Condensing a little

This commit introduces functionality to detect if the active model operates at 20Hz. A new helper function `is_active_model_20hz` was added, alongside updates to model initialization and configuration handling. Additionally, a new `is20hz` field was added to the model bundle for improved introspection and performance adaptation.

.codespellignore

@@ -0,0 +1,2 @@
+Wen
+REGIST

.gitattributes

@@ -9,6 +9,7 @@
 *.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/PULL_REQUEST_TEMPLATE/bugfix.md

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

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

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

.github/PULL_REQUEST_TEMPLATE/car_port.md

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

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

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

.github/PULL_REQUEST_TEMPLATE/refactor.md

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

.github/PULL_REQUEST_TEMPLATE/tuning.md

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

.github/build.py

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

.github/workflows/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 == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       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 != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
       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/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/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/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/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 == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
+        git config user.email "badge-researcher@sunnypilot.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 == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     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: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.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: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.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$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ 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 == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
+        repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/lfs-maintenance.yaml

@@ -0,0 +1,72 @@
+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 == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/release.yaml

@@ -13,7 +13,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write

.github/workflows/repo-maintenance.yaml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/selfdrive_tests.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,10 +15,11 @@ on:
         type: string
 
 concurrency:
-  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 }}
+  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 }}
   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 }}
@@ -31,6 +33,7 @@ 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:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
@@ -52,7 +55,7 @@ jobs:
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
@@ -93,7 +96,9 @@ jobs:
 
   build_mac:
     name: build macOS
-    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -102,6 +107,7 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -113,6 +119,7 @@ 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)
 
@@ -354,5 +361,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
           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 == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # 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

@@ -0,0 +1,86 @@
+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
+
+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-${{ github.sha }}
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-master-new
+            scons-${{ runner.os }}-${{ runner.arch }}-master
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${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}
+          rsync -avm \
+            --include='*.dlc' \
+            --include='*.thneed' \
+            --include='*.pkl' \
+            --include='*.onnx' \
+            --exclude='*' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
+
+      - name: Upload Build Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          path: ${{ env.OUTPUT_DIR }}

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

@@ -0,0 +1,268 @@
+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 }}-${{ github.sha }}
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Set Configuration
+        run: |
+          if [[ "${{ 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
+
+      - 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 ${{ env.OUTPUT_DIR }} .
+          ls -la prebuilt.tar.gz
+
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: prebuilt
+          path: prebuilt.tar.gz
+
+  publish:
+    concurrency:
+      group: publish-${{ 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/ui_preview.yaml

@@ -3,23 +3,25 @@ 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' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -58,13 +60,13 @@ jobs:
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/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.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -84,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
@@ -106,13 +108,13 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${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}  <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}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${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}  <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}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -125,7 +127,7 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi

.gitignore

@@ -103,3 +103,8 @@ 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 = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git

.idea/customTargets.xml

@@ -0,0 +1,25 @@
+<?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

@@ -0,0 +1,23 @@
+<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/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -0,0 +1,4 @@
+[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

@@ -0,0 +1,10 @@
+<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

@@ -0,0 +1,10 @@
+<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>

Dockerfile.openpilot_base

@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED=1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen

LICENSE.md

@@ -0,0 +1,21 @@
+# 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

SConstruct

@@ -49,10 +49,6 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
-AddOption('--snpe',
-          action='store_true',
-          help='use SNPE on PC')
-
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
@@ -74,6 +70,12 @@ 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
@@ -172,6 +174,10 @@ 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(' ')
@@ -237,7 +243,8 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 

cereal/custom.capnp

@@ -8,10 +8,73 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+
+  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 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;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+    is20hz @7 :Bool;
+  }
 }
 
