bump opendbc

# Conflicts:
#	opendbc_repo

.codespellignore

@@ -1,3 +0,0 @@
-Wen
-REGIST
-PullRequest

.gitattributes

@@ -9,7 +9,6 @@
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
-selfdrive/test/process_replay/fakedata/*.zst filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

.github/workflows/auto_pr_review.yaml

@@ -24,7 +24,7 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.repository == 'commaai/openpilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -37,17 +37,17 @@ jobs:
     # Welcome comment
     - name: "First timers PR"
       uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
             * Before marking as "ready for review", ensure:
               * the goal is clearly stated in the description
               * all the tests are passing
-              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant
-
+      

.github/workflows/badges.yaml

@@ -13,7 +13,7 @@ jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
+        git config user.email "badge-researcher@comma.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg

.github/workflows/ci_weekly_report.yaml

@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
+        repository: commaai/openpilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 

.github/workflows/lfs-maintenance.yaml

@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master-new'
-  pull_request:
-    branches:
-      - 'master-new'
-  workflow_dispatch:  # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-      
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-      
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin

.github/workflows/prebuilt.yaml

@@ -12,7 +12,7 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/release-drafter.yml

@@ -1,29 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master-new
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -13,7 +13,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     permissions:
       checks: read
       contents: write
@@ -51,4 +51,4 @@ jobs:
     - name: Push master-ci
       run: |
         unset TARGET_DIR
-        BRANCH=master-ci release/build_devel.sh
+        BRANCH=__nightly release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -5,13 +5,39 @@ on:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
   workflow_dispatch:
 
+env:
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
 jobs:
+  update_translations:
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Update translations
+        run: |
+          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: Vehicle Researcher <user@comma.ai>
+          commit-message: "Update translations"
+          title: "[bot] Update translations"
+          body: "Automatic PR from repo-maintenance -> update_translations"
+          branch: "update-translations"
+          base: "master"
+          delete-branch: true
+          labels: bot
+
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/selfdrive_tests.yaml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -15,11 +14,10 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -33,7 +31,6 @@ env:
 
 jobs:
   build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
@@ -55,7 +52,7 @@ jobs:
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.repository == 'commaai/openpilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
@@ -88,9 +85,7 @@ jobs:
 
   build_mac:
     name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -99,7 +94,6 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: ~/Library/Caches/Homebrew
-        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -111,7 +105,6 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: /tmp/scons_cache
-        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
@@ -234,7 +227,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
       run: |
         ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
@@ -344,7 +337,7 @@ jobs:
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
@@ -353,5 +346,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: ${{ env.REPORT_NAME }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/stale.yaml

@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

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

@@ -1,133 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-
-on:
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model'
-        required: false
-        type: string
-      file_name:
-        description: 'File name prefix for the model files'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: false
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  build_model:
-    runs-on: self-hosted
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
-          submodules: recursive
-
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        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
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
-      
-      - name: Patch SConstruct to pass arbitrary cache
-        run: |
-          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
-          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
-          cat ${{ github.workspace }}/SConstruct
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --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
-        with:
-          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}

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

@@ -1,275 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
-  # Branch configurations
-  MASTER_BRANCH: "master"
-  MASTER_NEW_BRANCH: "master-new"
-  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: "staging-c3-new"
-  DEV_TARGET_BRANCH: "dev-c3-new"
-  RELEASE_TARGET_BRANCH: "release-c3-new"
-
-on:
-  push:
-    branches: [ master, master-new, master-dev-c3-new ]
-    tags: [ '*' ]
-  pull_request:
-    branches: [ master, master-new ]
-  workflow_dispatch:
-    inputs:
-      extra_version:
-        description: 'Extra version identifier'
-        required: false
-        default: ''
-
-jobs:
-  build:
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: self-hosted
-    outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set Configuration
-        run: |
-          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
-            # Dev configuration
-            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-          
-          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
-            # Master configuration
-            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-          
-          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
-            # Tag configuration
-            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-          
-          else
-            # Feature branch configuration
-            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
-            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          fi
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
-          
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Panda
-        run: |
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='*.cc' \
-            --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-  publish:
-    concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
-    needs: build
-    runs-on: ubuntu-24.04
-    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-
-  notify:
-    needs: [ build, publish ]
-    runs-on: ubuntu-24.04
-    if: success()
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
-
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
-        run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ github.head_ref || github.ref_name }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,162 +0,0 @@
-name: Nightly Branch Reset and PR Squash
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
-  PR_LABEL: "dev-c3"
-
-on:
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master-new'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev-c3-new'
-        type: string
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-          
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-          
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
-          
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ui_preview.yaml

@@ -3,25 +3,23 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
-      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -60,13 +58,13 @@ jobs:
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/ci-artifacts
+          repository: commaai/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -86,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle 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 keyboard_uppercase"
+          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
           A=($scenes)
 
           DIFF=""
@@ -108,13 +106,13 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -127,7 +125,7 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi

.gitignore

@@ -36,6 +36,7 @@ a.out
 *.pyxbldc
 *.vcd
 *.qm
+*_pyx.cpp
 config.json
 clcache
 compile_commands.json
@@ -74,9 +75,6 @@ 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
@@ -106,8 +104,3 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
-
-### JetBrains ###
-!.idea/customTargets.xml
-!.idea/tools/*
-!.run/*

.gitmodules

@@ -1,18 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = https://github.com/sunnyhaibin/panda.git
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = https://github.com/commaai/rednose.git
+  url = ../../commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
+  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/commaai/tinygrad.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.lfsconfig

@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

Jenkinsfile

@@ -166,7 +166,7 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
@@ -183,7 +183,7 @@ node {
       ])
     }
 
-    if (env.BRANCH_NAME == 'master-ci') {
+    if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
           deviceStage("build nightly", "tici-needs-can", [], [
@@ -203,8 +203,6 @@ node {
       // tici tests
       'onroad tests': {
         deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
-          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
-          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
@@ -240,7 +238,6 @@ node {
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
-      /*
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
@@ -248,7 +245,6 @@ node {
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
-      */
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),

LICENSE.md

@@ -1,21 +0,0 @@
-# Custom MIT License
-
-Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
-
-1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
-
-2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
-   "This software is licensed under a custom license requiring permission for use."
-
-3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
-   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
-
-4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
-
----
-
-Haibin Wen, SUNNYPILOT LLC

RELEASES.md

@@ -1,19 +1,26 @@
-Version 0.9.8 (2025-02-27)
+Version 0.9.9 (2025-04-30)
+========================
+* New driving model
+* Tesla Model 3 and Y support thanks to lukasloetkolben!
+* Coming soon
+  * New driving model supervised by MLSIM
+  * An online learner for steering actuator delay
+
+Version 0.9.8 (2025-02-28)
 ========================
 * New driving model
   * Model now gates applying positive acceleration in Chill mode
-* New driving monitoring model
+* New driver monitoring model
   * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
   * More GPU time for bigger driving models
   * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
-* FIREHOSE mode
-  * Allows you to maximize your training data uploads to improve the models
+* Localizer rewritten to remove GPS dependency at runtime
+* Firehose Mode for maximizing your training data uploads
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
 * Rivian R1S and R1T support thanks to lukasloetkolben!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
 * Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
 
 Version 0.9.7 (2024-06-13)

SConstruct

@@ -70,12 +70,6 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -113,7 +107,6 @@ if arch == "larch64":
   ]
 
   libpath += [
-    "#third_party/snpe/larch64",
     "#third_party/libyuv/larch64/lib",
     "/usr/lib/aarch64-linux-gnu"
   ]
@@ -152,14 +145,6 @@ else:
       "/usr/local/lib",
     ]
 
-    if arch == "x86_64":
-      libpath += [
-        f"#third_party/snpe/{arch}"
-      ]
-      rpath += [
-        Dir(f"#third_party/snpe/{arch}").abspath,
-      ]
-
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
   ldflags = ["-fsanitize=address"]
@@ -174,10 +159,6 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
@@ -207,7 +188,6 @@ env = Environment(
     "#third_party/libyuv/include",
     "#third_party/json11",
     "#third_party/linux/include",
-    "#third_party/snpe/include",
     "#third_party",
     "#msgq",
   ],
@@ -243,8 +223,7 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -391,8 +370,6 @@ 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

@@ -10,136 +10,22 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct ModularAssistiveDrivingSystem {
-  state @0 :ModularAssistiveDrivingSystemState;
-  enabled @1 :Bool;
-  active @2 :Bool;
-  available @3 :Bool;
-
-  enum ModularAssistiveDrivingSystemState {
-    disabled @0;
-    paused @1;
-    enabled @2;
-    softDisabling @3;
-    overriding @4;
-  }
+struct CustomReserved0 @0x81c2f05a394cf4af {
 }
 
-struct SelfdriveStateSP @0x81c2f05a394cf4af {
-  mads @0 :ModularAssistiveDrivingSystem;
+struct CustomReserved1 @0xaedffd8f31e7b55d {
 }
 
-struct ModelManagerSP @0xaedffd8f31e7b55d {
-  activeBundle @0 :ModelBundle;
-  selectedBundle @1 :ModelBundle;
-  availableBundles @2 :List(ModelBundle);
-
-  struct DownloadUri {
-    uri @0 :Text;
-    sha256 @1 :Text;
-  }
-
-  enum Type {
-    drive @0;
-    navigation @1;
-    metadata @2;
-  }
-
-  struct Model {
-    fullName @0 :Text;
-    fileName @1 :Text;
-    downloadUri @2 :DownloadUri;
-    downloadProgress @3 :DownloadProgress;
-    type @4 :Type;
-  }
-
-  enum DownloadStatus {
-    notDownloading @0;
-    downloading @1;
-    downloaded @2;
-    cached @3;
-    failed @4;
-  }
-
-  struct DownloadProgress {
-    status @0 :DownloadStatus;
-    progress @1 :Float32;
-    eta @2 :UInt32;
-  }
-
-  enum Runner {
-    snpe @0;
-    tinygrad @1;
-  }
-
-  struct ModelBundle {
-    index @0 :UInt32;
-    internalName @1 :Text;
-    displayName @2 :Text;
-    models @3 :List(Model);
-    status @4 :DownloadStatus;
-    generation @5 :UInt32;
-    environment @6 :Text;
-    runner @7 :Runner;
-    is20hz @8 :Bool;
-  }
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }
 
