME_HEIGHT // 2
+UV_SIZE = UV_WIDTH * UV_HEIGHT
+
+
+def init_kernels(frame_offset=0):
+  ctx = cl.create_some_context(interactive=False)
+
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f:
+    build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
+      f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
+      f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
+      ' -DSENSOR_ID=1 -DVIGNETTING=0 '
+    if PC:
+      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
+    imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
+
+  return ctx, imgproc_prg
+
+def proc_frame(ctx, imgproc_prg, data, rgb=False):
+  q = cl.CommandQueue(ctx)
+
+  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
+
+  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
+  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
+
+  krn = imgproc_prg.process_raw
+  krn.set_scalar_arg_dtypes([None, None, np.int32])
+  local_worksize = (20, 20) if TICI else (4, 4)
+
+  ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
+  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
+  cl.enqueue_barrier(q)
+
+  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
+  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH))
+  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH))
+
+  if rgb:
+    return yuv_to_rgb(y, u, v)
+  else:
+    return y, u, v
+
+
+def imgproc_replay(lr):
+  ctx, imgproc_prg = init_kernels()
+
+  frames = []
+  for m in lr:
+    if m.which() == 'roadCameraState':
+      cs = m.roadCameraState
+      if cs.image:
+        data = np.frombuffer(cs.image, dtype=np.uint8)
+        img = proc_frame(ctx, imgproc_prg, data)
+
+        frames.append(img)
+
+  return frames
+
+
+if __name__ == "__main__":
+  # load logs
+  lr = list(LogReader(TEST_ROUTE))
+  # run replay
+  out_frames = imgproc_replay(lr)
+
+  all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
+  pix_hash = hashlib.sha1(all_pix).hexdigest()
+
+  with open('imgproc_replay_ref_hash') as f:
+    ref_hash = f.read()
+
+  if pix_hash != ref_hash:
+    print("result changed! please check kernel")
+    print(f"ref: {ref_hash}")
+    print(f"new: {pix_hash}")
+  else:
+    print("test passed")

selfdrive/test/profiling/.gitignore

@@ -0,0 +1,2 @@
+cachegrind.out.*
+*.prof

selfdrive/test/profiling/lib.py

@@ -0,0 +1,91 @@
+from collections import defaultdict
+from cereal.services import SERVICE_LIST
+import cereal.messaging as messaging
+import capnp
+
+
+class ReplayDone(Exception):
+  pass
+
+
+class SubSocket:
+  def __init__(self, msgs, trigger):
+    self.i = 0
+    self.trigger = trigger
+    self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
+    self.max_i = len(self.msgs) - 1
+
+  def receive(self, non_blocking=False):
+    if non_blocking:
+      return None
+
+    if self.i == self.max_i:
+      raise ReplayDone
+
+    while True:
+      msg = self.msgs[self.i]
+      self.i += 1
+      return msg
+
+
+class PubSocket:
+  def send(self, data):
+    pass
+
+
+class SubMaster(messaging.SubMaster):
+  def __init__(self, msgs, trigger, services, check_averag_freq=False):
+    self.frame = 0
+    self.data = {}
+    self.ignore_alive = []
+
+    self.alive = {s: True for s in services}
+    self.updated = {s: False for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
+    self.valid = {s: True for s in services}
+    self.freq_ok = {s: True for s in services}
+    self.freq_tracker = {s: messaging.FrequencyTracker(SERVICE_LIST[s].frequency, SERVICE_LIST[s].frequency, False) for s in services}
+    self.logMonoTime = {}
+    self.sock = {}
+    self.freq = {}
+    self.check_average_freq = check_averag_freq
+    self.non_polled_services = []
+    self.ignore_average_freq = []
+
+    # TODO: specify multiple triggers for service like plannerd that poll on more than one service
+    cur_msgs = []
+    self.msgs = []
+    msgs = [m for m in msgs if m.which() in services]
+
+    for msg in msgs:
+      cur_msgs.append(msg)
+      if msg.which() == trigger:
+        self.msgs.append(cur_msgs)
+        cur_msgs = []
+
+    self.msgs = list(reversed(self.msgs))
+
+    for s in services:
+      self.freq[s] = SERVICE_LIST[s].frequency
+      try:
+        data = messaging.new_message(s)
+      except capnp.lib.capnp.KjException:
+        # lists
+        data = messaging.new_message(s, 0)
+
+      self.data[s] = getattr(data, s)
+      self.logMonoTime[s] = 0
+      self.sock[s] = SubSocket(msgs, s)
+
+  def update(self, timeout=None):
+    if not len(self.msgs):
+      raise ReplayDone
+
+    cur_msgs = self.msgs.pop()
+    self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop())
+
+
+class PubMaster(messaging.PubMaster):
+  def __init__(self):
+    self.sock = defaultdict(PubSocket)