 struct CustomReserved2 @0xf35cc4560bbf6ec2 {

cereal/log.capnp

@@ -125,6 +125,79 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    eventReserved93 @93;
+    eventReserved94 @94;
+    eventReserved95 @95;
+    eventReserved96 @96;
+    eventReserved97 @97;
+    eventReserved98 @98;
+    eventReserved99 @99;
+    eventReserved100 @100;
+    eventReserved101 @101;
+    eventReserved102 @102;
+    eventReserved103 @103;
+    eventReserved104 @104;
+    eventReserved105 @105;
+    eventReserved106 @106;
+    eventReserved107 @107;
+    eventReserved108 @108;
+    eventReserved109 @109;
+    eventReserved110 @110;
+    eventReserved111 @111;
+    eventReserved112 @112;
+    eventReserved113 @113;
+    eventReserved114 @114;
+    eventReserved115 @115;
+    eventReserved116 @116;
+    eventReserved117 @117;
+    eventReserved118 @118;
+    eventReserved119 @119;
+    eventReserved120 @120;
+    eventReserved121 @121;
+    eventReserved122 @122;
+    eventReserved123 @123;
+    eventReserved124 @124;
+    eventReserved125 @125;
+    eventReserved126 @126;
+    eventReserved127 @127;
+    eventReserved128 @128;
+    eventReserved129 @129;
+    eventReserved130 @130;
+    eventReserved131 @131;
+    eventReserved132 @132;
+    eventReserved133 @133;
+    eventReserved134 @134;
+    eventReserved135 @135;
+    eventReserved136 @136;
+    eventReserved137 @137;
+    eventReserved138 @138;
+    eventReserved139 @139;
+    eventReserved140 @140;
+    eventReserved141 @141;
+    eventReserved142 @142;
+    eventReserved143 @143;
+    eventReserved144 @144;
+    eventReserved145 @145;
+    eventReserved146 @146;
+    eventReserved147 @147;
+    eventReserved148 @148;
+    eventReserved149 @149;
+    eventReserved150 @150;
+
+    # sunnypilot
+    lkasEnable @151;
+    lkasDisable @152;
+    manualSteeringRequired @153;
+    manualLongitudinalRequired @154;
+    silentLkasEnable @155;
+    silentLkasDisable @156;
+    silentBrakeHold @157;
+    silentWrongGear @158;
+    silentReverseGear @159;
+    silentDoorOpen @160;
+    silentSeatbeltNotLatched @161;
+    silentParkBrake @162;
+    controlsMismatchLateral @163;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -589,6 +662,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -696,7 +770,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2558,8 +2631,8 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
+    modelManagerSP @108 :Custom.ModelManagerSP;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;

cereal/maptile.capnp

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

cereal/services.py

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

common/api/__init__.py

@@ -1,46 +1,27 @@
-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
+from openpilot.common.api.comma_connect import CommaConnectApi
+from sunnypilot.sunnylink.api import SunnylinkApi
 
-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 __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.request('GET', *args, **kwargs)
+    return self.service.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)
+    return self.service.post(*args, **kwargs)
 
   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
+    return self.service.get_token(expiry_hours)
 
 
-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)
+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

@@ -0,0 +1,56 @@
+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

@@ -0,0 +1,11 @@
+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/params.cc

@@ -109,36 +109,35 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT},
-    {"DisableUpdates", PERSISTENT},
-    {"DisengageOnAccelerator", PERSISTENT},
+    {"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},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
+    {"ExperimentalMode", PERSISTENT | BACKUP},
+    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT},
-    {"GithubUsername", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT | BACKUP},
+    {"GithubUsername", PERSISTENT | BACKUP},
     {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT},
-    {"GsmMetered", PERSISTENT},
-    {"GsmRoaming", PERSISTENT},
+    {"GsmApn", PERSISTENT | BACKUP},
+    {"GsmMetered", PERSISTENT | BACKUP},
+    {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
-    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT},
-    {"IsMetric", PERSISTENT},
+    {"IsLdwEnabled", PERSISTENT | BACKUP},
+    {"IsMetric", PERSISTENT | BACKUP},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
@@ -146,7 +145,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT},
+    {"LanguageSetting", PERSISTENT | BACKUP},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -158,7 +157,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT | BACKUP},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -174,17 +173,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"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},
+    {"RecordFront", PERSISTENT | BACKUP},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},
+    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT},
+    {"SshEnabled", PERSISTENT | BACKUP},
     {"TermsVersion", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
@@ -200,6 +199,28 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // --- sunnypilot params --- //
+    {"EnableGithubRunner", PERSISTENT | BACKUP},
+
+    // 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},
 };
 
