Merge branch 'dec-new' into dec-new-refactored

The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code.

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -1,15 +0,0 @@
----
-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

@@ -1,19 +0,0 @@
----
-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

@@ -1,15 +0,0 @@
----
-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

@@ -1,13 +0,0 @@
----
-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

@@ -1,15 +0,0 @@
----
-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

@@ -1,31 +0,0 @@
----
-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

@@ -1,30 +0,0 @@
-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') && 1 || 3) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&

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

@@ -18,6 +18,18 @@ 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:
@@ -37,12 +49,15 @@ 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 }}-${{ runner.arch }}-master-new
-            scons-${{ runner.os }}-${{ runner.arch }}-master
+            scons-${{ 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 }}
 
       - name: Setup build environment
@@ -69,6 +84,8 @@ jobs:
         run: |
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
+          
+          # Copy the model files
           rsync -avm \
             --include='*.dlc' \
             --include='*.thneed' \
@@ -78,6 +95,36 @@ 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

@@ -51,9 +51,10 @@ 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 }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || 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 }}
@@ -119,6 +120,7 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Panda
         run: |
@@ -187,6 +189,11 @@ 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_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_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"
           A=($scenes)
 
           DIFF=""

.gitignore

@@ -74,6 +74,9 @@ comma*.sh
 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

.gitmodules

@@ -15,4 +15,4 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git

SConstruct

@@ -49,10 +49,6 @@ 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',
@@ -396,6 +392,8 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
+SConscript(['sunnypilot/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":

cereal/custom.capnp

@@ -8,6 +8,11 @@ $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;
 
@@ -65,6 +70,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+  }
+
   struct ModelBundle {
     index @0 :UInt32;
     internalName @1 :Text;
@@ -73,10 +83,15 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     status @4 :DownloadStatus;
     generation @5 :UInt32;
     environment @6 :Text;
+    runner @7 :Runner;
   }
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  e2eBlended @0 :Text;
+  e2eStatus @1 :Bool;
+  mpcSource @2 :MpcSource;
+  dynamicExperimentalControl @3 :Bool;
 }
 
 struct CustomReserved3 @0xda96579883444c35 {

cereal/log.capnp

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

cereal/maptile.capnp

@@ -1,49 +0,0 @@
-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

@@ -77,6 +77,7 @@ _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

@@ -133,7 +133,6 @@ 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},
@@ -202,7 +201,9 @@ 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},
@@ -212,7 +213,7 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
 
@@ -222,6 +223,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
+    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace

common/util.cc

@@ -255,6 +255,29 @@ 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

@@ -74,6 +74,7 @@ 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.
 
-# 289 Supported Cars
+# 290 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -56,6 +56,7 @@ 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>|
@@ -79,7 +80,7 @@ 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 2017-24|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>||
+|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>||
 |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>||
@@ -91,7 +92,7 @@ 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 (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 (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 (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>||
@@ -294,7 +295,7 @@ 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 2018-24|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 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 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

@@ -103,7 +103,6 @@ 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
@@ -112,13 +111,10 @@ 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/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "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')",
   "rerun-sdk >= 0.18",
 ]
 

release/ci/install_github_runner.sh

@@ -4,6 +4,7 @@ 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
@@ -20,6 +21,10 @@ while [[ $# -gt 0 ]]; do
             REPO_URL="$2"
             shift 2
             ;;
+        --restore)
+            RESTORE_MODE=true
+            shift
+            ;;
         *)
             if [ -z "$GITHUB_TOKEN" ]; then
                 GITHUB_TOKEN="$1"
@@ -31,19 +36,6 @@ 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:-$DEFAULT_REPO_URL}"
-
 # Determine BASE_DIR based on mount point
 if mountpoint -q /data/media; then
     BASE_DIR="/data/media/0/github"
@@ -60,20 +52,19 @@ LOGS_DIR="${BASE_DIR}/logs"
 CACHE_DIR="${BASE_DIR}/cache"
 OPENPILOT_DIR="${BASE_DIR}/openpilot"
 
