Update Python packages

* helpers.py get_lat_delay fix

* fix trailing whitespace

* lint

---------

Co-authored-by: Nayan <nayan8teen@gmail.com>

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

@@ -103,10 +103,10 @@ jobs:
       - run: |
           cd ${{ github.workspace }}/openpilot/openpilot
           if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx" -X "**/selfdrive/modeld/models/dmonitoring_*.onnx"
+            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
             rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
           else
-            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx"
+            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
             find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
           fi
       - name: 'Upload Artifact'
@@ -116,7 +116,7 @@ jobs:
           path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
 
   build_model:
-    runs-on: [self-hosted, usbgpu]
+    runs-on: [self-hosted, tici]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -127,6 +127,7 @@ jobs:
           fetch-depth: 1
           submodules: recursive
 
+      - run: git lfs pull
 
       - name: Set environment variables
         id: set-env
@@ -159,7 +160,7 @@ jobs:
           fi
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx
 
       - name: Download model artifacts
         uses: actions/download-artifact@v4
@@ -179,7 +180,6 @@ jobs:
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
 
-          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
@@ -187,40 +187,27 @@ jobs:
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
-            TG_FLAGS="$TG_FLAGS_QCOM"
+            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
           fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
             echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
           # Detect model type and build compile args
-          VISION_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
-            [ -f "$f" ] && VISION_ONNX="$f" && break
-          done
-
-          POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
-            [ -f "$f" ] && POLICY_ONNX="$f" && break
-          done
-
-          OFF_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
-            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
-          done
-
-          ON_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
-            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
-          done
-
+          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
           SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
-            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
           done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""

openpilot/sunnypilot/livedelay/helpers.py

@@ -8,7 +8,10 @@ from openpilot.common.params import Params
 
 
 def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
-  if params.get_bool("LagdToggle"):
-    return float(params.get("LagdValueCache", return_default=True))
+# live learning on: use what lagd publishes.
+# off: use the fixed steerActuatorDelay + software delay sum that LagdToggle caches.
 
-  return stock_lat_delay
+  if params.get_bool("LagdToggle"):
+    return stock_lat_delay
+
+  return float(params.get("LagdValueCache", return_default=True))

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -272,17 +272,18 @@ def _parse_size(size_str: str) -> tuple[int, int]:
   return int(width), int(height)
 
 
-def read_file_chunked_to_disk(path):
+def read_file_chunked_to_shm(path):
   if not path:
     return None
   import atexit
   import shutil
   from openpilot.common.file_chunker import open_file_chunked
-  tmp_path = f'{path}.unchunked'
-  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
-    shutil.copyfileobj(src, f)
-  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
-  return tmp_path
+  from openpilot.common.hardware.hw import Paths
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, dst)
+  return shm_path
 
 
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
@@ -326,11 +327,11 @@ if __name__ == "__main__":
   model_w, model_h = args.model_size
   output_data = {}
 
-  args.vision_onnx = read_file_chunked_to_disk(args.vision_onnx)
-  args.policy_onnx = read_file_chunked_to_disk(args.policy_onnx)
-  args.off_policy_onnx = read_file_chunked_to_disk(args.off_policy_onnx)
-  args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
-  args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)
+  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
+  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
+  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
 
   vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
 

openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py

@@ -5,15 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import os
-import tempfile
-from pathlib import Path
-
 import numpy as np
 from openpilot.common.parameterized import parameterized
 
-from openpilot.common.file_chunker import chunk_file, get_chunk_targets
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key, read_file_chunked_to_disk
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
 from openpilot.common.test import OpenpilotTestCase
 