 } // namespace

common/params.h

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

common/util.cc

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

common/util.h

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

docs/CARS.md

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

openpilot/sunnypilot

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

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11, <= 3.12"
+requires-python = ">= 3.11, < 3.13"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
@@ -42,8 +42,7 @@ dependencies = [
 
   # modeld
   "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
-  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+  "onnxruntime >=1.16.3",
 
   # logging
   "pyzmq",
@@ -104,7 +103,6 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
-  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -113,13 +111,10 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-
-  # this is only pinned since 5.15.11 is broken
-  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 
@@ -164,6 +159,7 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
+  "sunnypilot",
 ]
 
 [tool.codespell]

release/ci/install_github_runner.sh

@@ -0,0 +1,147 @@
+#!/usr/bin/env bash
+set -e
+
+# Default values
+DEFAULT_REPO_URL="https://github.com/sunnypilot"
+START_AT_BOOT=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="$2"
+            shift 2
+            ;;
+        *)
+            if [ -z "$GITHUB_TOKEN" ]; then
+                GITHUB_TOKEN="$1"
+            elif [ -z "$REPO_URL" ]; then
+                REPO_URL="$1"
+            fi
+            shift
+            ;;
+    esac
+done
+
+# Check required arguments
+if [ -z "$GITHUB_TOKEN" ]; then
+    echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
+    echo "Required argument: github_token"
+    echo "Optional arguments:"
+    echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+    echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+    exit 1
+fi
+
+# Set repository URL if not provided
+REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    BASE_DIR="/data/media/0/github"
+else
+    BASE_DIR="/data/github"
+fi
+
+# Constants
+RUNNER_USER="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+RUNNER_DIR="${BASE_DIR}/runner"
+BUILDS_DIR="${BASE_DIR}/builds"
+LOGS_DIR="${BASE_DIR}/logs"
+CACHE_DIR="${BASE_DIR}/cache"
+OPENPILOT_DIR="${BASE_DIR}/openpilot"
+
+create_directories() {
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+}
+
+download_and_setup_runner() {
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
+}
+
+setup_runner_user() {
+    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+    export BASE_DIR
+    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
+}
+
+create_sudoers_entry() {
+    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
+}
+
+configure_runner() {
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+}
+
+set_directory_permissions() {
+    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
+    sudo chmod g+rwx "$BASE_DIR"
+    sudo chmod g+s "$BASE_DIR"
+}
+
+modify_service_template() {
+    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
+}
+
+# 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
+
+# Execute installation steps
+setup_runner_user
+create_sudoers_entry
+create_directories
+download_and_setup_runner
+modify_service_template
+configure_runner
+set_directory_permissions
+
+# Install and start service using built-in installer
+cd "$RUNNER_DIR"
+sudo ./svc.sh install $RUNNER_USER
+
+# Handle auto-start configuration
+if [ "$START_AT_BOOT" = false ]; then
+    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
+fi
+
+sudo ./svc.sh start

release/ci/publish.sh

@@ -0,0 +1,78 @@
+#!/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

@@ -0,0 +1,361 @@
+#!/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(1)
+
+      # 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(1)
+
+    except Exception as e:
+      print(f"Error during cleanup: {e}")
+      if signum:
+        sys.exit(1)
+
+  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 merge {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 = parser.parse_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(1)
+
+
+if __name__ == "__main__":
+  main()

release/ci/uninstall_github_runner.sh

@@ -0,0 +1,66 @@
+#!/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

@@ -32,6 +32,7 @@ blacklist = [
 
   ".git/",
   ".github/",
+  ".devcontainer/",
   "Darwin/",
   ".vscode",
 
@@ -47,6 +48,42 @@ blacklist = [
   ".gitmodules",
 ]
 