selfdrive/test/profiling/profiler.py

@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+import os
+import sys
+import cProfile
+import pprofile
+import pyprof2calltree
+
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.volkswagen.values import CAR as VW
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
+
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+
+CARS = {
+  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
+  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
+  "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
+}
+
+
+def get_inputs(msgs, process, fingerprint):
+  for config in CONFIGS:
+    if config.proc_name == process:
+      sub_socks = list(config.pubs)
+      trigger = sub_socks[0]
+      break
+
+  # some procs block on CarParams
+  for msg in msgs:
+    if msg.which() == 'carParams':
+      m = msg.as_builder()
+      m.carParams.carFingerprint = fingerprint
+      Params().put("CarParams", m.carParams.copy().to_bytes())
+      break
+
+  sm = SubMaster(msgs, trigger, sub_socks)
+  pm = PubMaster()
+  if 'can' in sub_socks:
+    can_sock = SubSocket(msgs, 'can')
+  else:
+    can_sock = None
+  return sm, pm, can_sock
+
+
+def profile(proc, func, car='toyota'):
+  segment, fingerprint = CARS[car]
+  segment = segment.replace('|', '/')
+  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
+  msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
+
+  os.environ['FINGERPRINT'] = fingerprint
+  os.environ['SKIP_FW_QUERY'] = "1"
+  os.environ['REPLAY'] = "1"
+
+  def run(sm, pm, can_sock):
+    try:
+      if can_sock is not None:
+        func(sm, pm, can_sock)
+      else:
+        func(sm, pm)
+    except ReplayDone:
+      pass
+
+  # Statistical
+  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
+  with pprofile.StatisticalProfile()(period=0.00001) as pr:
+    run(sm, pm, can_sock)
+  pr.dump_stats(f'cachegrind.out.{proc}_statistical')
+
+  # Deterministic
+  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
+  with cProfile.Profile() as pr:
+    run(sm, pm, can_sock)
+  pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')
+
+
+if __name__ == '__main__':
+  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
+  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
+  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
+
+  procs = {
+    'controlsd': controlsd_thread,
+    'paramsd': paramsd_thread,
+    'plannerd': plannerd_thread,
+  }
+
+  proc = sys.argv[1]
+  if proc not in procs:
+    print(f"{proc} not available")
+    sys.exit(0)
+  else:
+    profile(proc, procs[proc])

selfdrive/test/test_onroad.py

@@ -103,7 +103,7 @@ TIMINGS = {
 
 LOGS_SIZE_RATE = {
   "qlog": 0.0083,
-  "rlog": 0.135,
+  "rlog": 0.1528,
   "qcamera.ts": 0.03828,
 }
 LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))

selfdrive/ui/SConscript

@@ -34,7 +34,7 @@ Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
-          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/offroad_home.cc",
+          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",

selfdrive/ui/qt/home.cc

@@ -2,8 +2,12 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QStackedWidget>
+#include <QVBoxLayout>
 
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
 
 // HomeWindow: the container for the offroad and onroad UIs
 
@@ -78,3 +82,147 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
     showSidebar(false);
   }
 }
+
+// OffroadHome: the offroad home page
+
+OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(40, 40, 40, 40);
+
+  // top header
+  QHBoxLayout* header_layout = new QHBoxLayout();
+  header_layout->setContentsMargins(0, 0, 0, 0);
+  header_layout->setSpacing(16);
+
+  update_notif = new QPushButton(tr("UPDATE"));
+  update_notif->setVisible(false);
+  update_notif->setStyleSheet("background-color: #364DEF;");
+  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
+  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  alert_notif = new QPushButton();
+  alert_notif->setVisible(false);
+  alert_notif->setStyleSheet("background-color: #E22C2C;");
+  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
+  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  version = new ElidedLabel();
+  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  main_layout->addLayout(header_layout);
+
+  // main content
+  main_layout->addSpacing(25);
+  center_layout = new QStackedLayout();
+
+  QWidget *home_widget = new QWidget(this);
+  {
+    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
+    home_layout->setContentsMargins(0, 0, 0, 0);
+    home_layout->setSpacing(30);
+
+    // left: PrimeAdWidget
+    QStackedWidget *left_widget = new QStackedWidget(this);
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    left_prime_layout->setContentsMargins(0, 0, 0, 0);
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
+    left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
+
+    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
+      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
+    });
+
+    home_layout->addWidget(left_widget, 1);
+
+    // right: ExperimentalModeButton, SetupWidget
+    QWidget* right_widget = new QWidget(this);
+    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
+    right_column->setContentsMargins(0, 0, 0, 0);
+    right_widget->setFixedWidth(750);
+    right_column->setSpacing(30);
+
+    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(experimental_mode, 1);
+
+    SetupWidget *setup_widget = new SetupWidget;
+    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(setup_widget, 1);
+
+    home_layout->addWidget(right_widget, 1);
+  }
+  center_layout->addWidget(home_widget);
+
+  // add update & alerts widgets
+  update_widget = new UpdateAlert();
+  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(update_widget);
+  alerts_widget = new OffroadAlert();
+  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(alerts_widget);
+
+  main_layout->addLayout(center_layout, 1);
+
+  // set up refresh timer
+  timer = new QTimer(this);
+  timer->callOnTimeout(this, &OffroadHome::refresh);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+    }
+    OffroadHome {
+      background-color: black;
+    }
+    OffroadHome > QPushButton {
+      padding: 15px 30px;
+      border-radius: 5px;
+      font-size: 40px;
+      font-weight: 500;
+    }
+    OffroadHome > QLabel {
+      font-size: 55px;
+    }
+  )");
+}
+
+void OffroadHome::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(10 * 1000);
+}
+
+void OffroadHome::hideEvent(QHideEvent *event) {
+  timer->stop();
+}
+
+void OffroadHome::refresh() {
+  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
+
+  bool updateAvailable = update_widget->refresh();
+  int alerts = alerts_widget->refresh();
+
+  // pop-up new notification
+  int idx = center_layout->currentIndex();
+  if (!updateAvailable && !alerts) {
+    idx = 0;
+  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
+    idx = 1;
+  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
+    idx = 2;
+  }
+  center_layout->setCurrentIndex(idx);
+
+  update_notif->setVisible(updateAvailable);
+  alert_notif->setVisible(alerts);
+  if (alerts) {
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
+  }
+}