-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"
+# Basic utility functions (no dependencies)
+remount_rw() {
+    sudo mount -o remount,rw /
 }
 
-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
+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
 }
 
+# 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} ${RUNNER_USER}
     export BASE_DIR
@@ -84,18 +75,45 @@ create_sudoers_entry() {
     sudo grep -qxF "${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"
 }
 
-modify_service_template() {
+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..."
     cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
 [Unit]
 Description={{Description}}
@@ -120,28 +138,116 @@ WantedBy=multi-user.target
 EOL
 }
 
-# Make filesystem writable
-sudo mount -o remount,rw /
+install_service() {
+    echo "Installing systemd service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh install $RUNNER_USER
 
-# Ensure filesystem is remounted as read-only on script exit
-trap "sudo mount -o remount,ro /" EXIT
+    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
+}
 
-# Execute installation steps
-setup_runner_user
-create_sudoers_entry
-create_directories
-download_and_setup_runner
-modify_service_template
-configure_runner
-set_directory_permissions
+check_restore_prerequisites() {
+    local needs_restore=false
+    local can_restore=false
+    local service_name=""
 
-# Install and start service using built-in installer
-cd "$RUNNER_DIR"
-sudo ./svc.sh install $RUNNER_USER
+    # Check if base runner directory exists
+    if [ ! -d "${RUNNER_DIR}" ]; then
+        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
+        echo "This directory is required for restore operations"
+        exit 1
+    fi
 
-# Handle auto-start configuration
-if [ "$START_AT_BOOT" = false ]; then
-    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
-fi
+    # 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
 
-sudo ./svc.sh start
+    # 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

scripts/build_small.sh

@@ -1,39 +0,0 @@
-#!/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

@@ -1,54 +0,0 @@
-#!/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

@@ -1,11 +0,0 @@
-#!/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

@@ -1,391 +0,0 @@
-#!/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

@@ -1,59 +0,0 @@
-#!/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

@@ -1,82 +0,0 @@
-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

@@ -0,0 +1,27 @@
+#!/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

@@ -1,14 +0,0 @@
-#!/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

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

selfdrive/car/card.py

@@ -76,6 +76,8 @@ 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()
@@ -157,6 +159,7 @@ 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'], poll='selfdriveState')
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'longitudinalPlanSP'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False

selfdrive/controls/lib/longitudinal_planner.py

@@ -15,6 +15,8 @@ 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
@@ -83,6 +85,7 @@ 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):
@@ -105,7 +108,7 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mpc.mode = get_mpc_mode(sm, self.dynamic_experimental_controller, self.mpc, self.CP)
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -206,3 +209,4 @@ 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'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   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] = h - (h - event.value)
+          fingers[current_slot][1] = 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

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

selfdrive/modeld/SConscript

@@ -26,10 +26,6 @@ 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

@@ -16,7 +16,6 @@ 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
@@ -73,14 +72,13 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  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)
+  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)
   # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)

selfdrive/modeld/fill_model_msg.py

@@ -3,21 +3,11 @@ 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):
@@ -75,8 +65,6 @@ 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
@@ -85,7 +73,7 @@ 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 = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -120,7 +108,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -181,8 +169,8 @@ 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.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_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),
     }
 
     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.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['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+    self.numpy_inputs['desire'][0,-1] = new_desire
 
     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])
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
 
     if prepare_only:
       return None
@@ -125,11 +125,13 @@ class ModelState:
 
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+    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, :]
 
-    idxs = np.arange(-4,-100,-4)[::-1]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
+
+    # 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, :]
     return outputs
 