+# Sunnypilot blacklist
+sunnypilot_blacklist = [
+  "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
+  ".idea/",
+  ".run/",
+  ".*__pycache__/.*",
+  ".*\\.pyc",
+  "teleoprtc/*",
+  "third_party/snpe/x86_64/*",
+  "body/board/canloader.py",
+  "body/board/flash_base.sh",
+  "body/board/flash_knee.sh",
+  "body/board/recover.sh",
+  ".*/test/",
+  ".*/tests/",
+  ".*tinygrad_repo/tinygrad/renderer/",
+  "README.md",
+  ".*internal/",
+  "docs/.*",
+  ".sconsign.dblite",
+  "release/ci/scons_cache/",
+  ".gitlab-ci.yml",
+  ".clang-tidy",
+  ".dockerignore",
+  ".editorconfig",
+  ".python-version",
+  "SECURITY.md",
+  "codecov.yml",
+  "conftest.py",
+  "poetry.lock",
+  ".venv/",
+]
+
+# Merge the blacklists
+blacklist += sunnypilot_blacklist
+
 # gets you through the blacklist
 whitelist = [
   "tools/lib/",
@@ -54,7 +91,7 @@ whitelist = [
   "tools/joystick/",
   "tools/longitudinal_maneuvers/",
 
-  "tinygrad_repo/openpilot/compile2.py",
+  "tinygrad_repo/examples/openpilot/compile3.py",
   "tinygrad_repo/extra/onnx.py",
   "tinygrad_repo/extra/onnx_ops.py",
   "tinygrad_repo/extra/thneed.py",
@@ -119,8 +156,45 @@ whitelist = [
   "opendbc_repo/dbc/toyota_tss2_adas.dbc",
   "opendbc_repo/dbc/vw_golf_mk4.dbc",
   "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
+# Sunnypilot whitelist
+sunnypilot_whitelist = [
+  "^README.md",
+  ".*selfdrive/test/fuzzy_generation.py",
+  ".*selfdrive/test/helpers.py",
+  ".*selfdrive/test/__init__.py",
+  ".*selfdrive/test/setup_device_ci.sh",
+  ".*selfdrive/test/test_time_to_onroad.py",
+  ".*selfdrive/test/test_onroad.py",
+  ".*system/manager/test/test_manager.py",
+  ".*system/manager/test/__init__.py",
+  ".*system/qcomgpsd/tests/test_qcomgpsd.py",
+  ".*system/updated/casync/tests/test_casync.py",
+  ".*system/updated/tests/test_git.py",
+  ".*system/updated/tests/test_base.py",
+  ".*selfdrive/ui/tests/test_translations.py",
+  ".*selfdrive/car/tests/__init__.py",
+  ".*selfdrive/car/tests/test_car_interfaces.py",
+  ".*selfdrive/navd/tests/test_navd.py",
+  ".*selfdrive/navd/tests/test_map_renderer.py",
+  ".*selfdrive/boardd/tests/test_boardd_loopback.py",
+  ".*INTEGRATION.md",
+  ".*HOW-TOS.md",
+  ".*CARS.md",
+  ".*LIMITATIONS.md",
+  ".*CONTRIBUTING.md",
+  ".*sunnyhaibin0850_qrcode_paypal.me.png",
+  "opendbc/.*.dbc",
+]
+
+# Merge the whitelists
+whitelist += sunnypilot_whitelist
+
 