selfdrive/ui/qt/home.h

@@ -7,26 +7,49 @@
 #include <QTimer>
 #include <QWidget>
 
+#include "common/params.h"
+#include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
 #include "selfdrive/ui/sunnypilot/qt/sidebar.h"
 #define OnroadWindow OnroadWindowSP
-#define OffroadHome OffroadHomeSP
 #define LayoutWidget LayoutWidgetSP
 #define Sidebar SidebarSP
 #define ElidedLabel ElidedLabelSP
-#define SetupWidget SetupWidgetSP
 #else
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
 #endif
 
-#include "selfdrive/ui/qt/offroad/offroad_home.h"
+class OffroadHome : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OffroadHome(QWidget* parent = 0);
+
+signals:
+  void openSettings(int index = 0, const QString &param = "");
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void refresh();
+
+  Params params;
+
+  QTimer* timer;
+  ElidedLabel* version;
+  QStackedLayout* center_layout;
+  UpdateAlert *update_widget;
+  OffroadAlert* alerts_widget;
+  QPushButton* alert_notif;
+  QPushButton* update_notif;
+};
 
 class HomeWindow : public QWidget {
   Q_OBJECT

selfdrive/ui/qt/offroad/experimental_mode.cc

@@ -8,18 +8,12 @@
 
 #include "selfdrive/ui/ui.h"
 
-#ifdef SUNNYPILOT
-constexpr int toggles_settings_index = 3;
-#else
-constexpr int toggles_settings_index = 2;
-#endif
-
 ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) {
   chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
   experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
 
   // go to toggles and expand experimental mode description
-  connect(this, &QPushButton::clicked, [=]() { emit openSettings(toggles_settings_index, "ExperimentalMode"); });
+  connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); });
 
   setFixedHeight(125);
   QHBoxLayout *main_layout = new QHBoxLayout;