-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  dec @0 :DynamicExperimentalControl;
-
-  struct DynamicExperimentalControl {
-    state @0 :DynamicExperimentalControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-
-    enum DynamicExperimentalControlState {
-      acc @0;
-      blended @1;
-    }
-  }
+struct CustomReserved3 @0xda96579883444c35 {
 }
 
-struct OnroadEventSP @0xda96579883444c35 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName {
-    lkasEnable @0;
-    lkasDisable @1;
-    manualSteeringRequired @2;
-    manualLongitudinalRequired @3;
-    silentLkasEnable @4;
-    silentLkasDisable @5;
-    silentBrakeHold @6;
-    silentWrongGear @7;
-    silentReverseGear @8;
-    silentDoorOpen @9;
-    silentSeatbeltNotLatched @10;
-    silentParkBrake @11;
-    controlsMismatchLateral @12;
-    hyundaiRadarTracksConfirmed @13;
-    experimentalModeSwitched @14;
-  }
+struct CustomReserved4 @0x80ae746ee2596b11 {
 }
 
-struct CarParamsSP @0x80ae746ee2596b11 {
-  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
-}
-
-struct CarControlSP @0xa5cd762cd951a455 {
-  mads @0 :ModularAssistiveDrivingSystem;
+struct CustomReserved5 @0xa5cd762cd951a455 {
 }
 
 struct CustomReserved6 @0xf98d843bfd7004a3 {

cereal/log.capnp

@@ -59,6 +59,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     pcmEnable @23;
     pcmDisable @24;
     radarFault @25;
+    radarTempUnavailable @93;
     brakeHold @26;
     parkBrake @27;
     manualRestart @28;
@@ -151,6 +152,10 @@ struct InitData {
   gitBranch @11 :Text;
   gitRemote @13 :Text;
 
+  # this is source commit for prebuilt branches
+  gitSrcCommit @23 :Text;
+  gitSrcCommitDate @24 :Text;
+
   androidProperties @16 :Map(Text, Text);
 
   pandaInfo @8 :PandaInfo;
@@ -724,7 +729,7 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarData.Error);
+  radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
@@ -758,6 +763,7 @@ struct RadarState @0x9a185389d6fdd05f {
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
   cumLagMsDEPRECATED @5 :Float32;
+  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
 }
 
 struct LiveCalibrationData {
@@ -2238,6 +2244,11 @@ struct LiveParametersData {
   roll @14 :Float32;
   debugFilterState @16 :FilterState;
 
+  angleOffsetValid @17 :Bool = true;
+  angleOffsetAverageValid @18 :Bool = true;
+  steerRatioValid @19 :Bool = true;
+  stiffnessFactorValid @20 :Bool = true;
+
   yawRateDEPRECATED @7 :Float32;
   filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
 
@@ -2565,12 +2576,12 @@ struct Event {
     # DO change the name of the field and struct
     # DON'T change the ID (e.g. @107)
     # DON'T change which struct it points to
-    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
-    modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    onroadEventsSP @110 :List(Custom.OnroadEventSP);
-    carParamsSP @111 :Custom.CarParamsSP;
-    carControlSP @112 :Custom.CarControlSP;
+    customReserved0 @107 :Custom.CustomReserved0;
+    customReserved1 @108 :Custom.CustomReserved1;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;

cereal/services.py

@@ -74,14 +74,6 @@ _services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
-  # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),
-  "onroadEventsSP": (True, 1., 1),
-  "carParamsSP": (True, 0.02, 1),
-  "carControlSP": (True, 100., 10),
-
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/api.py

@@ -0,0 +1,46 @@
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+class Api:
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self, expiry_hours=1):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/api/__init__.py

@@ -1,27 +0,0 @@
-from openpilot.common.api.comma_connect import CommaConnectApi
-from sunnypilot.sunnylink.api import SunnylinkApi
-
-
-class Api:
-  def __init__(self, dongle_id, use_sunnylink=False):
-    if use_sunnylink:
-      self.service = SunnylinkApi(dongle_id)
-    else:
-      self.service = CommaConnectApi(dongle_id)
-
-  def request(self, method, endpoint, **params):
-    return self.service.request(method, endpoint, **params)
-
-  def get(self, *args, **kwargs):
-    return self.service.get(*args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.service.post(*args, **kwargs)
-
-  def get_token(self, expiry_hours=1):
-    return self.service.get_token(expiry_hours)
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
-  return SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params) if use_sunnylink \
-    else CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)

common/api/base.py

@@ -1,56 +0,0 @@
-import jwt
-import requests
-import unicodedata
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-
-class BaseApi:
-  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
-    self.dongle_id = dongle_id
-    self.api_host = api_host
-    self.user_agent = user_agent
-    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def _get_token(self, expiry_hours=1, **extra_payload):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours),
-      **extra_payload
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-  def get_token(self, expiry_hours=1):
-    return self._get_token(expiry_hours)
-
-  def remove_non_ascii_chars(self, text):
-    normalized_text = unicodedata.normalize('NFD', text)
-    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
-    return ascii_encoded_text.decode()
-
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
-    headers = {}
-    if access_token is not None:
-      headers['Authorization'] = "JWT " + access_token
-
-    version = self.remove_non_ascii_chars(get_version())
-    headers['User-Agent'] = self.user_agent + version
-
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, params=params)

common/api/comma_connect.py

@@ -1,11 +0,0 @@
-import os
-
-from openpilot.common.api.base import BaseApi
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-
-class CommaConnectApi(BaseApi):
-  def __init__(self, dongle_id):
-    super().__init__(dongle_id, API_HOST)
-    self.user_agent = "openpilot-"

common/clutil.cc

@@ -96,109 +96,3 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
   }
   return prg;
 }
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
-
-// Given a cl code and return a string representation
-#define CL_ERR_TO_STR(err) case err: return #err
-const char* cl_get_error_string(int err) {
-  switch (err) {
-    CL_ERR_TO_STR(CL_SUCCESS);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
-    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
-    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
-    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
-    CL_ERR_TO_STR(CL_MAP_FAILURE);
-    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
-    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
-    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
-    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_INVALID_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
-    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE);
-    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
-    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
-    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
-    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
-    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
-    CL_ERR_TO_STR(CL_INVALID_BINARY);
-    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL);
-    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
-    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
-    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
-    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
-    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
-    CL_ERR_TO_STR(CL_INVALID_EVENT);
-    CL_ERR_TO_STR(CL_INVALID_OPERATION);
-    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
-    case -69: return "CL_INVALID_PIPE_SIZE";
-    case -70: return "CL_INVALID_DEVICE_QUEUE";
-    case -71: return "CL_INVALID_SPEC_ID";
-    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
-    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
-    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
-    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
-    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
-    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
-    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
-    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
-    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
-    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
-    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
-    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
-    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
-    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
-    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
-    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
-    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
-    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
-    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
-    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
-    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
-    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
-    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
-    default: return "CL_UNKNOWN_ERROR";
-  }
-}

common/clutil.h

@@ -25,6 +25,4 @@ cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
 void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
-const char* cl_get_error_string(int err);

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "Not Too Shabby (Default)"

common/numpy_fast.py

@@ -1,19 +0,0 @@
-def clip(x, lo, hi):
-  return max(lo, min(hi, x))
-
-def interp(x, xp, fp):
-  N = len(xp)
-
-  def get_interp(xv):
-    hi = 0
-    while hi < N and xv > xp[hi]:
-      hi += 1
-    low = hi - 1
-    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else
-      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-
-  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
-
-def mean(x):
-  return sum(x) / len(x)

common/params.cc

@@ -88,160 +88,6 @@ private:
   int fd_ = -1;
 };
 