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):

scripts/build_small.sh

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

scripts/code_stats.py

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

scripts/count_cars.py

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

scripts/git_rewrite/rewrite-git-history.sh

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

scripts/git_rewrite/rewrite.sh

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

scripts/git_rewrite/tag-commit-map.txt

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

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|.*\.zst"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
@@ -57,7 +57,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES
+    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
   return $FAILED

scripts/pyqt_demo.py

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

selfdrive/car/card.py

@@ -22,6 +22,8 @@ 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.sunnypilot.mads.mads import MadsParams
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
@@ -113,6 +115,10 @@ 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)
+
     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

selfdrive/controls/controlsd.py

@@ -19,6 +19,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from opendbc.sunnypilot import SunnypilotParamFlags
 
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
@@ -56,6 +57,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -88,7 +92,16 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+
+    ss_sp = self.sm['selfdriveStateSP']
+    CC.madsEnabled = ss_sp.mads.enabled
+    if ss_sp.mads.available:
+      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
+      _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.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/controls/lib/longitudinal_planner.py

@@ -50,24 +50,20 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(CP, speeds, accels):
+def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   if len(speeds) == CONTROL_N:
-    v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-    a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
+    v_now = speeds[0]
+    a_now = accels[0]
 
-    v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-    if v_target != v_target_now:
-      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
-    else:
-      a_target = a_target_now
-
-    v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
   else:
     v_target = 0.0
     v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_target < CP.vEgoStopping and
-                 v_target_1sec < CP.vEgoStopping)
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
   return a_target, should_stop
 
 
@@ -201,7 +197,9 @@ class LongitudinalPlanner:
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
+    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
+                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
     longitudinalPlan.aTarget = a_target
     longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True

selfdrive/debug/touch_replay.py

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

selfdrive/modeld/SConscript

@@ -13,20 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-thneed_src_common = [
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
 
 # OpenCL is a framework on Mac
 if arch == "Darwin":
@@ -40,39 +26,25 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
 cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
 # Get model metadata
 fn = File("models/supercombo").abspath
 cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-# Build thneed model
-if arch == "larch64" or GetOption('pc_thneed'):
-  tinygrad_opts = []
-  if not GetOption('pc_thneed'):
-    # use FLOAT16 on device for speed + don't cache the CL kernels for space
-    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
+# Compile tinygrad model
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+if arch == 'larch64':
+  device_string = 'QCOM=1'
+else:
+  device_string = 'CLANG=1 IMAGE=0'
 
-  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
+for model_name in ['supercombo', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-  fn_dm = File("models/dmonitoring_model").abspath
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
-  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
-
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])

selfdrive/modeld/constants.py

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

selfdrive/modeld/dmonitoringmodeld

@@ -1,10 +1,4 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
 exec "$DIR/dmonitoringmodeld.py" "$@"

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,8 +1,17 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import gc
 import math
 import time
+import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
@@ -13,21 +22,20 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
 
+MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
+MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
@@ -58,29 +66,42 @@ class DMonitoringModelResult(ctypes.Structure):
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
-  model: ModelRunner
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
 
     self.frame = MonitoringModelFrame(cl_ctx)
-    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {
-      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
+    self.numpy_inputs = {
+      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+    }
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
-    self.model.addInput("input_img", None)
-    self.model.addInput("calib", self.inputs['calib'])
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
   def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
-    self.inputs['calib'][:] = calib
-
-    self.model.setInputBuffer("input_img", self.frame.prepare(buf, transform.flatten(), None).view(np.float32))
+    self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
-    self.model.execute()
+
+    input_img_cl = self.frame.prepare(buf, transform.flatten())
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      if 'input_img' not in self.tensor_inputs:
+        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
+    else:
+      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
+
+    if TICI:
+      output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
     t2 = time.perf_counter()
-    return self.output, t2 - t1
+    return output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):

selfdrive/modeld/fill_model_msg.py

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

selfdrive/modeld/modeld

@@ -1,10 +1,4 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
 exec "$DIR/modeld.py" "$@"