selfdrive/ui/qt/offroad/offroad_home.cc

@@ -1,158 +0,0 @@
-/**
- * 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.
- */
-
-#include "selfdrive/ui/qt/offroad/offroad_home.h"
-
-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-// OffroadHome: the offroad home page
-
-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 40);
-
-  // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(0, 0, 0, 0);
-  header_layout->setSpacing(16);
-
-  update_notif = new QPushButton(tr("UPDATE"));
-  update_notif->setVisible(false);
-  update_notif->setStyleSheet("background-color: #364DEF;");
-  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  alert_notif = new QPushButton();
-  alert_notif->setVisible(false);
-  alert_notif->setStyleSheet("background-color: #E22C2C;");
-  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  version = new ElidedLabel();
-  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
-
-  main_layout->addLayout(header_layout);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  QWidget *home_widget = new QWidget(this);
-  {
-    home_layout = new QHBoxLayout(home_widget);
-    home_layout->setContentsMargins(0, 0, 0, 0);
-    home_layout->setSpacing(30);
-
-#ifndef SUNNYPILOT
-    // left: PrimeAdWidget
-    QStackedWidget *left_widget = new QStackedWidget(this);
-    QVBoxLayout *left_prime_layout = new QVBoxLayout();
-    left_prime_layout->setContentsMargins(0, 0, 0, 0);
-    QWidget *prime_user = new PrimeUserWidget();
-    prime_user->setStyleSheet(R"(
-    border-radius: 10px;
-    background-color: #333333;
-    )");
-    left_prime_layout->addWidget(prime_user);
-    left_prime_layout->addStretch();
-    left_widget->addWidget(new LayoutWidget(left_prime_layout));
-    left_widget->addWidget(new PrimeAdWidget);
-    left_widget->setStyleSheet("border-radius: 10px;");
-
-    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
-      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
-    });
-
-    home_layout->addWidget(left_widget, 1);
-#endif
-
-    // right: ExperimentalModeButton, SetupWidget
-    QWidget* right_widget = new QWidget(this);
-    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
-    right_column->setContentsMargins(0, 0, 0, 0);
-    right_widget->setFixedWidth(750);
-    right_column->setSpacing(30);
-
-    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
-    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(experimental_mode, 1);
-
-    SetupWidget *setup_widget = new SetupWidget;
-    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(setup_widget, 1);
-
-    home_layout->addWidget(right_widget, 1);
-  }
-  center_layout->addWidget(home_widget);
-
-  // add update & alerts widgets
-  update_widget = new UpdateAlert();
-  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(update_widget);
-  alerts_widget = new OffroadAlert();
-  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(alerts_widget);
-
-  main_layout->addLayout(center_layout, 1);
-
-  // set up refresh timer
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &OffroadHome::refresh);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-    }
-    OffroadHome {
-      background-color: black;
-    }
-    OffroadHome > QPushButton {
-      padding: 15px 30px;
-      border-radius: 5px;
-      font-size: 40px;
-      font-weight: 500;
-    }
-    OffroadHome > QLabel {
-      font-size: 55px;
-    }
-  )");
-}
-
-void OffroadHome::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(10 * 1000);
-}
-
-void OffroadHome::hideEvent(QHideEvent *event) {
-  timer->stop();
-}
-
-void OffroadHome::refresh() {
-  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
-
-  bool updateAvailable = update_widget->refresh();
-  int alerts = alerts_widget->refresh();
-
-  // pop-up new notification
-  int idx = center_layout->currentIndex();
-  if (!updateAvailable && !alerts) {
-    idx = 0;
-  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-    idx = 1;
-  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-    idx = 2;
-  }
-  center_layout->setCurrentIndex(idx);
-
-  update_notif->setVisible(updateAvailable);
-  alert_notif->setVisible(alerts);
-  if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
-  }
-}

selfdrive/ui/qt/offroad/offroad_home.h

@@ -1,57 +0,0 @@
-/**
- * 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.
- */
-
-#pragma once
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
-#define OnroadWindow OnroadWindowSP
-#define LayoutWidget LayoutWidgetSP
-#define Sidebar SidebarSP
-#define ElidedLabel ElidedLabelSP
-#define SetupWidget SetupWidgetSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-#endif
-
-class OffroadHome : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit OffroadHome(QWidget* parent = 0);
-
-  signals:
-    void openSettings(int index = 0, const QString &param = "");
-
-protected:
-  QHBoxLayout *home_layout;
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-  void refresh();
-
-  Params params;
-
-  QTimer* timer;
-  ElidedLabel* version;
-  QStackedLayout* center_layout;
-  UpdateAlert *update_widget;
-  OffroadAlert* alerts_widget;
-  QPushButton* alert_notif;
-  QPushButton* update_notif;
-};

selfdrive/ui/qt/offroad/settings.cc

@@ -40,12 +40,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
@@ -362,7 +356,8 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
-#ifndef SUNNYPILOT
+  RETURN_IF_SUNNYPILOT
+
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
@@ -462,5 +457,4 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
       border-radius: 30px;
     }
   )");
-#endif
 }

selfdrive/ui/qt/onroad/model.cc

@@ -106,14 +106,8 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
 }
 
 void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
-
-  auto *s = uiState();
-  auto &sm = *(s->sm);
-  const auto long_plan_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
-  bool exp_mode_path = (long_plan_sp.getDynamicExperimentalControl() && long_plan_sp.getMpcSource() == cereal::MpcSource::BLENDED) ||
-                       (!long_plan_sp.getDynamicExperimentalControl() && sm["selfdriveState"].getSelfdriveState().getExperimentalMode());
   QLinearGradient bg(0, height, 0, 0);
-  if (exp_mode_path) {
+  if (experimental_mode) {
     // The first half of track_vertices are the points for the right side of the path
     const auto &acceleration = model.getAcceleration().getX();
     const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());

selfdrive/ui/qt/util.h

@@ -13,6 +13,12 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "common/params.h"
 
+#ifdef SUNNYPILOT
+#define RETURN_IF_SUNNYPILOT return;
+#else
+#define RETURN_IF_SUNNYPILOT  // Do nothing
+#endif
+
 QString getVersion();
 QString getBrand();
 QString getUserAgent();

selfdrive/ui/qt/widgets/controls.cc

@@ -6,7 +6,7 @@
 #include "selfdrive/ui/qt/util.h"
 
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
-#ifndef SUNNYPILOT
+  RETURN_IF_SUNNYPILOT
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
 
@@ -57,7 +57,6 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   });
 
   main_layout->addStretch();
-#endif
 }
 
 void AbstractControl::hideEvent(QHideEvent *e) {

selfdrive/ui/qt/widgets/prime.cc

@@ -221,7 +221,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   outer_layout->addWidget(mainLayout);
 