-//std::unordered_map<std::string, uint32_t> keys = {
-//    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-//    {"AdbEnabled", PERSISTENT},
-//    {"AlwaysOnDM", PERSISTENT},
-//    {"ApiCache_Device", PERSISTENT},
-//    {"AssistNowToken", PERSISTENT},
-//    {"AthenadPid", PERSISTENT},
-//    {"AthenadUploadQueue", PERSISTENT},
-//    {"AthenadRecentlyViewedRoutes", PERSISTENT},
-//    {"BootCount", PERSISTENT},
-//    {"CalibrationParams", PERSISTENT},
-//    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
-//    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
-//    {"CarBatteryCapacity", PERSISTENT},
-//    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"CarParamsCache", CLEAR_ON_MANAGER_START},
-//    {"CarParamsPersistent", PERSISTENT},
-//    {"CarParamsPrevRoute", PERSISTENT},
-//    {"CompletedTrainingVersion", PERSISTENT},
-//    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"CurrentBootlog", PERSISTENT},
-//    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"DisablePowerDown", PERSISTENT | BACKUP},
-//    {"DisableUpdates", PERSISTENT | BACKUP},
-//    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
-//    {"DongleId", PERSISTENT},
-//    {"DoReboot", CLEAR_ON_MANAGER_START},
-//    {"DoShutdown", CLEAR_ON_MANAGER_START},
-//    {"DoUninstall", CLEAR_ON_MANAGER_START},
-//    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
-//    {"ExperimentalMode", PERSISTENT | BACKUP},
-//    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-//    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"ForcePowerDown", PERSISTENT},
-//    {"GitBranch", PERSISTENT},
-//    {"GitCommit", PERSISTENT},
-//    {"GitCommitDate", PERSISTENT},
-//    {"GitDiff", PERSISTENT},
-//    {"GithubSshKeys", PERSISTENT | BACKUP},
-//    {"GithubUsername", PERSISTENT | BACKUP},
-//    {"GitRemote", PERSISTENT},
-//    {"GsmApn", PERSISTENT | BACKUP},
-//    {"GsmMetered", PERSISTENT | BACKUP},
-//    {"GsmRoaming", PERSISTENT | BACKUP},
-//    {"HardwareSerial", PERSISTENT},
-//    {"HasAcceptedTerms", PERSISTENT},
-//    {"InstallDate", PERSISTENT},
-//    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
-//    {"IsEngaged", PERSISTENT},
-//    {"IsLdwEnabled", PERSISTENT | BACKUP},
-//    {"IsMetric", PERSISTENT | BACKUP},
-//    {"IsOffroad", CLEAR_ON_MANAGER_START},
-//    {"IsOnroad", PERSISTENT},
-//    {"IsRhdDetected", PERSISTENT},
-//    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
-//    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-//    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-//    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"LanguageSetting", PERSISTENT | BACKUP},
-//    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
-//    {"LastGPSPosition", PERSISTENT},
-//    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-//    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-//    {"LastUpdateException", CLEAR_ON_MANAGER_START},
-//    {"LastUpdateTime", PERSISTENT},
-//    {"LiveParameters", PERSISTENT},
-//    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-//    {"LocationFilterInitialState", PERSISTENT},
-//    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"LongitudinalPersonality", PERSISTENT | BACKUP},
-//    {"NetworkMetered", PERSISTENT},
-//    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-//    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-//    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-//    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-//    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-//    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-//    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-//    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-//    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-//    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
-//    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"PandaSignatures", CLEAR_ON_MANAGER_START},
-//    {"PrimeType", PERSISTENT},
-//    {"RecordFront", PERSISTENT | BACKUP},
-//    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-//    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
-//    {"RouteCount", PERSISTENT},
-//    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"SshEnabled", PERSISTENT | BACKUP},
-//    {"TermsVersion", PERSISTENT},
-//    {"TrainingVersion", PERSISTENT},
-//    {"UbloxAvailable", PERSISTENT},
-//    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-//    {"UpdaterAvailableBranches", PERSISTENT},
-//    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
-//    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
-//    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-//    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
-//    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
-//    {"UpdaterState", CLEAR_ON_MANAGER_START},
-//    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
-//    {"UpdaterLastFetchTime", PERSISTENT},
-//    {"Version", PERSISTENT},
-//
-//    // --- sunnypilot params --- //
-//    {"ApiCache_DriveStats", PERSISTENT},
-//    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-//    {"CarParamsSPPersistent", PERSISTENT},
-//    {"CarPlatformBundle", PERSISTENT},
-//    {"EnableGithubRunner", PERSISTENT | BACKUP},
-//    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
-//    {"OffroadMode", CLEAR_ON_MANAGER_START},
-//    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
-//
-//    // MADS params
-//    {"Mads", PERSISTENT | BACKUP},
-//    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-//    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
-//    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
-//
-//    // Model Manager params
-//    {"ModelManager_ActiveBundle", PERSISTENT},
-//    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-//    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-//    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
-//
-//    // sunnylink params
-//    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-//    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
-//    {"SunnylinkDongleId", PERSISTENT},
-//    {"SunnylinkdPid", PERSISTENT},
-//    {"SunnylinkEnabled", PERSISTENT},
-//
-//    // sunnypilot car specific params
-//    {"HyundaiRadarTracks", PERSISTENT},
-//    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-//    {"HyundaiRadarTracksPersistent", PERSISTENT},
-//    {"HyundaiRadarTracksToggle", PERSISTENT},
-//
-//    {"DynamicExperimentalControl", PERSISTENT},
-//};
-
 } // namespace
 
 

common/params.h

@@ -16,7 +16,6 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
-  BACKUP = 0x80,
   ALL = 0xFFFFFFFF
 };
 

common/params_keys.h

@@ -8,6 +8,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AdbEnabled", PERSISTENT},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_FirehoseStats", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -36,7 +37,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
-    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},

common/util.cc

@@ -257,7 +257,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {
 
 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';
   };
 

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.8"
+#define COMMA_VERSION "0.9.9"

conftest.py

@@ -77,8 +77,10 @@ def openpilot_class_fixture():
 
 
 @pytest.fixture(scope="function")
-def tici_setup_fixture(openpilot_function_fixture):
+def tici_setup_fixture(request, openpilot_function_fixture):
   """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
+  if 'skip_tici_setup' in request.keywords:
+    return
   HARDWARE.initialize_hardware()
   HARDWARE.set_power_save(False)
   os.system("pkill -9 -f athena")

docs/CARS.md

@@ -312,7 +312,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<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>||
 
 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />

docs/contributing/roadmap.md

@@ -16,7 +16,7 @@ a [learned simulator](https://youtu.be/EqQNZXqzFSI).
 * Always-on driver monitoring (behind a toggle)
 * GPS removed from the driving stack
 * 100KB qlogs
-* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
+* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
 * Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
 * openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
 

launch_chffrplus.sh

@@ -1,13 +1,9 @@
 #!/usr/bin/env bash
 
-if [ -z "$BASEDIR" ]; then
-  BASEDIR="/data/openpilot"
-fi
-
-source "$BASEDIR/launch_env.sh"
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
+source "$DIR/launch_env.sh"
+
 function agnos_init {
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
@@ -38,25 +34,25 @@ function launch {
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
-  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
-  #    the BASEDIR Git repo. This checks for local development work or the user
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
   #    switching branches/forks, which should not be overwritten.
   # 2. The FINALIZED consistent file has to exist, indicating there's an update
   #    that completed successfully and synced to disk.
 
-  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
     if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
+      echo "${DIR} has been modified, skipping overlay update installation"
     else
       if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
         if [ ! -d /data/safe_staging/old_openpilot ]; then
           echo "Valid overlay update found, installing"
           LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
 
-          mv $BASEDIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $BASEDIR
-          cd $BASEDIR
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
 
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
           unset AGNOS_VERSION

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.8"
+  export AGNOS_VERSION="11.11"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/sunnypilot

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

pyproject.toml

@@ -99,11 +99,13 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
+  "dbus-next",
   "dictdiffer",
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
   "pyautogui",
+  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
@@ -143,6 +145,7 @@ asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
+  "skip_tici_setup: mark test to skip tici setup fixture"
 ]
 testpaths = [
   "common",
@@ -160,7 +163,6 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
-  "sunnypilot",
 ]
 
 [tool.codespell]
@@ -216,7 +218,7 @@ lint.select = [
   "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
   "NPY", # numpy
   "UP",  # pyupgrade
-  "TRY302", "TRY400", "TRY401", # try/excepts
+  "TRY203", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
   "TID251",
   "PLR1704",

release/build_devel.sh

@@ -19,15 +19,15 @@ cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
 pre-commit uninstall || true
 
-echo "[-] bringing master-ci and devel in sync T=$SECONDS"
+echo "[-] bringing __nightly and devel in sync T=$SECONDS"
 cd $TARGET_DIR
 
-git fetch --depth 1 origin master-ci
+git fetch --depth 1 origin __nightly
 git fetch --depth 1 origin devel
 
-git checkout -f --track origin/master-ci
-git reset --hard master-ci
-git checkout master-ci
+git checkout -f --track origin/__nightly
+git reset --hard __nightly
+git checkout __nightly
 git reset --hard origin/devel
 git clean -xdff
 git lfs uninstall
@@ -51,9 +51,13 @@ rm -f panda/board/obj/panda.bin.signed
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
 VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
 
+echo -n "$GIT_HASH" > git_src_commit
+echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
+
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git status
@@ -81,7 +85,7 @@ fi
 
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin master-ci:$BRANCH
+  git push -f origin __nightly:$BRANCH
 fi
 
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

release/build_release.sh

@@ -40,8 +40,6 @@ rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
 VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
-
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
@@ -92,14 +90,9 @@ git add -f .
 git commit --amend -m "openpilot v$VERSION"
 
 # Run tests
-TEST_FILES="tools/"
-cd $SOURCE_DIR
-cp -pR -n --parents $TEST_FILES $BUILD_DIR/
 cd $BUILD_DIR
 RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
-#system/manager/test/test_manager.py
-pytest selfdrive/car/tests/test_car_interfaces.py
-rm -rf $TEST_FILES
+#pytest selfdrive/car/tests/test_car_interfaces.py
 
 if [ ! -z "$RELEASE_BRANCH" ]; then
   echo "[-] pushing release T=$SECONDS"

release/ci/install_github_runner.sh

@@ -1,262 +0,0 @@
-#!/usr/bin/env bash
-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
-    case $1 in
-        --start-at-boot)
-            START_AT_BOOT=true
-            shift
-            ;;
-        --token)
-            GITHUB_TOKEN="$2"
-            shift 2
-            ;;
-        --repo)
-            REPO_URL="$2"
-            shift 2
-            ;;
-        --restore)
-            RESTORE_MODE=true
-            shift
-            ;;
-        *)
-            if [ -z "$GITHUB_TOKEN" ]; then
-                GITHUB_TOKEN="$1"
-            elif [ -z "$REPO_URL" ]; then
-                REPO_URL="$1"
-            fi
-            shift
-            ;;
-    esac
-done
-
-# Determine BASE_DIR based on mount point
-if mountpoint -q /data/media; then
-    BASE_DIR="/data/media/0/github"
-else
-    BASE_DIR="/data/github"
-fi
-
-# Constants
-RUNNER_USER="github-runner"
-USER_GROUPS="comma,gpu,gpio,sudo"
-RUNNER_DIR="${BASE_DIR}/runner"
-BUILDS_DIR="${BASE_DIR}/builds"
-LOGS_DIR="${BASE_DIR}/logs"
-CACHE_DIR="${BASE_DIR}/cache"
-OPENPILOT_DIR="${BASE_DIR}/openpilot"
-
-# Basic utility functions (no dependencies)
-remount_rw() {
-    sudo mount -o remount,rw /
-}
-
-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} ${RUNNER_USER}
-}
-
-create_sudoers_entry() {
-    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
-}
-
-set_directory_permissions() {
-    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod -R g+rwx "$BASE_DIR"
-    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
-}
-
-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"
-    sync
-}
-
-wipe_bash_logout() {
-  export BASE_DIR
-  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
-  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
-}
-
-# System configuration functions (depends on basic utility functions)
-setup_system_configs() {
-    echo "Setting up system configurations..."
-    remount_rw
-    setup_runner_user
-    create_sudoers_entry
-    remount_ro
-    set_directory_permissions
-    wipe_bash_logout
-}
-
-# Runner setup functions
-install_runner() {
-    echo "Downloading and setting up runner..."
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo chmod +x ./config.sh
-}
-
-configure_runner() {
-    remount_rw
-    echo "Configuring runner..."
-    cd "$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
-    remount_ro
-}
-
-create_service_template() {
-    echo "Creating service template..."
-    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
-[Unit]
-Description={{Description}}
-After=network-online.target nss-lookup.target time-sync.target
-Wants=network-online.target nss-lookup.target time-sync.target
-StartLimitInterval=5
-StartLimitBurst=10
-
-[Service]
-Type=simple
-User=root
-ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
-WorkingDirectory={{RunnerRoot}}
-KillMode=process
-KillSignal=SIGTERM
-TimeoutStopSec=5min
-Restart=always
-RestartSec=120
-
-[Install]
-WantedBy=multi-user.target
-EOL
-}
-
-install_service() {
-    remount_rw
-    echo "Installing systemd service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh install $RUNNER_USER
-
-    if [ "$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 "${service_name}"
-    fi
-    remount_ro
-}
-
-check_restore_prerequisites() {
-    local needs_restore=false
-    local can_restore=false
-    local service_name=""
-
-    # Check if base runner directory exists
-    if [ ! -d "${RUNNER_DIR}" ]; then
-        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
-        echo "This directory is required for restore operations"
-        exit 1
-    fi
-
-    # First check if we have the required files for restoration
-    if [ -f "${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 ${RUNNER_DIR}"
-        exit 1
-    fi
-
-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${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
-    setup_system_configs
-    install_service
-    echo "Runner restoration completed successfully"
-}
-
-perform_install() {
-    echo "Starting fresh installation..."
-    setup_directories
-    setup_system_configs
-    install_runner
-    set_directory_permissions
-    create_service_template
-    configure_runner
-    install_service
-    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