 
@@ -240,6 +242,7 @@ 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))]
@@ -270,6 +273,7 @@ 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, 5*frame_size_bytes, NULL, &err));
-  region.origin = 4 * frame_size_bytes;
+  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;
   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 < 4; i++) {
+  for (int i = 0; i < 1; 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 sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
-size 49096168
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312

selfdrive/modeld/parse_model_outputs.py

@@ -96,6 +96,8 @@ 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

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

selfdrive/modeld/tests/snpe_benchmark/benchmark.cc

@@ -1,192 +0,0 @@
-#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

@@ -1,4 +0,0 @@
-#!/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

@@ -1,58 +0,0 @@
-#!/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

@@ -1,25 +0,0 @@
-#!/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

@@ -1,8 +0,0 @@
-#!/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

@@ -1 +0,0 @@
-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

@@ -1,98 +0,0 @@
-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

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

selfdrive/test/profiling/lib.py

@@ -1,91 +0,0 @@
-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

@@ -1,97 +0,0 @@
-#!/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": 0.1528,
+  "rlog": 0.135,
   "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/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/offroad_home.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

@@ -2,12 +2,8 @@
 
 #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
 
@@ -82,147 +78,3 @@ 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

@@ -7,49 +7,26 @@
 #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
 
-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;
-};
+#include "selfdrive/ui/qt/offroad/offroad_home.h"
 
 class HomeWindow : public QWidget {
   Q_OBJECT

selfdrive/ui/qt/offroad/experimental_mode.cc

@@ -8,12 +8,18 @@
 
 #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(2, "ExperimentalMode"); });
+  connect(this, &QPushButton::clicked, [=]() { emit openSettings(toggles_settings_index, "ExperimentalMode"); });
 
   setFixedHeight(125);
   QHBoxLayout *main_layout = new QHBoxLayout;

selfdrive/ui/qt/offroad/offroad_home.cc

@@ -0,0 +1,158 @@
+/**
+ * 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

@@ -0,0 +1,57 @@
+/**
+ * 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

@@ -40,6 +40,12 @@ 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"),
@@ -356,8 +362,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
-  RETURN_IF_SUNNYPILOT
-
+#ifndef SUNNYPILOT
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
@@ -457,4 +462,5 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
       border-radius: 30px;
     }
   )");
+#endif
 }

selfdrive/ui/qt/onroad/model.cc

@@ -106,8 +106,14 @@ 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 (experimental_mode) {
+  if (exp_mode_path) {
     // 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

@@ -13,12 +13,6 @@
 #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) {
-  RETURN_IF_SUNNYPILOT
+#ifndef SUNNYPILOT
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
 
@@ -57,6 +57,7 @@ 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;
-  QVBoxLayout *content_layout = new QVBoxLayout(content);
+  content_layout = new QVBoxLayout(content);
   content_layout->setContentsMargins(0, 0, 0, 0);
   content_layout->setSpacing(30);
 

selfdrive/ui/qt/widgets/prime.h

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

selfdrive/ui/sunnypilot/SConscript

@@ -1,6 +1,8 @@
 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",
 ]
 
@@ -13,10 +15,12 @@ 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

@@ -7,6 +7,8 @@
 
 #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

@@ -0,0 +1,20 @@
+/**
+ * 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

@@ -0,0 +1,17 @@
+/**
+ * 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

@@ -14,6 +14,7 @@
 #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);
@@ -74,6 +75,7 @@ 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

@@ -29,16 +29,17 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
  * Reads status from modelManagerSP cereal message and displays status for all models
  */
 void SoftwarePanelSP::handleBundleDownloadProgress() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
-
-  if (!model_manager.hasSelectedBundle()) {
-    currentModelLblBtn->setDescription("");
+  using DS = cereal::ModelManagerSP::DownloadStatus;
+  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
+    currentModelLblBtn->setDescription(tr("No custom model selected!"));
     return;
   }
 
-  const auto &bundle = model_manager.getSelectedBundle();
+  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 &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
@@ -67,9 +68,9 @@ 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] downloaded").arg(typeName, modelName);
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] from cache").arg(typeName, modelName);
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
       line = tr("%1 model [%2] download failed").arg(typeName, modelName);
     } else {
@@ -80,11 +81,19 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
 
   currentModelLblBtn->setDescription(status.join("\n"));
 
-  if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-    currentModelLblBtn->showDescription();
+  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;
+    }
   }
-
-  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
+  prev_download_status = download_status;
 }
 
 /**
@@ -92,9 +101,6 @@ 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());
   }
@@ -102,6 +108,11 @@ 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
@@ -110,9 +121,6 @@ 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();
@@ -122,13 +130,15 @@ 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(
@@ -138,14 +148,21 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
     return;
   }
 