   QWidget *content = new QWidget;
-  content_layout = new QVBoxLayout(content);
+  QVBoxLayout *content_layout = new QVBoxLayout(content);
   content_layout->setContentsMargins(0, 0, 0, 0);
   content_layout->setSpacing(30);
 

selfdrive/ui/qt/widgets/prime.h

@@ -63,9 +63,6 @@ public:
 signals:
   void openSettings(int index = 0, const QString &param = "");
 
-protected:
-  QVBoxLayout *content_layout;
-
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;

selfdrive/ui/sunnypilot/SConscript

@@ -1,8 +1,6 @@
 widgets_src = [
   "sunnypilot/qt/widgets/toggle.cc",
   "sunnypilot/qt/widgets/controls.cc",
-  "sunnypilot/qt/widgets/drive_stats.cc",
-  "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
 ]
 
@@ -15,12 +13,10 @@ qt_src = [
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
-  "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
-  "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",

selfdrive/ui/sunnypilot/qt/home.cc

@@ -7,8 +7,6 @@
 
 #include "selfdrive/ui/sunnypilot/qt/home.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
 HomeWindowSP::HomeWindowSP(QWidget *parent) : HomeWindow(parent) {
 }
 

selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc

@@ -1,20 +0,0 @@
-/**
- * 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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
-
-#include <QStackedWidget>
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
-OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
-  QStackedWidget *left_widget = new QStackedWidget(this);
-  left_widget->addWidget(new DriveStats(this));
-  left_widget->setStyleSheet("border-radius: 10px;");
-
-  home_layout->insertWidget(0, left_widget);
-}

selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h

@@ -1,17 +0,0 @@
-/**
- * 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.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/offroad/offroad_home.h"
-
-class OffroadHomeSP : public OffroadHome {
-  Q_OBJECT
-
-public:
-  explicit OffroadHomeSP(QWidget *parent = 0);
-};

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

@@ -14,7 +14,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
@@ -75,7 +74,6 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
-    PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
 

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

@@ -29,17 +29,16 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
  * Reads status from modelManagerSP cereal message and displays status for all models
  */
 void SoftwarePanelSP::handleBundleDownloadProgress() {
-  using DS = cereal::ModelManagerSP::DownloadStatus;
-  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
-    currentModelLblBtn->setDescription(tr("No custom model selected!"));
+  const SubMaster &sm = *(uiStateSP()->sm);
+  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
+  if (!model_manager.hasSelectedBundle()) {
+    currentModelLblBtn->setDescription("");
     return;
   }
 
-  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
-  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
+  const auto &bundle = model_manager.getSelectedBundle();
   const auto &models = bundle.getModels();
-  download_status = bundle.getStatus();
-  const auto download_status_changed = prev_download_status != download_status;
   QStringList status;
 
   // Get status for each model type in order
@@ -68,9 +67,9 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
     if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
       line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
+      line = tr("%1 model [%2] downloaded").arg(typeName, modelName);
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
+      line = tr("%1 model [%2] from cache").arg(typeName, modelName);
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
       line = tr("%1 model [%2] download failed").arg(typeName, modelName);
     } else {
@@ -81,19 +80,9 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
 
   currentModelLblBtn->setDescription(status.join("\n"));
 
-  if (prev_download_status != download_status) {
-    switch (bundle.getStatus()) {
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
-      case cereal::ModelManagerSP::DownloadStatus::CACHED:
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
-        currentModelLblBtn->showDescription();
-        break;
-      case cereal::ModelManagerSP::DownloadStatus::FAILED:
-      default:
-        break;
-    }
+  if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
+    currentModelLblBtn->showDescription();
   }
-  prev_download_status = download_status;
 }
 
 /**
@@ -101,6 +90,9 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
  * @return Display name of the selected bundle or default model name
  */
 QString SoftwarePanelSP::GetActiveModelName() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
   if (model_manager.hasActiveBundle()) {
     return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
   }
@@ -108,11 +100,6 @@ QString SoftwarePanelSP::GetActiveModelName() {
   return "";
 }
 
-void SoftwarePanelSP::updateModelManagerState() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  model_manager = sm["modelManagerSP"].getModelManagerSP();
-}
-
 /**
  * @brief Handles the model bundle selection button click
  * Displays available bundles, allows selection, and initiates download
@@ -121,6 +108,9 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
+  const SubMaster &sm = *(uiStateSP()->sm);
+  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
   // Create mapping of bundle indices to display names
   QMap<uint32_t, QString> index_to_bundle;
   const auto bundles = model_manager.getAvailableBundles();
@@ -130,15 +120,13 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
 
   // Sort bundles by index in descending order
   QStringList bundleNames;
-  // Add "Default" as the first option
-  bundleNames.append(tr("Use Default"));
-
   auto indices = index_to_bundle.keys();
   std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
   for (const auto &index: indices) {
     bundleNames.append(index_to_bundle[index]);
   }
 