selfdrive/modeld/modeld.py

@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
+from openpilot.system.hardware import TICI
+
+from openpilot.selfdrive.modeld.runners.model_runner import ONNXRunner, TinygradRunner
+from openpilot.sunnypilot.models.helpers import is_active_model_20hz
+
+#
 import os
 import time
-import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -17,22 +21,16 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
+from openpilot.system.hardware import PC
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
-
+USE_ONNX = bool(os.getenv('USE_ONNX', PC))
+IS_20HZ_MODEL_DEFAULT = False
 
 class FrameMeta:
   frame_id: int = 0
@@ -44,74 +42,92 @@ class FrameMeta:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 class ModelState:
-  frame: DrivingModelFrame
-  wide_frame: DrivingModelFrame
+  frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
 
   def __init__(self, context: CLContext):
-    self.frame = DrivingModelFrame(context)
-    self.wide_frame = DrivingModelFrame(context)
+    self.is_20hz = IS_20HZ_MODEL_DEFAULT
+    if (active_20hz := is_active_model_20hz(None)) is not None:
+      self.is_20hz = active_20hz
+
+    self.frames = {'input_imgs': DrivingModelFrame(context, self.is_20hz), 'big_input_imgs': DrivingModelFrame(context, self.is_20hz)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    # Initialize model runner
+    self.model_runner = ONNXRunner(self.frames) if (not TICI) and USE_ONNX else TinygradRunner(self.frames)
 
     # img buffers are managed in openCL transform code
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
-    }
+    self.numpy_inputs = {}
 
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
+    for key, shape in self.model_runner.input_shapes.items():
+      if key not in self.frames:  # Managed by opencl
+        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
+    net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
 
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
+    num_elements = self.numpy_inputs['features_buffer'].shape[1]
+    step_size = int(-100 / num_elements)
+    self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-    self.desire_20Hz[-1] = new_desire
-    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+    if self.is_20hz:
+      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+      self.desire_20Hz[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+    else:
+      self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+      self.numpy_inputs['desire'][0,-1] = new_desire
 
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    for key in self.numpy_inputs:
+      if key in inputs and key not in ['desire']:
+        self.numpy_inputs[key][:] = inputs[key]
 
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
+               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+
+    # Prepare inputs using the model runner
+    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs)
 
     if prepare_only:
       return None
 
-    self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+    # Run model inference
+    self.output = self.model_runner.run_model()
+    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
 
-    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+    if self.is_20hz:
+      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+    else:
+      self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
+      self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
 
-    idxs = np.arange(-4,-100,-4)[::-1]
-    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    if "desired_curvature" in outputs:
+      input_name_prev = None
+
+      if "prev_desired_curvs" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curv'
+
+      if input_name_prev is not None:
+        len = outputs['desired_curvature'][0].size
+        self.numpy_inputs['prev_desired_curv'][0,:-len] = self.numpy_inputs['prev_desired_curv'][0,len:]
+        self.numpy_inputs['prev_desired_curv'][0,-len,:] = outputs['desired_curvature'][0, :]
     return outputs
 
 
@@ -252,7 +268,10 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      }
+    }
+
+    if "lateral_control_params" in model.numpy_inputs.keys():
+      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
@@ -281,7 +300,6 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
-
     last_vipc_frame_id = meta_main.frame_id
 
 

selfdrive/modeld/models/commonmodel.cc

@@ -5,11 +5,11 @@
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, bool is_20hz) : ModelFrame(device_id, context), is_20hz(is_20hz) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
-  region.origin = 4 * frame_size_bytes;
+  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_len*frame_size_bytes, NULL, &err));
+  region.origin = (buf_len - 1) * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -17,27 +17,20 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < (buf_len - 1); i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
 
-  if (output == NULL) {
-    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
-    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
+  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
 
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
+  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+  clFinish(q);
+  return &input_frames_cl;
 }
 
 DrivingModelFrame::~DrivingModelFrame() {
@@ -51,16 +44,15 @@ DrivingModelFrame::~DrivingModelFrame() {
 
 MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
 
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
-uint8_t* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+
+cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), input_frames.get(), 0, nullptr, nullptr));
   clFinish(q);
-  //return &y_cl;
-  return input_frames.get();
+  return &y_cl;
 }
 
 MonitoringModelFrame::~MonitoringModelFrame() {

selfdrive/modeld/models/commonmodel.h

@@ -23,14 +23,12 @@ public:
     q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   }
   virtual ~ModelFrame() {}
-  virtual uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
-  /*
+  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
   uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
     CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   }
-  */
 
   int MODEL_WIDTH;
   int MODEL_HEIGHT;
@@ -66,9 +64,9 @@ protected:
 
 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  DrivingModelFrame(cl_device_id device_id, cl_context context, bool is_20hz = false);
   ~DrivingModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -76,9 +74,12 @@ public:
   const int buf_size = MODEL_FRAME_SIZE * 2;
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
+  const bool is_20hz;
+  const int buf_len = is_20hz ? 5 : 2;
+
 private:
   LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
+  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
   cl_buffer_region region;
 };
 
@@ -86,7 +87,7 @@ class MonitoringModelFrame : public ModelFrame {
 public:
   MonitoringModelFrame(cl_device_id device_id, cl_context context);
   ~MonitoringModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
   const int MODEL_WIDTH = 1440;
   const int MODEL_HEIGHT = 960;
@@ -94,5 +95,5 @@ public:
   const int buf_size = MODEL_FRAME_SIZE;
 
 private:
-  // cl_mem input_frame_cl;
+  cl_mem input_frame_cl;
 };

selfdrive/modeld/models/commonmodel.pxd

@@ -14,12 +14,12 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
-    # unsigned char * buffer_from_cl(cl_mem*, int);
-    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    unsigned char * buffer_from_cl(cl_mem*, int);
+    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
 
   cppclass DrivingModelFrame:
     int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
+    DrivingModelFrame(cl_device_id, cl_context, bint)
 
   cppclass MonitoringModelFrame:
     int buf_size

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -39,31 +39,24 @@ cdef class ModelFrame:
   def __dealloc__(self):
     del self.frame
 
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+  def prepare(self, VisionBuf buf, float[:] projection):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef unsigned char * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
+    cdef cl_mem * data
+    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
+    return CLMem.create(data)
 
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data)
-    # return CLMem.create(data)
-
-  # def buffer_from_cl(self, CLMem in_frames):
-  #   cdef unsigned char * data2
-  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+  def buffer_from_cl(self, CLMem in_frames):
+    cdef unsigned char * data2
+    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
 
 
 cdef class DrivingModelFrame(ModelFrame):
   cdef cppDrivingModelFrame * _frame
 
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+  def __cinit__(self, CLContext context, bint is_20hz=False):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context, is_20hz)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
 
@@ -74,3 +67,4 @@ cdef class MonitoringModelFrame(ModelFrame):
     self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
+

selfdrive/modeld/parse_model_outputs.py

@@ -85,6 +85,7 @@ class Parser:
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    """ Parse the model outputs into a dictionary of numpy arrays. The input_keys are used to determine how the output should be parsed. """
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
@@ -96,6 +97,8 @@ class Parser:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))

selfdrive/modeld/runners/__init__.py

@@ -1,27 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  SNPE = 'SNPE'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
-    elif ModelRunner.ONNX in paths:
-      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)