release/ci/publish.sh

@@ -1,78 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-# Take parameters as arguments
-SOURCE_DIR=$1
-OUTPUT_DIR=$2
-DEV_BRANCH=$3
-VERSION=$4
-GIT_ORIGIN=$5
-EXTRA_VERSION_IDENTIFIER=$6
-
-# Check parameters
-if [ -z "$SOURCE_DIR" ] || [ -z "$OUTPUT_DIR" ]; then
-    echo "Error: No source or output directory provided."
-    exit 1
-fi
-
-if [ -z "$DEV_BRANCH" ] || [ -z "$VERSION" ]; then
-    echo "Error: No dev branch or version provided."
-    exit 1
-fi
-
-if [ -z "$GIT_ORIGIN" ]; then
-    echo "Error: No GIT_ORIGIN provided"
-    exit 1
-fi
-
-# "Tagging"
-echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
-
-## set git identity
-#source $DIR/identity.sh
-#export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-echo "[-] Setting up repo T=$SECONDS"
-cd $OUTPUT_DIR
-git init
-
-# set git username/password
-#source /data/identity.sh
-
-git rm -rf $OUTPUT_DIR/.git || true # Doing cleanup, but it might fail if the .git doesn't exist or not allowed to delete
-git remote remove origin || true # ensure cleanup
-git remote add origin $GIT_ORIGIN
-#git push origin -d $DEV_BRANCH || true # Ensuring we delete the remote branch if it exists as we are wiping it out
-git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --allow-empty -m "sunnypilot v$VERSION release" && git push -u origin $DEV_BRANCH)
-
-echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH
-
-# include source commit hash and build date in commit
-GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
-DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
-
-# Add built files to git
-git add -f .
-if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
-  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
-  git commit --amend -m "sunnypilot v$VERSION"
-else
-  git commit --amend -m "sunnypilot v$VERSION
-  version: sunnypilot v$SP_VERSION release
-  date: $DATETIME
-  master commit: $GIT_HASH
-  "
-fi
-git branch -m $DEV_BRANCH
-
-# Push!
-echo "[-] pushing T=$SECONDS"
-git push -f origin $DEV_BRANCH

release/ci/squash_and_merge.py

@@ -1,361 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import subprocess
-import sys
-import shutil
-import signal
-import contextlib
-import tempfile
-import os
-
-
-def run_command(command: str) -> tuple[int, str, str]:
-  """Run a shell command and return exit code, stdout, and stderr."""
-  process = subprocess.Popen(
-    command,
-    shell=True,
-    stdout=subprocess.PIPE,
-    stderr=subprocess.PIPE,
-    text=True
-  )
-  stdout, stderr = process.communicate()
-  return process.returncode, stdout.strip(), stderr.strip()
-
-
-def is_gh_available() -> bool:
-  """Check if GitHub CLI is available."""
-  return shutil.which('gh') is not None
-
-
-def get_current_branch() -> str | None:
-  """Get the name of the current git branch."""
-  code, output, error = run_command("git rev-parse --abbrev-ref HEAD")
-  if code != 0:
-    print(f"Error getting current branch: {error}")
-    return None
-  return output
-
-
-def backup_branch(branch_name: str) -> bool:
-  """Create a backup of the current branch."""
-  backup_name = f"{branch_name}-backup-$(date +%Y%m%d_%H%M%S)"
-  code, _, error = run_command(f"git branch {backup_name}")
-  if code != 0:
-    print(f"Error creating backup branch: {error}")
-    return False
-  print(f"Created backup branch: {backup_name}")
-  return True
-
-
-def get_commit_messages(source_branch: str, target_branch: str) -> list[str] | None:
-  """Get all commit messages between source and target branches."""
-  code, output, error = run_command(f"git log {target_branch}..{source_branch} --format=%B")
-  if code != 0:
-    print(f"Error getting commit messages: {error}")
-    return None
-  return [msg.strip() for msg in output.splitlines() if msg and not msg.startswith('Merge')]
-
-
-def get_pr_info(branch_name: str) -> str | None:
-  """Get PR title using GitHub CLI."""
-  if not is_gh_available():
-    print("Warning: GitHub CLI not found. Install it to auto-fetch PR titles:")
-    print("  https://cli.github.com/")
-    return None
-
-  # Try to get PR info using gh cli
-  code, output, error = run_command(f"gh pr view --json title --jq .title {branch_name}")
-  if code != 0:
-    print(f"No open PR found for branch '{branch_name}'")
-    return None
-
-  return output
-
-
-def create_squash_message(pr_title: str | None, commit_messages: list[str], source_branch: str) -> str:
-  """Create a squash commit message from PR title and commit messages."""
-  parts = []
-
-  # Add PR title if provided
-  if pr_title:
-    parts.append(pr_title)
-  else:
-    parts.append(f"Squashed changes from {source_branch}")
-  parts.append("")  # Empty line after title
-
-  # Add original commits section
-  if commit_messages:
-    parts.append("Original commits:")
-    parts.append("")  # Empty line before list
-    parts.extend(f"* {msg}" for msg in commit_messages)
-
-  return '\n'.join(parts)
-
-
-def prompt_for_title() -> str:
-  """Prompt user for a commit title."""
-  return input("Enter commit title (or press Enter to use default): ").strip()
-
-
-@contextlib.contextmanager
-def workspace_manager(original_branch: str):
-  """Context manager to handle workspace state and cleanup."""
-  stash_created = False
-  stash_restored = False
-  temp_branch: str | None = None
-
-  def cleanup_handler(signum=None, frame=None):
-    """Clean up workspace state."""
-    nonlocal temp_branch, stash_created, stash_restored
-    try:
-      if signum and stash_restored:
-        # If we're handling Ctrl+C but stash was already restored,
-        # just clean up branches and exit
-        current = get_current_branch()
-        if current and current != original_branch:
-          run_command(f"git checkout {original_branch}")
-        if temp_branch:
-          run_command(f"git branch -D {temp_branch}")
-        print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(3)
-
-      # First, switch back to original branch
-      current = get_current_branch()
-      if current and current != original_branch:
-        run_command(f"git checkout {original_branch}")
-
-      # Then clean up temp branch
-      if temp_branch:
-        run_command(f"git branch -D {temp_branch}")
-
-      # Finally, restore stash if needed - AFTER switching branches
-      if stash_created and not stash_restored:
-        print("Restoring your uncommitted changes...")
-        code, stash_list, _ = run_command("git stash list")
-        if code == 0 and "Automatic stash by squash script" in stash_list:
-          run_command("git stash pop")
-          stash_restored = True
-          stash_created = False
-
-      if signum:
-        print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(4)
-
-    except Exception as e:
-      print(f"Error during cleanup: {e}")
-      if signum:
-        sys.exit(5)
-
-  try:
-    # Set up signal handlers
-    signal.signal(signal.SIGINT, cleanup_handler)
-    signal.signal(signal.SIGTERM, cleanup_handler)
-
-    # Check for changes (including untracked files)
-    code, output, _ = run_command("git status --porcelain")
-    if output:
-      print("Stashing uncommitted changes...")
-      run_command("git stash push -u -m 'Automatic stash by squash script'")
-      stash_created = True
-
-    yield lambda x: setattr(x, 'temp_branch', temp_branch)
-
-  except Exception as e:
-    print(f"\nError occurred: {str(e)}")
-    cleanup_handler()
-    raise
-  finally:
-    cleanup_handler()
-
-
-def create_commit_with_message(message: str) -> bool:
-  """Create a commit with the given message using a temporary file."""
-  try:
-    with tempfile.NamedTemporaryFile(mode='w', delete=False) as f:
-      f.write(message)
-      temp_path = f.name
-
-    # Use the temporary file for the commit message
-    code, _, error = run_command(f"git commit -F {temp_path}")
-    os.unlink(temp_path)  # Clean up the temp file
-
-    if code != 0:
-      print(f"Error creating commit: {error}")
-      return False
-    return True
-  except Exception as e:
-    print(f"Error handling commit message: {e}")
-    if os.path.exists(temp_path):
-      os.unlink(temp_path)
-    return False
-
-
-def squash_and_merge(source_branch: str, target_branch: str, manual_title: str | None, backup: bool = False, push: bool = False) -> bool:
-  """
-  Squash the source branch and merge into target branch.
-  """
-  # Get original branch right away
-  original_branch = get_current_branch()
-  if not original_branch:
-    return False
-
-  class State:
-    temp_branch: str | None = None
-
-  state = State()
-
-  with workspace_manager(original_branch) as set_temp_branch:
-    # Validate source branch exists
-    code, _, error = run_command(f"git rev-parse --verify {source_branch}")
-    if code != 0:
-      print(f"Error: Source branch {source_branch} not found")
-      return False
-
-    if source_branch == target_branch:
-      print(f"Error: Source and target branches cannot be the same ({source_branch})")
-      return False
-
-    # Ensure target branch exists
-    code, _, error = run_command(f"git rev-parse --verify {target_branch}")
-    if code != 0:
-      print(f"Error: Target branch {target_branch} not found")
-      return False
-
-    # Find merge base
-    code, merge_base, error = run_command(f"git merge-base {target_branch} {source_branch}")
-    if code != 0:
-      print(f"Error finding merge base: {error}")
-      return False
-
-    # Create backup unless explicitly skipped
-    if backup and not backup_branch(source_branch):
-      return False
-
-    # Get commit messages
-    commit_messages = get_commit_messages(source_branch, target_branch)
-    if commit_messages is None:
-      return False
-
-    # Get title (priority: manual title > PR title > prompt user)
-    title = manual_title
-    if not title:
-      title = get_pr_info(source_branch)
-    if not title:
-      title = prompt_for_title()
-
-    try:
-      # Create and switch to temporary branch
-      temp_branch = f"temp-squash-{source_branch}"
-      state.temp_branch = temp_branch
-      set_temp_branch(state)
-
-      print(f"\nCreating temporary branch {temp_branch}...")
-      code, _, error = run_command(f"git checkout -b {temp_branch} {source_branch}")
-      if code != 0:
-        print(f"Error creating temp branch: {error}")
-        return False
-
-      print("Preparing squash by resetting temporary branch to merge base...")
-      code, _, error = run_command(f"git reset --soft {merge_base}")
-      if code != 0:
-        print(f"Error resetting for squash: {error}")
-        return False
-
-      # Create commit with message
-      print("Creating squash commit...")
-      squash_message = create_squash_message(title, commit_messages, source_branch)
-      if not create_commit_with_message(squash_message):
-        return False
-
-      # Switch to target and try merge
-      print(f"\nSwitching to target branch {target_branch}...")
-      code, _, error = run_command(f"git checkout {target_branch}")
-      if code != 0:
-        print(f"Error checking out target branch: {error}")
-        return False
-
-      print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git rebase {temp_branch}")
-
-      if code != 0:
-        print(f"\nMerge failed with error: {error}")
-        print("\nThe squash was successful, and your changes are preserved in the temporary branch.")
-        print("To complete the merge manually, follow these steps:")
-        print(f"\n1. Your squashed changes are in branch: '{temp_branch}'")
-        print(f"2. The target branch is: '{target_branch}'")
-        print("\nTo resolve the conflicts:")
-        print(f"   git checkout {target_branch}")
-        print(f"   git merge {temp_branch}")
-        print("   # resolve conflicts in your editor")
-        print("   git add <resolved-files>")
-        print("   git commit")
-        print(f"   git push origin {target_branch}  # when ready to push")
-        print("\nTo clean up after successful merge:")
-        print(f"   git branch -D {temp_branch}")
-
-        # Make sure to abort the merge
-        print("\nAborting current merge attempt...")
-        run_command("git merge --abort")
-
-        # Return to original branch, but keep temp branch
-        print(f"Returning to {original_branch}...")
-        run_command(f"git checkout {original_branch}")
-        return False
-
-      # Clean up temp branch on success
-      run_command(f"git branch -D {temp_branch}")
-
-      # Push if requested
-      if push:
-        code, _, error = run_command(f"git push origin {target_branch}")
-        if code != 0:
-          print(f"Error pushing to {target_branch}: {error}")
-          return False
-        print(f"Successfully pushed to {target_branch}")
-      else:
-        print(f"Changes squashed and merged into {target_branch} locally")
-        print(f"To push the changes: git push origin {target_branch}")
-
-      # Return to original branch
-      code, _, error = run_command(f"git checkout {original_branch}")
-      if code != 0:
-        print(f"Warning: Failed to return to original branch: {error}")
-        return False
-
-      return True
-
-    except Exception as e:
-      print(f"Error during squash process: {e}")
-      return False
-
-
-def main():
-  parser = argparse.ArgumentParser(
-    description='Squash branch and merge into target branch'
-  )
-  parser.add_argument('--target', '-t', required=True,
-                      help='Target branch to merge changes into')
-  parser.add_argument('--source', '-s',
-                      help='Source branch to squash (default: current branch)')
-  parser.add_argument('--title', '-m',
-                      help='Optional manual title (overrides PR title)')
-  parser.add_argument('--backup', action='store_true',
-                      help='Creates a backup branch for the source branch')
-  parser.add_argument('--push', action='store_true',
-                      help='Push changes to remote after squashing')
-
-  args, unknown = parser.parse_known_args()
-
-  # Determine source branch early
-  source_branch = args.source
-  if not source_branch:
-    source_branch = get_current_branch()
-    if not source_branch:
-      sys.exit(1)
-
-  if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(2)
-
-
-if __name__ == "__main__":
-  main()