+  currentModelLblBtn->setEnabled(!is_onroad);
   currentModelLblBtn->setValue(GetActiveModelName());
 
   const QString selectedBundleName = MultiOptionDialog::getSelection(
@@ -148,21 +136,14 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
     return;
   }
 
-  // Handle "Stock" selection differently
-  if (selectedBundleName == tr("Use Default")) {
-    params.remove("ModelManager_ActiveBundle");
-    currentModelLblBtn->setValue(tr("Default"));
-    showResetParamsDialog();
-  } else {
-    // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
-        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
-        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
-          showResetParamsDialog();
-        }
-        break;
+  // Find selected bundle and initiate download
+  for (const auto &bundle: bundles) {
+    if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+      params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
+      if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
+        showResetParamsDialog();
       }
+      break;
     }
   }
 
@@ -177,11 +158,9 @@ void SoftwarePanelSP::updateLabels() {
     return;
   }
 
-  updateModelManagerState();
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelName());
-
   SoftwarePanel::updateLabels();
 }
 

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

@@ -19,10 +19,12 @@ public:
 
 private:
   QString GetActiveModelName();
-  void updateModelManagerState();
 
   bool isDownloading() const {
-    if (!model_manager.hasSelectedBundle()) {
+    const SubMaster &sm = *(uiStateSP()->sm);
+    const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
+    if (!model_manager.hasSelectedBundle() || !sm.updated("modelManagerSP")) {
       return false;
     }
 
@@ -35,9 +37,6 @@ private:
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
   void showResetParamsDialog();
-  cereal::ModelManagerSP::Reader model_manager;
-  cereal::ModelManagerSP::DownloadStatus download_status{};
-  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
 
   bool canContinueOnMeteredDialog() {
     if (!is_metered) return true;

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

@@ -1,36 +0,0 @@
-/**
- * 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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
-
-TripsPanel::TripsPanel(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(0);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  driveStatsWidget = new DriveStats;
-  driveStatsWidget->setStyleSheet(R"(
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-  center_layout->addWidget(driveStatsWidget);
-
-  main_layout->addLayout(center_layout, 1);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-    }
-    TripsPanel > QLabel {
-      font-size: 55px;
-    }
-  )");
-}

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

@@ -1,25 +0,0 @@
-/**
- * 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.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
-class TripsPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit TripsPanel(QWidget* parent = 0);
-
-private:
-  Params params;
-
-  QStackedLayout* center_layout;
-  DriveStats *driveStatsWidget;
-};

selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc

@@ -1,103 +0,0 @@
-/**
- * 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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
-#include <QDebug>
-#include <QGridLayout>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-static QLabel* newLabel(const QString& text, const QString &type) {
-  QLabel* label = new QLabel(text);
-  label->setProperty("type", type);
-  return label;
-}
-
-DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
-  metric_ = Params().getBool("IsMetric");
-
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 50, 50, 60);
-
-  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
-    QGridLayout* grid_layout = new QGridLayout;
-    grid_layout->setVerticalSpacing(10);
-    grid_layout->setContentsMargins(0, 10, 0, 10);
-
-    int row = 0;
-    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
-
-    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
-    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
-
-    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
-
-    main_layout->addLayout(grid_layout);
-  };
-
-  add_stats_layouts(tr("ALL TIME"), all_);
-  main_layout->addStretch();
-  add_stats_layouts(tr("PAST WEEK"), week_);
-
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
-  }
-
-  setStyleSheet(R"(
-    DriveStats {
-      background-color: #333333;
-      border-radius: 10px;
-    }
-
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-}
-
-void DriveStats::updateStats() {
-  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
-    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
-    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
-    labels.distance_unit->setText(getDistanceUnit());
-    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
-  };
-
-  QJsonObject json = stats_.object();
-  update(json["all"].toObject(), all_);
-  update(json["week"].toObject(), week_);
-}
-
-void DriveStats::parseResponse(const QString& response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting past drives statistics";
-    return;
-  }
-  stats_ = doc;
-  updateStats();
-}
-
-void DriveStats::showEvent(QShowEvent* event) {
-  bool metric = Params().getBool("IsMetric");
-  if (metric_ != metric) {
-    metric_ = metric;
-    updateStats();
-  }
-}

selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h

@@ -1,32 +0,0 @@
-/**
- * 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.
- */
-
-#pragma once
-
-#include <QJsonDocument>
-#include <QLabel>
-
-class DriveStats : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit DriveStats(QWidget* parent = 0);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
-
-  bool metric_;
-  QJsonDocument stats_;
-  struct StatsLabels {
-    QLabel *routes, *distance, *distance_unit, *hours;
-  } all_, week_;
-
-private slots:
-  void parseResponse(const QString &response, bool success);
-};