-  // 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();
+  // 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;
       }
-      break;
     }
   }
 
@@ -160,8 +177,11 @@ 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

@@ -19,11 +19,9 @@ public:
 
 private:
   QString GetActiveModelName();
+  void updateModelManagerState();
 
   bool isDownloading() const {
-    const SubMaster &sm = *(uiStateSP()->sm);
-    const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
-
     if (!model_manager.hasSelectedBundle()) {
       return false;
     }
@@ -37,6 +35,9 @@ 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

@@ -0,0 +1,36 @@
+/**
+ * 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

@@ -0,0 +1,25 @@
+/**
+ * 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

@@ -0,0 +1,103 @@
+/**
+ * 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

@@ -0,0 +1,32 @@
+/**
+ * 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

@@ -0,0 +1,19 @@
+/**
+ * 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

@@ -0,0 +1,19 @@
+/**
+ * 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",
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
   });
 
   // update timer

selfdrive/ui/tests/test_ui/run.py

@@ -34,28 +34,29 @@ 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):
+def setup_homescreen(click, pm: PubMaster, scroll=None):
   pass
 
-def setup_settings_device(click, pm: PubMaster):
+def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
 
-def setup_settings_toggles(click, pm: PubMaster):
+def setup_settings_toggles(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 640)
+  click(278, 632)
   time.sleep(UI_DELAY)
 
-def setup_settings_software(click, pm: PubMaster):
+def setup_settings_software(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 750)
+  click(278, 742)
   time.sleep(UI_DELAY)
 
-def setup_settings_developer(click, pm: PubMaster):
+def setup_settings_developer(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
+  scroll(-100, 278, 962)
   click(278, 970)
   time.sleep(UI_DELAY)
 
-def setup_onroad(click, pm: PubMaster):
+def setup_onroad(click, pm: PubMaster, scroll=None):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
     vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
@@ -87,45 +88,46 @@ def setup_onroad(click, pm: PubMaster):
     packet_id += 1
     time.sleep(0.05)
 
-def setup_onroad_disengaged(click, pm: PubMaster):
+def setup_onroad_disengaged(click, pm: PubMaster, scroll=None):
   DATA['selfdriveState'].selfdriveState.enabled = False
   setup_onroad(click, pm)
   DATA['selfdriveState'].selfdriveState.enabled = True
 
-def setup_onroad_override(click, pm: PubMaster):
+def setup_onroad_override(click, pm: PubMaster, scroll=None):
   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):
+def setup_onroad_wide(click, pm: PubMaster, scroll=None):
   DATA['selfdriveState'].selfdriveState.experimentalMode = True
   DATA["carState"].carState.vEgo = 1
   setup_onroad(click, pm)
 
-def setup_onroad_sidebar(click, pm: PubMaster):
+def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
   setup_onroad(click, pm)
   click(500, 500)
   setup_onroad(click, pm)
 
-def setup_onroad_wide_sidebar(click, pm: PubMaster):
+def setup_onroad_wide_sidebar(click, pm: PubMaster, scroll=None):
   setup_onroad_wide(click, pm)
   click(500, 500)
   setup_onroad_wide(click, pm)
 
-def setup_body(click, pm: PubMaster):
+def setup_body(click, pm: PubMaster, scroll=None):
   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):
+def setup_keyboard(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(250, 965)
+  scroll(-100, 278, 962)
+  click(278, 970)
   click(1930, 228)
 
-def setup_driver_camera(click, pm: PubMaster):
+def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(1950, 435)
   DATA['deviceState'].deviceState.started = False
@@ -145,16 +147,16 @@ 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):
+def setup_onroad_alert_small(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
 
-def setup_onroad_alert_mid(click, pm: PubMaster):
+def setup_onroad_alert_mid(click, pm: PubMaster, scroll=None):
   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):
+def setup_onroad_alert_full(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
-def setup_offroad_alert(click, pm: PubMaster):
+def setup_offroad_alert(click, pm: PubMaster, scroll=None):
   for alert in OFFROAD_ALERTS:
     set_offroad_alert(alert, True)
 