selfdrive/modeld/runners/model_runner.py

@@ -0,0 +1,120 @@
+import os
+from openpilot.system.hardware import TICI
+
+from openpilot.sunnypilot.modeld.run_helpers import get_custom_model_paths
+#
+from tinygrad.tensor import Tensor, dtypes
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+import pickle
+import numpy as np
+from pathlib import Path
+from abc import ABC, abstractmethod
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.system.hardware import PC
+
+if TICI:
+  os.environ['QCOM'] = '1'
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+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'
+USE_ONNX = os.getenv('USE_ONNX', PC)
+
+
+class ModelRunner(ABC):
+  """Abstract base class for model runners that defines the interface for running ML models."""
+
+  def __init__(self):
+    """Initialize the model runner with paths to model and metadata files."""
+    self.model_paths = ({"model": MODEL_PATH, "metadata": METADATA_PATH} if USE_ONNX else
+                        get_custom_model_paths() or {"model": MODEL_PKL_PATH, "metadata": METADATA_PATH})
+
+    with open(self.model_paths["metadata"], 'rb') as f:
+      self.model_metadata = pickle.load(f)
+
+    self.input_shapes = self.model_metadata['input_shapes']
+    self.output_slices = self.model_metadata['output_slices']
+    self.inputs: dict = {}
+
+  @abstractmethod
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
+    """Prepare inputs for model inference."""
+
+  @abstractmethod
+  def run_model(self):
+    """Run model inference with prepared inputs."""
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
+    """Slice model outputs according to metadata configuration."""
+    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_outputs
+
+
+class TinygradRunner(ModelRunner):
+  """Tinygrad implementation of model runner for TICI hardware."""
+
+  def __init__(self, frames: dict[str, DrivingModelFrame] | None = None):
+    super().__init__()
+    if not str(self.model_paths["model"]).endswith("_tinygrad.pkl"):
+      raise ValueError(f"Tinygrad model must be a _tinygrad.pkl file, we got {self.model_paths['model']}")
+
+    # Load Tinygrad model
+    with open(self.model_paths["model"], "rb") as f:
+      self.model_run = pickle.load(f)
+
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
+      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
+
+    assert TICI or frames is not None, "TinygradRunner requires frames for non-TICI hardware"
+    self.frames = frames
+    self.is_memory_model = None  # Use None to indicate that it hasn't been determined yet
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
+    # Initialize image tensors if not already done
+    for key in imgs_cl:
+      if TICI and key not in self.inputs:
+        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
+      elif not TICI:
+        shape = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    # Update numpy inputs
+    for key, value in numpy_inputs.items():
+      if key not in imgs_cl:
+        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    return self.inputs
+
+  def run_model(self):
+    return self.model_run(**self.inputs).numpy().flatten()
+
+
+class ONNXRunner(ModelRunner):
+  """ONNX implementation of model runner for non-TICI hardware."""
+
+  def __init__(self, frames: dict[str, DrivingModelFrame]):
+    super().__init__()
+    self.runner = make_onnx_cpu_runner(self.model_paths["model"])
+    self.frames = frames
+
+    self.input_to_nptype = {
+      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
+      for model_input in self.runner.get_inputs()
+    }
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
+    self.inputs = numpy_inputs.copy()
+    for key in imgs_cl:
+      self.inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
+    return self.inputs
+
+  def run_model(self):
+    return self.runner.run(None, self.inputs)[0].flatten()

selfdrive/modeld/runners/onnxmodel.py

@@ -1,71 +0,0 @@
-import os
-import onnx
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
-from openpilot.selfdrive.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES
-
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output

selfdrive/modeld/runners/run.h

@@ -1,4 +0,0 @@
-#pragma once
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/runners/snpemodel.h"

selfdrive/modeld/runners/runmodel.h

@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};

selfdrive/modeld/runners/runmodel.pxd

@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "selfdrive/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()

selfdrive/modeld/runners/runmodel_pyx.pxd

@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model

selfdrive/modeld/runners/runmodel_pyx.pyx

@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()

selfdrive/modeld/runners/snpemodel.cc

@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "selfdrive/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}

selfdrive/modeld/runners/snpemodel.h

@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};

selfdrive/modeld/runners/snpemodel.pxd

@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)

selfdrive/modeld/runners/snpemodel_pyx.pyx

@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)

selfdrive/modeld/runners/thneedmodel.cc

@@ -1,58 +0,0 @@
-#include "selfdrive/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}

selfdrive/modeld/runners/thneedmodel.h

@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};