release/ci/squash_and_merge_prs.py

@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-
-import subprocess
-import sys
-import os
-import argparse
-import json
-from datetime import datetime
-
-
-def setup_argument_parser():
-    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
-    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-    parser.add_argument('--source-branch', type=str, default='master-new',
-                        help='Source branch for merging')
-    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
-                        help='Target branch for merging')
-    parser.add_argument('--squash-script-path', type=str, required=True,
-                        help='Path to the squash_and_merge.py script')
-    return parser
-
-
-def validate_squash_script(script_path):
-    if not os.path.isfile(script_path):
-        raise FileNotFoundError(f"Squash script not found at: {script_path}")
-    if not os.access(script_path, os.X_OK):
-        raise PermissionError(f"Squash script is not executable: {script_path}")
-
-
-def sort_prs_by_creation(pr_data):
-    """Sort PRs by creation date"""
-    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
-
-    return sorted(
-        nodes,
-        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
-    )
-
-
-def add_pr_comment(pr_number, comment):
-    """Add a comment to a PR using gh cli"""
-    try:
-        subprocess.run(
-            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
-            check=True,
-            capture_output=True,
-            text=True
-        )
-    except subprocess.CalledProcessError as e:
-        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
-
-
-def validate_pr(pr):
-    """Validate a PR and return (is_valid, skip_reason)"""
-    pr_number = pr.get('number', 'UNKNOWN')
-    branch = pr.get('headRefName', '')
-
-    if not branch:
-        return False, f"Missing branch name for PR #{pr_number}"
-
-    # Check if checks have passed
-    commits = pr.get('commits', {}).get('nodes', [])
-    if not commits:
-        return False, "No commit data found"
-
-    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
-    if not status or status.get('state') != 'SUCCESS':
-        return False, "Not all checks have passed"
-
-    # Check for merge conflicts
-    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
-    merge_data = json.loads(merge_status.stdout)
-    if not merge_data.get('mergeable'):
-        return False, "Merge conflicts detected"
-
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-        return False, f"Branch is `{mergeStateStatus}`"
-
-    return True, None
-
-
-def process_pr(pr_data, source_branch, target_branch, squash_script_path):
-    try:
-        nodes = sort_prs_by_creation(pr_data)
-        if not nodes:
-            print("No PRs to squash")
-            return 0
-
-        print(f"Deleting target branch {target_branch}")
-        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
-        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
-        success_count = 0
-        for pr in nodes:
-            pr_number = pr.get('number', 'UNKNOWN')
-            branch = pr.get('headRefName', '')
-            title = pr.get('title', '')
-            is_valid, skip_reason = validate_pr(pr)
-
-            if not is_valid:
-                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-                add_pr_comment(pr_number, f"⚠️ This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
-                continue
-
-            try:
-                # Fetch PR branch
-                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
-                # Delete branch if it exists (ignore errors if it doesn't)
-                subprocess.run(['git', 'branch', '-D', branch], check=False)
-                # Create new branch pointing to origin's branch
-                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
-
-                # Run squash script
-                subprocess.run([
-                    squash_script_path,
-                    '--target', target_branch,
-                    '--source', branch,
-                    '--title', f"{title} (#{pr_number})",
-                ], check=True)
-
-                print(f"Successfully processed PR #{pr_number}")
-                success_count += 1
-
-            except subprocess.CalledProcessError as e:
-                print(f"Error processing PR #{pr_number}:")
-                print(f"Command failed with exit code {e.returncode}")
-                error_output = getattr(e, 'stderr', 'No error output available')
-                print(f"Error output: {error_output}")
-                add_pr_comment(pr_number, f"⚠️ Error during automated {target_branch} squash:\n```\n{error_output}\n```")
-                continue
-            except Exception as e:
-                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
-                continue
-
-        return success_count
-
-    except Exception as e:
-        import traceback
-        print(f"Error in process_pr: {str(e)}")
-        print("Full traceback:")
-        print(traceback.format_exc())
-        return 0
-
-
-def main():
-    parser = setup_argument_parser()
-    try:
-        args = parser.parse_args()
-        validate_squash_script(args.squash_script_path)
-        pr_data_json = json.loads(args.pr_data)
-
-        # Process the PRs
-        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
-        print(f"Successfully processed {success_count} PRs")
-
-    except Exception as e:
-        print(f"Fatal error: {str(e)}", file=sys.stderr)
-        return 1
-
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())

release/ci/uninstall_github_runner.sh

@@ -1,66 +0,0 @@
-#!/usr/bin/env bash
-# Determine BASE_DIR based on mount point
-if mountpoint -q /data/media; then
-    GITHUB_BASE_DIR="/data/media/0/github"
-else
-    GITHUB_BASE_DIR="/data/github"
-fi
-
-# Define directories and user
-BIN_DIR="$GITHUB_BASE_DIR/bin"
-BUILDS_DIR="$GITHUB_BASE_DIR/builds"
-OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
-LOGS_DIR="$GITHUB_BASE_DIR/logs"
-CACHE_DIR="$GITHUB_BASE_DIR/cache"
-RUNNER_USERNAME="github-runner"
-# Define the systemd service name
-SERVICE_NAME="github-runner"
-USER_GROUPS="comma,gpu,gpio,sudo"
-
-# Function to stop and disable the systemd service
-stop_and_uninstall_service() {
-    cd $GITHUB_BASE_DIR/runner
-    sudo ./svc.sh stop
-    sudo ./svc.sh uninstall
-}
-
-# Function to remove the systemd service file
-remove_runner() {
-    cd $GITHUB_BASE_DIR/runner
-    sudo rm .runner
-    sudo su -c './config.sh remove' github-runner
-}
-
-# Function to delete the Github Runner directories
-delete_directories() {
-    sudo rm -rf "$BIN_DIR/github-runner"
-    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-}
-
-# Function to remove the Github Runner user
-delete_user() {
-    for group in ${USER_GROUPS//,/ }
-    do
-       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
-    done
-    sudo userdel -r ${RUNNER_USERNAME}
-}
-
-# Function to remove sudoers entry
-remove_sudoers_entry() {
-    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
-}
-
-# Make filesystem writable
-sudo mount -o remount rw /
-
-# Ensure filesystem is remounted as read-only on script exit
-trap "sudo mount -o remount ro /" EXIT
-
-# Call functions
-stop_and_uninstall_service
-remove_runner
-delete_directories
-delete_user
-remove_sudoers_entry
-# End of uninstall script

release/release_files.py

@@ -8,6 +8,7 @@ ROOT = HERE + "/.."
 