selfdrive/ui/sunnypilot/qt/widgets/prime.cc

@@ -1,19 +0,0 @@
-/**
- * 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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
-
-SetupWidgetSP::SetupWidgetSP(QWidget *parent) : SetupWidget(parent) {
-  PrimeUserWidget *primeUser = new PrimeUserWidget;
-  content_layout->insertWidget(0, primeUser);
-
-  primeUser->setVisible(uiState()->prime_state->isSubscribed());
-
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, [=]() {
-    primeUser->setVisible(uiState()->prime_state->isSubscribed());
-  });
-}

selfdrive/ui/sunnypilot/qt/widgets/prime.h

@@ -1,19 +0,0 @@
-/**
- * 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.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-class SetupWidgetSP : public SetupWidget {
-  Q_OBJECT
-
-public:
-  explicit SetupWidgetSP(QWidget *parent = nullptr);
-};

selfdrive/ui/sunnypilot/ui.cc

@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
+    "modelManagerSP", "selfdriveStateSP",
   });
 
   // update timer

selfdrive/ui/tests/test_ui/run.py

@@ -34,29 +34,28 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
-def setup_homescreen(click, pm: PubMaster, scroll=None):
+def setup_homescreen(click, pm: PubMaster):
   pass
 
-def setup_settings_device(click, pm: PubMaster, scroll=None):
+def setup_settings_device(click, pm: PubMaster):
   click(100, 100)
 
-def setup_settings_toggles(click, pm: PubMaster, scroll=None):
+def setup_settings_toggles(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 632)
+  click(278, 640)
   time.sleep(UI_DELAY)
 
-def setup_settings_software(click, pm: PubMaster, scroll=None):
+def setup_settings_software(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 742)
+  click(278, 750)
   time.sleep(UI_DELAY)
 
-def setup_settings_developer(click, pm: PubMaster, scroll=None):
+def setup_settings_developer(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  scroll(-100, 278, 962)
   click(278, 970)
   time.sleep(UI_DELAY)
 
-def setup_onroad(click, pm: PubMaster, scroll=None):
+def setup_onroad(click, pm: PubMaster):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
     vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
@@ -88,46 +87,45 @@ def setup_onroad(click, pm: PubMaster, scroll=None):
     packet_id += 1
     time.sleep(0.05)
 
-def setup_onroad_disengaged(click, pm: PubMaster, scroll=None):
+def setup_onroad_disengaged(click, pm: PubMaster):
   DATA['selfdriveState'].selfdriveState.enabled = False
   setup_onroad(click, pm)
   DATA['selfdriveState'].selfdriveState.enabled = True
 
-def setup_onroad_override(click, pm: PubMaster, scroll=None):
+def setup_onroad_override(click, pm: PubMaster):
   DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.overriding
   setup_onroad(click, pm)
   DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.enabled
 
 
-def setup_onroad_wide(click, pm: PubMaster, scroll=None):
+def setup_onroad_wide(click, pm: PubMaster):
   DATA['selfdriveState'].selfdriveState.experimentalMode = True
   DATA["carState"].carState.vEgo = 1
   setup_onroad(click, pm)
 
-def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
+def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
   click(500, 500)
   setup_onroad(click, pm)
 
-def setup_onroad_wide_sidebar(click, pm: PubMaster, scroll=None):
+def setup_onroad_wide_sidebar(click, pm: PubMaster):
   setup_onroad_wide(click, pm)
   click(500, 500)
   setup_onroad_wide(click, pm)
 
-def setup_body(click, pm: PubMaster, scroll=None):
+def setup_body(click, pm: PubMaster):
   DATA['carParams'].carParams.carName = "BODY"
   DATA['carParams'].carParams.notCar = True
   DATA['carState'].carState.charging = True
   DATA['carState'].carState.fuelGauge = 50.0
   setup_onroad(click, pm)
 
-def setup_keyboard(click, pm: PubMaster, scroll=None):
+def setup_keyboard(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  scroll(-100, 278, 962)
-  click(278, 970)
+  click(250, 965)
   click(1930, 228)
 
-def setup_driver_camera(click, pm: PubMaster, scroll=None):
+def setup_driver_camera(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(1950, 435)
   DATA['deviceState'].deviceState.started = False
@@ -147,16 +145,16 @@ def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.Self
   setup_onroad(click, pm)
   DATA['selfdriveState'] = log_from_bytes(origin_state_bytes).as_builder()
 
-def setup_onroad_alert_small(click, pm: PubMaster, scroll=None):
+def setup_onroad_alert_small(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
 
-def setup_onroad_alert_mid(click, pm: PubMaster, scroll=None):
+def setup_onroad_alert_mid(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.SelfdriveState.AlertSize.mid)
 
-def setup_onroad_alert_full(click, pm: PubMaster, scroll=None):
+def setup_onroad_alert_full(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
-def setup_offroad_alert(click, pm: PubMaster, scroll=None):
+def setup_offroad_alert(click, pm: PubMaster):
   for alert in OFFROAD_ALERTS:
     set_offroad_alert(alert, True)
 