@@ -162,7 +164,7 @@ def setup_offroad_alert(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(100, 100)
 
-def setup_update_available(click, pm: PubMaster):
+def setup_update_available(click, pm: PubMaster, scroll=None):
   Params().put_bool("UpdateAvailable", True)
   release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
   with open(release_notes_path) as file:
@@ -172,30 +174,35 @@ def setup_update_available(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(100, 100)
 
-def setup_pair_device(click, pm: PubMaster):
+def setup_pair_device(click, pm: PubMaster, scroll=None):
   click(1950, 435)
   click(1800, 900)
 
-def setup_settings_sunnylink(click, pm: PubMaster):
+def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
   Params().put_bool("SunnylinkEnabled", True)
 
   setup_settings_device(click, pm)
-  click(278, 530)
+  click(278, 522)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot(click, pm: PubMaster):
+def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 860)
+  click(278, 852)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot_mads(click, pm: PubMaster):
+def setup_settings_sunnypilot_mads(click, pm: PubMaster, scroll=None):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
-  click(278, 860)
+  click(278, 852)
   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,
@@ -224,6 +231,7 @@ 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
@@ -260,10 +268,14 @@ 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)
+    setup_case(self.click, self.pm, self.scroll)
     self.screenshot(name)
 
 def create_screenshots():

selfdrive/ui/translations/main_ar.ts

@@ -275,6 +275,33 @@
         <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>
@@ -729,6 +756,10 @@ 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>
@@ -1067,18 +1098,10 @@ 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>
@@ -1091,6 +1114,34 @@ 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>
@@ -1321,6 +1372,14 @@ 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

@@ -275,6 +275,33 @@
         <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>
@@ -711,6 +738,10 @@ 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>
@@ -1051,18 +1082,10 @@ 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>
@@ -1075,6 +1098,34 @@ 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>
@@ -1305,6 +1356,14 @@ 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

@@ -275,6 +275,33 @@
         <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>
@@ -713,6 +740,10 @@ 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>
@@ -1059,22 +1090,42 @@ 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>
@@ -1305,6 +1356,14 @@ 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

@@ -275,6 +275,33 @@
         <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>
@@ -713,6 +740,10 @@ 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>
@@ -1051,18 +1082,10 @@ 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>
@@ -1075,6 +1098,34 @@ 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>
@@ -1305,6 +1356,14 @@ 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

@@ -275,6 +275,33 @@
         <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>
@@ -707,6 +734,10 @@ 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>
@@ -1045,18 +1076,10 @@ 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>
@@ -1069,6 +1092,34 @@ 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>
@@ -1299,6 +1350,14 @@ 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

@@ -275,6 +275,33 @@
         <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>
@@ -709,6 +736,10 @@ 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>
@@ -1047,18 +1078,10 @@ 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>
@@ -1071,6 +1094,34 @@ 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>
@@ -1301,6 +1352,14 @@ 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>

selfdrive/ui/translations/main_pt-BR.ts

@@ -275,6 +275,33 @@
         <translation>PAREAR</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Dirigidas</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Horas</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>TOTAL</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>SEMANA PASSADA</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Milhas</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -713,6 +740,10 @@ Isso pode levar até um minuto.</translation>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1051,18 +1082,10 @@ Isso pode levar até um minuto.</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>
@@ -1075,6 +1098,34 @@ Isso pode levar até um minuto.</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>
@@ -1305,6 +1356,14 @@ Isso pode levar até um minuto.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</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_th.ts

@@ -275,6 +275,33 @@
         <translation>จับคู่</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>การขับขี่</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>ชั่วโมง</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>ทั้งหมด</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>สัปดาห์ที่ผ่านมา</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>กิโลเมตร</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>ไมล์</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
@@ -709,6 +736,10 @@ 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>
@@ -1047,18 +1078,10 @@ 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>
@@ -1071,6 +1094,34 @@ 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>
@@ -1301,6 +1352,14 @@ 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>