 blacklist = [
   ".git/",
+  ".github/workflows/",
 
   "matlab.*.md",
 
@@ -22,7 +23,6 @@ blacklist = [
 whitelist: list[str] = [
 ]
 
-
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):
     if not (f.is_file() or f.is_symlink()):

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|.*\.zst"
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
@@ -56,7 +56,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
+    run "codespell" codespell $ALL_FILES
   fi
 
   return $FAILED

scripts/manage-powersave.py

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

selfdrive/assets/offroad/tc.html

@@ -1,44 +0,0 @@
-<!DOCTYPE html>
-
-<head>
-  <meta charset="utf-8" />
-  <title>openpilot Terms of Service</title>
-  <style type="text/css">
-    p {
-      margin: 45px 0;
-    }
-  </style>
-</head>
-
-<body>
-  <p>The Terms and Conditions below are effective for all users</p>
-  <p>Last Updated on October 18, 2019</p>
-  <p>Please read these Terms of Use (“Terms”) carefully before using openpilot which is open-sourced software developed by Comma.ai, Inc., a corporation organized under the laws of Delaware (“comma,” “us,” “we,” or “our”).</p>
-  <p><strong>Before using and by accessing openpilot, you indicate that you have read, understood, and agree to these Terms.</strong> These Terms apply to all users and others who access or use openpilot. If others use openpilot through your user account or vehicle, you are responsible to ensure that they only use openpilot when it is safe to do so, and in compliance with these Terms and with applicable law. If you disagree with any part of the Terms, you should not access or use openpilot.</p>
-  <h3 id="communications">Communications</h3>
-  <p>You agree that comma may contact you by email or telephone in connection with openpilot or for other business purposes. You may opt out of receiving email messages at any time by contacting us at support@comma.ai.</p>
-  <p>We collect, use, and share information from and about you and your vehicle in connection with openpilot. You consent to comma accessing the systems associated with openpilot, without additional notice or consent, for the purposes of providing openpilot, data collection, software updates, safety and cybersecurity, suspension or removal of your account, and as disclosed in the Privacy Policy (available at https://connect.comma.ai/privacy).</p>
-  <h3 id="safety">Safety</h3>
-  <p>openpilot performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) designed for use in compatible motor vehicles. While using openpilot, it is your responsibility to obey all laws, traffic rules, and traffic regulations governing your vehicle and its operation. Access to and use of openpilot is at your own risk and responsibility, and openpilot should be accessed and/or used only when you can do so safely.</p>
-  <p>openpilot does not make your vehicle “autonomous” or capable of operation without the active monitoring of a licensed driver. It is designed to assist a licensed driver. A licensed driver must pay attention to the road, remain aware of navigation at all times, and be prepared to take immediate action. Failure to do so can cause damage, injury, or death.</p>
-  <h3 id="supported-locations-and-models">Supported Locations and Models</h3>
-  <p>openpilot is compatible only with particular makes and models of vehicles. For a complete list of currently supported vehicles, visit https://comma.ai. openpilot will not function properly when installed in an incompatible vehicle. openpilot is compatible only within the geographical boundaries of the United States of America.</p>
-  <h3 id="indemnification">Indemnification</h3>
-  <p><strong>To the maximum extent allowable by law, you agree to defend, indemnify and hold harmless comma, and its employees, partners, suppliers, contractors, investors, agents, officers, directors, and affiliates, from and against any and all claims, damages, causes of action, penalties, interest, demands, obligations, losses, liabilities, costs or debt, additional taxes, and expenses (including but not limited to attorneys’ fees), resulting from or arising out of (i) your use and access of, or inability to use or access, openpilot, (ii) your breach of these Terms, (iii) the inaccuracy of any information, representation or warranty made by you, (iv) activities of anyone other than you in connection with openpilot conducted through your comma device or account, (v) any other of your activities under or in connection with these Terms or openpilot.</strong></p>
-  <h3 id="limitation-of-liability">Limitation of Liability</h3>
-  <p>In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable for any indirect, incidental, special, consequential or punitive damages, including without limitation, loss of profits, data, use, goodwill, or other intangible losses, resulting from (i) your access to or use of or inability to access or use of the Software; or (ii) any conduct or content of any third party on the Software whether based on warranty, contract, tort (including negligence) or any other legal theory, whether or not we have been informed of the possibility of such damage, and even if a remedy set forth herein is found to have failed of its essential purpose.</p>
-  <h3 id="no-warranty-or-obligations-to-maintain-or-service">No Warranty or Obligations to Maintain or Service</h3>
-  <p>comma provides openpilot without representations, conditions, or warranties of any kind. openpilot is provided on an “AS IS” and “AS AVAILABLE” basis, including with all faults and errors as may occur. To the extent permitted by law and unless prohibited by law, comma on behalf of itself and all persons and parties acting by, through, or for comma, explicitly disclaims all warranties or conditions, express, implied, or collateral, including any implied warranties of merchantability, satisfactory quality, and fitness for a particular purpose in respect of openpilot.</p>
-  <p>To the extent permitted by law, comma does not warrant the operation, performance, or availability of openpilot under all conditions. comma is not responsible for any failures caused by server errors, misdirected or redirected transmissions, failed internet connections, interruptions or failures in the transmission of data, any computer virus, or any acts or omissions of third parties that damage the network or impair wireless service.</p>
-  <p>We undertake reasonable measures to preserve and secure information collected through our openpilot. However, no data collection, transmission or storage system is 100% secure, and there is always a risk that your information may be intercepted without our consent. <em>In using openpilot, you acknowledge that comma is not responsible for intercepted information, and you hereby release us from any and all claims arising out of or related to the use of intercepted information in any unauthorized manner.</em></p>
-  <p>By providing openpilot, comma does not transfer or license its intellectual property or grant rights in its brand names, nor does comma make representations with respect to third-party intellectual property rights.</p>
-  <p>We are not obligated to provide any maintenance or support for openpilot, technical or otherwise. If we voluntarily provide any maintenance or support for openpilot, we may stop any such maintenance, support, or services at any time in our sole discretion.</p>
-  <h3 id="modification-of-software">Modification of Software</h3>
-  <p>In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable if you choose to modify the software.</p>
-  <h3 id="changes">Changes</h3>
-  <p>We reserve the right, at our sole discretion, to modify or replace these Terms at any time. If a revision is material we will provide at least 15 days’ notice prior to any new terms taking effect. What constitutes a material change will be determined at our sole discretion.</p>
-  <p>By continuing to access or use our Software after any revisions become effective, you agree to be bound by the revised terms. If you do not agree to the new terms, you are no longer authorized to use the Software.</p>
-  <h3 id="contact-us">Contact Us</h3>
-  <p>If you have any questions about these Terms, please contact us at support@comma.ai.</p>
-</body>
-</html>

selfdrive/car/CARS_template.md

@@ -12,11 +12,11 @@
 
 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.
 
-# {{all_car_docs | length}} Supported Cars
+# {{all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) | list | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_docs in all_car_docs %}
+{% for car_docs in all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) %}
 |{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}

selfdrive/car/card.py

@@ -1,12 +1,11 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log, custom
+from cereal import car, log
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
@@ -16,16 +15,12 @@ from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car, get_radar_interface
+from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
-
-from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car import interfaces
 
 REPLAY = "REPLAY" in os.environ
 
@@ -68,13 +63,11 @@ class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
   CP: car.CarParams
-  CP_SP: structs.CarParamsSP
-  CP_SP_capnp: custom.CarParamsSP
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -105,18 +98,14 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
-
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
-      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
-      self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
-      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
+      self.CI, self.CP = CI, CI.CP
       self.RI = RI
 
     # set alternative experiences from parameters
@@ -125,13 +114,6 @@ class Car:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    # mads
-    MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
-
-    # Dynamic Experimental Control
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -174,14 +156,6 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    # Write CarParamsSP for controls
-    # convert to pycapnp representation for caching and logging
-    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
-    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-    self.params.put("CarParamsSP", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
-
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -191,9 +165,6 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    # log fingerprint in sentry
-    interfaces.log_fingerprint(self.CP)
-
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -222,7 +193,7 @@ class Car:
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -256,32 +227,24 @@ class Car:
 
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
-      tracks_msg.valid = len(RD.errors) == 0
+      tracks_msg.valid = not any(RD.errors.to_dict().values())
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
-    # carParamsSP - logged every 50 seconds (> 1 per segment)
-    if self.sm.frame % int(50. / DT_CTRL) == 0:
-      cp_sp_send = messaging.new_message('carParamsSP')
-      cp_sp_send.valid = True
-      cp_sp_send.carParamsSP = self.CP_SP_capnp
-      self.pm.send('carParamsSP', cp_sp_send)
-
-  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
+      self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -294,7 +257,7 @@ class Car:
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
+      self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
     self.CS_prev = CS
@@ -303,10 +266,6 @@ class Car:
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-
-      # sunnypilot
-      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
       time.sleep(0.1)
 
   def card_thread(self):

selfdrive/car/cruise.py

@@ -56,6 +56,9 @@ class VCruiseHelper:
         if CS.cruiseState.speed == 0:
           self.v_cruise_kph = V_CRUISE_UNSET
           self.v_cruise_cluster_kph = V_CRUISE_UNSET
+        elif CS.cruiseState.speed == -1:
+          self.v_cruise_kph = -1
+          self.v_cruise_cluster_kph = -1
     else:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -120,13 +123,12 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/car/helpers.py