@@ -164,7 +162,7 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(100, 100)
 
-def setup_update_available(click, pm: PubMaster, scroll=None):
+def setup_update_available(click, pm: PubMaster):
   Params().put_bool("UpdateAvailable", True)
   release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
   with open(release_notes_path) as file:
@@ -174,35 +172,30 @@ def setup_update_available(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(100, 100)
 
-def setup_pair_device(click, pm: PubMaster, scroll=None):
+def setup_pair_device(click, pm: PubMaster):
   click(1950, 435)
   click(1800, 900)
 
-def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
+def setup_settings_sunnylink(click, pm: PubMaster):
   Params().put_bool("SunnylinkEnabled", True)
 
   setup_settings_device(click, pm)
-  click(278, 522)
+  click(278, 530)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
+def setup_settings_sunnypilot(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 860)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot_mads(click, pm: PubMaster, scroll=None):
+def setup_settings_sunnypilot_mads(click, pm: PubMaster):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 860)
   click(970, 455)
   time.sleep(UI_DELAY)
 
-def setup_settings_trips(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(278, 962)
-  time.sleep(UI_DELAY)
-
 CASES = {
   "homescreen": setup_homescreen,
   "prime": setup_homescreen,
@@ -231,7 +224,6 @@ CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
-  "settings_trips": setup_settings_trips,
 })
 
 TEST_DIR = pathlib.Path(__file__).parent
@@ -268,14 +260,10 @@ class TestUI:
     pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
     time.sleep(UI_DELAY) # give enough time for the UI to react
 
-  def scroll(self, clicks, x, y, *args, **kwargs):
-    pyautogui.scroll(clicks, self.ui.left + x, self.ui.top + y, *args, **kwargs)
-    time.sleep(UI_DELAY)
-
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
-    setup_case(self.click, self.pm, self.scroll)
+    setup_case(self.click, self.pm)
     self.screenshot(name)
 
 def create_screenshots():

selfdrive/ui/translations/main_ar.ts

@@ -275,33 +275,6 @@
         <translation>إقران</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>القيادة</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>ساعات</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>كامل الوقت</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>الأسبوع الماضي</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>كم</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>ميل</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -756,10 +729,6 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1098,10 +1067,18 @@ This may take up to a minute.</source>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select a Model</source>
         <translation type="unfinished"></translation>
@@ -1114,34 +1091,6 @@ This may take up to a minute.</source>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1372,14 +1321,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_de.ts

@@ -275,33 +275,6 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Fahrten</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Stunden</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>Gesamtzeit</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>Letzte Woche</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Meilen</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -738,10 +711,6 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1082,10 +1051,18 @@ This may take up to a minute.</source>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select a Model</source>
         <translation type="unfinished"></translation>
@@ -1098,34 +1075,6 @@ This may take up to a minute.</source>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1356,14 +1305,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_es.ts

@@ -275,33 +275,6 @@
         <translation>Desactivar para apagar</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -740,10 +713,6 @@ Esto puede tardar un minuto.</translation>
         <source>sunnylink</source>
         <translation>sunnylink</translation>
     </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1090,42 +1059,22 @@ Esto puede tardar un minuto.</translation>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation>Descargando modelo de %1 [%2]... (%3%)</translation>
     </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation>Modelo de %1 [%2] descargado</translation>
+    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation>Falló descarga modelo de %1 [%2]</translation>
     </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation>Modelo de %1 [%2] desde caché</translation>
+    </message>
     <message>
         <source>Select a Model</source>
         <translation>Selecciona un Modelo</translation>
     </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation>Modelo de %1 [%2] %3</translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation>descargado</translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation>listo</translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation>desde caché</translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation>Por Defecto</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation>No hay ningún modelo personalizado elegido!.</translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation>Por Defecto</translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1356,14 +1305,6 @@ Esto puede tardar un minuto.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_fr.ts

@@ -275,33 +275,6 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Trajets</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Heures</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>DEPUIS TOUJOURS</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>CETTE SEMAINE</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Miles</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -740,10 +713,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1082,10 +1051,18 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select a Model</source>
         <translation type="unfinished"></translation>
@@ -1098,34 +1075,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1356,14 +1305,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -275,33 +275,6 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>運転履歴</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>時間</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>累計</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>先週</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>マイル</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -734,10 +707,6 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1076,10 +1045,18 @@ This may take up to a minute.</source>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select a Model</source>
         <translation type="unfinished"></translation>
@@ -1092,34 +1069,6 @@ This may take up to a minute.</source>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1350,14 +1299,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -275,33 +275,6 @@
         <translation>동기화</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>주행</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>시간</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>전체</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>지난 주</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>마일</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -736,10 +709,6 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1078,10 +1047,18 @@ This may take up to a minute.</source>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select a Model</source>
         <translation type="unfinished"></translation>
@@ -1094,34 +1071,6 @@ This may take up to a minute.</source>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1352,14 +1301,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>