@@ -1,59 +0,0 @@
-import capnp
-from typing import Any
-
-from cereal import custom
-from opendbc.car import structs
-
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
-
-
-def is_dataclass(obj):
-  """Similar to dataclasses.is_dataclass without instance type check checking"""
-  return hasattr(obj, _FIELDS)
-
-
-def _asdictref_inner(obj) -> dict[str, Any] | Any:
-  if is_dataclass(obj):
-    ret = {}
-    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-      ret[field] = _asdictref_inner(getattr(obj, field))
-    return ret
-  elif isinstance(obj, (tuple, list)):
-    return type(obj)(_asdictref_inner(v) for v in obj)
-  else:
-    return obj
-
-
-def asdictref(obj) -> dict[str, Any]:
-  """
-  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
-  Note that the resulting dict will contain references to the original struct as a result
-  """
-  if not is_dataclass(obj):
-    raise TypeError("asdictref() should be called on dataclass instances")
-
-  return _asdictref_inner(obj)
-
-
-def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParamsSP):
-    struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-
-  return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -4,14 +4,13 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
-from cereal import car, custom
+from cereal import car
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
 from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.helpers import convert_carControlSP
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -35,18 +34,15 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CarInterface = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
-    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                                           experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
+    car_interface = CarInterface(car_params)
     assert car_params
-    assert car_params_sp
     assert car_interface
 
     assert car_params.mass > 1
@@ -73,16 +69,13 @@ class TestCarInterfaces:
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
-    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     CC = CC.as_reader()
-    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
-    CC_SP = convert_carControlSP(CC_SP.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -92,7 +85,7 @@ class TestCarInterfaces:
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_cruise_speed.py

@@ -57,16 +57,16 @@ class TestVCruiseHelper:
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
+  def enable(self, v_ego, experimental_mode):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0, False, False)
+    self.enable(0, False)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,11 +142,10 @@ class TestVCruiseHelper:
     """
 
     for experimental_mode in (True, False):
-      for dynamic_experimental_control in (True, False):
-        for v_ego in np.linspace(0, 100, 101):
-          self.reset_cruise_speed_state()
-          assert not self.v_cruise_helper.v_cruise_initialized
+      for v_ego in np.linspace(0, 100, 101):
+        self.reset_cruise_speed_state()
+        assert not self.v_cruise_helper.v_cruise_initialized
 
-          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
-          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-          assert self.v_cruise_helper.v_cruise_initialized
+        self.enable(float(v_ego), experimental_mode)
+        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+        assert self.v_cruise_helper.v_cruise_initialized

selfdrive/car/tests/test_models.py

@@ -1,6 +1,4 @@
 import time
-import capnp
-import copy
 import os
 import pytest
 import random
@@ -68,7 +66,7 @@ class TestCarModelBase(unittest.TestCase):
   platform: Platform | None = None
   test_route: CarTestRoute | None = None
 
-  can_msgs: list[capnp.lib.capnp._DynamicStructReader]
+  can_msgs: list[tuple[int, list[CanData]]]
   fingerprint: dict[int, dict[int, int]]
   elm_frame: int | None
   car_safety_mode_frame: int | None
@@ -83,7 +81,8 @@ class TestCarModelBase(unittest.TestCase):
     experimental_long = False
     for msg in lr:
       if msg.which() == "can":
-        can_msgs.append(msg)
+        can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+        can_msgs.append((can[0], [CanData(*can) for can in can[1]]))
         if len(can_msgs) <= FRAME_FINGERPRINT:
           for m in msg.can:
             if m.src < 64:
@@ -147,18 +146,14 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
-    cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
-
-    cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -168,7 +163,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy())
     assert self.CI
 
     # TODO: check safetyModel is in release panda build
@@ -200,11 +195,10 @@ class TestCarModelBase(unittest.TestCase):
     can_invalid_cnt = 0
     can_valid = False
     CC = structs.CarControl().as_reader()
-    CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, CC_SP, msg.logMonoTime)
+      CS = self.CI.update(msg)
+      self.CI.apply(CC, msg[0])
 
       if CS.canValid:
         can_valid = True
@@ -216,32 +210,32 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP, self.CP_SP)
+    RI = self.CarInterface.RadarInterface(self.CP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr: structs.RadarData | None = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      rr: structs.RadarData | None = RI.update(msg)
       if rr is not None and i > 50:
-        error_cnt += structs.RadarData.Error.canError in rr.errors
+        error_cnt += rr.errors.canError
     self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_checks(self):
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
 
-    start_ts = self.can_msgs[0].logMonoTime
+    start_ts = self.can_msgs[0][0]
 
     failed_addrs = Counter()
     for can in self.can_msgs:
       # update panda timer
-      t = (can.logMonoTime - start_ts) / 1e3
+      t = (can[0] - start_ts) / 1e3
       self.safety.set_timer(int(t))
 
       # run all msgs through the safety RX hook
-      for msg in can.can:
+      for msg in can[1]:
         if msg.src >= 64:
           continue
 
@@ -270,16 +264,19 @@ class TestCarModelBase(unittest.TestCase):
 
   def test_panda_safety_tx_cases(self, data=None):
     """Asserts we can tx common messages"""
+    if self.CP.dashcamOnly:
+      self.skipTest("no need to check panda safety for dashcamOnly")
+
     if self.CP.notCar:
       self.skipTest("Skipping test for notCar")
 
-    def test_car_controller(car_control, car_control_sp):
+    def test_car_controller(car_control):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
-        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
+        _, sendcan = CI.apply(car_control, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
@@ -292,18 +289,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -391,8 +387,8 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
-      for msg in filter(lambda m: m.src in range(64), can.can):
+      self.CI.update(can)
+      for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
 
@@ -401,8 +397,8 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
-      for msg in filter(lambda m: m.src in range(64), can.can):
+      CS = self.CI.update(can).as_reader()
+      for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")

selfdrive/controls/controlsd.py

@@ -2,14 +2,14 @@
 import math
 from typing import SupportsFloat
 
-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
-from opendbc.car.car_helpers import get_car_interface
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
@@ -33,19 +33,14 @@ class Controls:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
-
-    self.CI = get_car_interface(self.CP, self.CP_SP)
+    self.CI = interfaces[self.CP.carFingerprint](self.CP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
-                                  poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
-    self.steer_limited = False
+    self.steer_limited_by_controls = False
     self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
@@ -93,14 +88,7 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-
-    ss_sp = self.sm['selfdriveStateSP']
-    if ss_sp.mads.available:
-      _lat_active = ss_sp.mads.active
-    else:
-      _lat_active = self.sm['selfdriveState'].active
-
-    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
@@ -121,11 +109,11 @@ class Controls:
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
-    self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = float(self.desired_curvature)
+    self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
+    actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited, self.desired_curvature,
-                                                       self.calibrated_pose)  # TODO what if not available
+                                                       self.steer_limited_by_controls, self.desired_curvature,
+                                                       self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
@@ -138,12 +126,9 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log
 
-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -176,10 +161,10 @@ class Controls:
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
-                             STEER_ANGLE_SATURATION_THRESHOLD
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+                                              STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
@@ -195,7 +180,7 @@ class Controls:
 
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = float(self.desired_curvature)
+    cs.desiredCurvature = self.desired_curvature
     cs.longControlState = self.LoC.long_control_state
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
@@ -219,18 +204,12 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
-
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
       rk.monitor_time()
 
 

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,6 @@
 import numpy as np
 from cereal import log
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL
 
 MIN_SPEED = 1.0
@@ -7,20 +8,33 @@ CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
+MAX_VEL_ERR = 5.0  # m/s
 
 # EU guidelines
-MAX_LATERAL_JERK = 5.0
-MAX_VEL_ERR = 5.0
+MAX_LATERAL_JERK = 5.0  # m/s^3
+MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
 
-def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
-  v_ego = max(MIN_SPEED, v_ego)
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = np.clip(new_curvature,
-                                prev_curvature - max_curvature_rate * DT_CTRL,
-                                prev_curvature + max_curvature_rate * DT_CTRL)
 
-  return safe_desired_curvature
+def clamp(val, min_val, max_val):
+  clamped_val = float(np.clip(val, min_val, max_val))
+  return clamped_val, clamped_val != val
+
+
+def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
+  # This function respects ISO lateral jerk and acceleration limits + a max curvature
+  v_ego = max(v_ego, MIN_SPEED)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2)  # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
+  new_curvature = np.clip(new_curvature,
+                          prev_curvature - max_curvature_rate * DT_CTRL,
+                          prev_curvature + max_curvature_rate * DT_CTRL)
+
+  roll_compensation = roll * ACCELERATION_DUE_TO_GRAVITY
+  max_lat_accel = MAX_LATERAL_ACCEL_NO_ROLL + roll_compensation
+  min_lat_accel = -MAX_LATERAL_ACCEL_NO_ROLL + roll_compensation
+  new_curvature, limited_accel = clamp(new_curvature, min_lat_accel / v_ego ** 2, max_lat_accel / v_ego ** 2)
+
+  new_curvature, limited_max_curv = clamp(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  return float(new_curvature), limited_accel or limited_max_curv
 
 
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:

selfdrive/controls/lib/latcontrol.py

@@ -17,14 +17,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited):
-    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
+    # Saturated only if control output is not being limited by car torque/angle rate limits
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate

selfdrive/controls/lib/latcontrol_angle.py

@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
+    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -43,6 +43,6 @@ class LatControlPID(LatControl):
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
       pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -37,7 +37,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -73,7 +73,7 @@ class LatControlTorque(LatControl):
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
 
-      freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -87,7 +87,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longitudinal_planner.py

@@ -15,8 +15,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
@@ -67,11 +65,10 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner(LongitudinalPlannerSP):
+class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -109,10 +106,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    LongitudinalPlannerSP.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-    if dec_mpc_mode := self.get_mpc_mode():
-      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -214,5 +208,3 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)
-
-    self.publish_longitudinal_plan_sp(sm, pm)

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -17,10 +17,9 @@ class TestLatControl:
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
-    CI = CarInterface(CP, CP_SP, CarController, CarState)
+    CI = CarInterface(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)
@@ -34,7 +33,15 @@ class TestLatControl:
     lp = generate_livePose()
     pose = Pose.from_live_pose(lp.livePose)
 
+    # Saturate for curvature limited and controller limited
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
 
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

selfdrive/controls/plannerd.py

@@ -18,9 +18,9 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
-                           poll='modelV2', ignore_avg_freq=['radarState'])
+                           poll='modelV2')
 
   while True:
     sm.update()

selfdrive/controls/radard.py

@@ -6,6 +6,7 @@ from typing import Any
 
 import capnp
 from cereal import messaging, log, car
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -51,7 +52,7 @@ class Track:
   def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
     self.identifier = identifier
     self.cnt = 0
-    self.aLeadTau = _LEAD_ACCEL_TAU
+    self.aLeadTau = FirstOrderFilter(_LEAD_ACCEL_TAU, 0.45, DT_MDL)
     self.K_A = kalman_params.A
     self.K_C = kalman_params.C
     self.K_K = kalman_params.K
@@ -74,17 +75,12 @@ class Track:
 
     # Learn if constant acceleration
     if abs(self.aLeadK) < 0.5:
-      self.aLeadTau = _LEAD_ACCEL_TAU
+      self.aLeadTau.x = _LEAD_ACCEL_TAU
     else:
-      self.aLeadTau *= 0.9
+      self.aLeadTau.update(0.0)
 
     self.cnt += 1
 
-  def reset_a_lead(self, aLeadK: float, aLeadTau: float):
-    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
-    self.aLeadK = aLeadK
-    self.aLeadTau = aLeadTau
-
   def get_RadarState(self, model_prob: float = 0.0):
     return {
       "dRel": float(self.dRel),
@@ -93,7 +89,7 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
-      "aLeadTau": float(self.aLeadTau),
+      "aLeadTau": float(self.aLeadTau.x),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
@@ -211,9 +207,7 @@ class RadarD:
       self.v_ego_hist.append(self.v_ego)
       self.last_v_ego_frame = sm.recv_frame['carState']
 
-    ar_pts = {}
-    for pt in rr.points:
-      ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured]
+    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points}
 
     # *** remove missing points from meta data ***
     for ids in list(self.tracks.keys()):
@@ -233,10 +227,10 @@ class RadarD:
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***
-    self.radar_state_valid = sm.all_checks() and len(rr.errors) == 0
+    self.radar_state_valid = sm.all_checks()
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
-    self.radar_state.radarErrors = list(rr.errors)
+    self.radar_state.radarErrors = rr.errors
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):

selfdrive/controls/tests/test_leads.py

@@ -26,6 +26,6 @@ class TestLeads:
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
     out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
     states = [m for m in out if m.which() == "liveTracks"]
-    failures = [not state.valid and len(state.liveTracks.errors) for state in states]
+    failures = [not state.valid for state in states]
 
     assert len(states) == 0 or all(failures)

selfdrive/debug/check_can_parser_performance.py

@@ -6,7 +6,6 @@ from tqdm import tqdm
 from cereal import car
 from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
-from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
 
 N_RUNS = 10
@@ -25,13 +24,11 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
-    msgs = [m.as_builder().to_bytes() for m in tm.can_msgs]
     start_t = time.process_time_ns()
-    for msg in msgs:
-      can_list = can_capnp_to_list([msg])
+    for msg in tm.can_msgs:
       for cp in tm.CI.can_parsers.values():
         if cp is not None:
-          cp.update_strings(can_list)
+          cp.update_strings(msg)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')

selfdrive/debug/debug_fw_fingerprinting_offline.py

@@ -6,7 +6,7 @@ from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 
-def main(route: str | None, addrs: list[int]):
+def main(route: str | None, addrs: list[int], rxoffset: int | None):
   """
   TODO:
   - highlight TX vs RX clearly
@@ -23,7 +23,7 @@ def main(route: str | None, addrs: list[int]):
   prev_mono_time = 0
 
   # include rx addresses
-  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs]
+  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr, rxoffset) for addr in addrs]
 
   for msg in lr:
     if msg.which() == 'can':
@@ -44,7 +44,9 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
   parser.add_argument('route', nargs='?', help='Route name, live if not specified')
   parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
+  parser.add_argument('--rxoffset', default='')
   args = parser.parse_args()
 
   addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
-  main(args.route, addrs)
+  rxoffset = int(args.rxoffset, base=16) if args.rxoffset else None
+  main(args.route, addrs, rxoffset)

selfdrive/debug/run_process_on_route.py

@@ -10,21 +10,21 @@ if __name__ == "__main__":
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--fingerprint", help="The fingerprint to use")
   parser.add_argument("route", help="The route name to use")
-  parser.add_argument("process", help="The process to run")
+  parser.add_argument("process", nargs='+', help="The process(s) to run")
   args = parser.parse_args()
 
-  cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
+  cfgs = [c for c in CONFIGS if c.proc_name in args.process]
 
   lr = LogReader(args.route)
   inputs = list(lr)
 
-  outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint)
+  outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
 
   # Remove message generated by the process under test and merge in the new messages
   produces = {o.which() for o in outputs}
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
-  fn = f"{args.route.replace('/', '_')}_{args.process}.zst"
+  fn = f"{args.route.replace('/', '_')}_{'_'.join(args.process)}.zst"
   print(f"Saving log to {fn}")
   save_log(fn, outputs)

selfdrive/debug/test_fw_query_on_routes.py

@@ -65,8 +65,7 @@ if __name__ == "__main__":
           CP = msg.carParams
           car_fw = [fw for fw in CP.carFw if not fw.logging]
           if len(car_fw) == 0:
-            print("no fw")
-            break
+            print("WARNING: no fw")
 
           live_fingerprint = CP.carFingerprint
           live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -98,7 +97,7 @@ if __name__ == "__main__":
           print("New style (exact):", exact_matches)
           print("New style (fuzzy):", fuzzy_matches)
 
-          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
+          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw] + [0])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
             print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +

selfdrive/debug/uiview.py

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

selfdrive/locationd/locationd.py

@@ -147,13 +147,13 @@ class LocationEstimator:
       self.car_speed = abs(msg.vEgo)
 
     elif which == "liveCalibration":
+      # Note that we use this message during calibration
       if len(msg.rpyCalib) > 0:
         calib = np.array(msg.rpyCalib)
         if calib.min() < -CALIB_RPY_SANITY_CHECK or calib.max() > CALIB_RPY_SANITY_CHECK:
           return HandleLogResult.INPUT_INVALID
 
         self.device_from_calib = rot_from_euler(calib)
-        self.calibrated = msg.calStatus == log.LiveCalibrationData.Status.calibrated
 
     elif which == "cameraOdometry":
       if not self._validate_timestamp(t):

selfdrive/locationd/paramsd.py

@@ -46,18 +46,25 @@ class ParamsLearner:
     self.yaw_rate_std = 0.0
     self.roll = 0.0
     self.steering_angle = 0.0
-    self.roll_valid = False
 
   def handle_log(self, t, which, msg):
     if which == 'livePose':
       device_pose = Pose.from_live_pose(msg)
       calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
-      self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
+
+      yaw_rate_valid = msg.angularVelocityDevice.valid
+      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
+      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
+      if yaw_rate_valid:
+        self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
+      else:
+        # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating
+        self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(10.0)
 
       localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
       localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
-      self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
-      if self.roll_valid:
+      roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
+      if roll_valid:
         roll = localizer_roll
         # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar?
         roll_std = 2 * localizer_roll_std
@@ -67,18 +74,12 @@ class ParamsLearner:
         roll_std = np.radians(10.0)
       self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
-      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
-      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
-      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
-
       if self.active:
         if msg.posenetOK:
-
-          if yaw_rate_valid:
-            self.kf.predict_and_observe(t,
-                                        ObservationKind.ROAD_FRAME_YAW_RATE,
-                                        np.array([[-self.yaw_rate]]),
-                                        np.array([np.atleast_2d(self.yaw_rate_std**2)]))
+          self.kf.predict_and_observe(t,
+                                      ObservationKind.ROAD_FRAME_YAW_RATE,
+                                      np.array([[-self.yaw_rate]]),
+                                      np.array([np.atleast_2d(self.yaw_rate_std**2)]))
 
           self.kf.predict_and_observe(t,
                                       ObservationKind.ROAD_ROLL,
@@ -228,13 +229,17 @@ def main():
       liveParameters.roll = float(roll)
       liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
       liveParameters.angleOffsetDeg = float(angle_offset)
+      liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
+      liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
+      liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
+      liveParameters.angleOffsetValid = bool(total_offset_valid)
       liveParameters.valid = all((
-        avg_offset_valid,
-        total_offset_valid,
+        liveParameters.angleOffsetAverageValid,
+        liveParameters.angleOffsetValid ,
         roll_valid,
         roll_std < ROLL_STD_MAX,
-        0.2 <= liveParameters.stiffnessFactor <= 5.0,
-        min_sr <= liveParameters.steerRatio <= max_sr,
+        liveParameters.stiffnessFactorValid,
+        liveParameters.steerRatioValid,
       ))
       liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())

selfdrive/modeld/.gitignore

@@ -1 +0,0 @@
-*_pyx.cpp

selfdrive/modeld/__init__.py

@@ -1,5 +0,0 @@
-from pathlib import Path
-
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'

selfdrive/modeld/constants.py

@@ -14,8 +14,14 @@ class ModelConstants:
 
   # model inputs constants
   MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+
   FEATURE_LEN = 512
-  FULL_HISTORY_BUFFER_LEN = 100
+
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4

selfdrive/modeld/dmonitoringmodeld

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-exec "$DIR/dmonitoringmodeld.py" "$@"

selfdrive/modeld/fill_model_msg.py

@@ -2,33 +2,13 @@ import os
 import capnp
 import numpy as np
 from cereal import log
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 
 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)
-
-
-def get_curvature_from_output(output, vego, delay):
-  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
-    return float(desired_curv[0, 0])
-
-  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
-
-
 class PublishState:
   def __init__(self):
     self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -79,21 +59,19 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool, model_meta) -> None:
+                   valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = desired_curvature
+  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -121,7 +99,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  modelV2.action.desiredCurvature = desired_curvature
+  modelV2.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
@@ -171,25 +149,23 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta = modelV2.meta
   meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
   meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
   meta.init('disengagePredictions')
   disengage_predictions = meta.disengagePredictions
   disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist()
-
-  if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'):
-    disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist()
-    disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist()
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  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()
 
   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,model_meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
   publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
   hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
     (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
   meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -197,9 +173,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE]
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
     any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
     # independent disengage prob for each 2s slice
     ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]

selfdrive/modeld/modeld

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-exec "$DIR/modeld.py" "$@"