 
@@ -165,33 +160,3 @@ class TestOutputSlicePreservation(OpenpilotTestCase):
     policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
     assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
       "vision and policy slices should not overlap in keys"
-
-
-class TestReadFileChunkedToDisk(OpenpilotTestCase):
-  def test_none_passthrough(self):
-    assert read_file_chunked_to_disk(None) is None
-
-  def test_unchunked_source_staged_on_disk(self):
-    with tempfile.TemporaryDirectory() as d:
-      src = Path(d) / "driving_supercombo.onnx"
-      payload = os.urandom(1024)
-      src.write_bytes(payload)
-
-      out = Path(read_file_chunked_to_disk(str(src)))
-
-      assert out.parent == Path(d)
-      assert out.name == "driving_supercombo.onnx.unchunked"
-      assert out.read_bytes() == payload
-
-  def test_chunked_source_reassembled_on_disk(self):
-    with tempfile.TemporaryDirectory() as d:
-      src = Path(d) / "driving_supercombo.onnx"
-      payload = os.urandom(4096)
-      src.write_bytes(payload)
-      chunk_file(str(src), get_chunk_targets(str(src), len(payload)))
-      assert not src.exists()
-
-      out = Path(read_file_chunked_to_disk(str(src)))
-
-      assert out.parent == Path(d)
-      assert out.read_bytes() == payload

release/ci/model_generator.py

@@ -53,28 +53,24 @@ def create_pkl_name(full_name: str) -> str:
   return pkl
 
 
-def _hash_pkl(pkl_path: Path) -> str:
+def _read_pkl_bytes(pkl_path: Path) -> bytes:
   manifest = Path(f"{pkl_path}.chunkmanifest")
   if manifest.exists():
     num_chunks = int(manifest.read_text().strip())
-    paths = [Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}") for i in range(num_chunks)]
-  else:
-    paths = [pkl_path]
-
-  digest = hashlib.sha256()
-  for path in paths:
-    with path.open('rb') as f:
-      while block := f.read(1024 * 1024):
-        digest.update(block)
-  return digest.hexdigest()
+    parts = []
+    for i in range(num_chunks):
+      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
+      parts.append(chunk.read_bytes())
+    return b''.join(parts)
+  return pkl_path.read_bytes()
 
 
 def _find_driving_pkl(output_path: Path) -> Path | None:
-  for pattern in ('*driving_tinygrad.pkl', '*driving_*_tinygrad.pkl'):
+  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
     matches = sorted(output_path.glob(pattern))
     if matches:
       return matches[0]
-  for pattern in ('*driving_tinygrad.pkl.chunkmanifest', '*driving_*_tinygrad.pkl.chunkmanifest'):
+  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
     matches = sorted(output_path.glob(pattern))
     if matches:
       return Path(str(matches[0]).removesuffix('.chunkmanifest'))
@@ -91,7 +87,7 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
 
 
 def generate_chunked_model(driving_pkl: Path) -> dict:
-  tinygrad_hash = _hash_pkl(driving_pkl)
+  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
   chunks_config = []
   manifest_file = Path(f"{driving_pkl}.chunkmanifest")

uv.lock

@@ -381,20 +381,20 @@ wheels = [
 
 [[package]]
 name = "deepmerge"
-version = "2.1.0"
+version = "3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2a/78/6e9e20106224083cfb817d2d3c26e80e72258d617b616721a169b87081e0/deepmerge-2.1.0.tar.gz", hash = "sha256:07ca7a7b8935df596c512fa8161877c0487ac61f691c07766e7d71d2b23bdd2f", size = 21449, upload-time = "2026-06-22T05:46:07.669Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b7/6c/9f4577a36d5f463a3a3f8322bd65d33e1a1a6b6ba1d692a5ebc3cba19015/deepmerge-3.0.tar.gz", hash = "sha256:14ed69f063de64b7743985c732ccff5d6c34ff4560946e7fbfd99086b853b9ce", size = 22279, upload-time = "2026-08-17T05:50:53.161Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/25/2a75b47cb057b1e164c604fb81ab690a6cdb5e2260ce651194eae90f64a3/deepmerge-2.1.0-py3-none-any.whl", hash = "sha256:8f148339a91d680a75ecb74ade235d9e759a93df373a0b04e9d31c8666cfeb75", size = 14345, upload-time = "2026-06-22T05:46:06.742Z" },
+    { url = "https://files.pythonhosted.org/packages/a8/d7/7f19bedd30b90b72865aeec3a29127bed6dee6c9ef0324bb5b4d424bb0e3/deepmerge-3.0-py3-none-any.whl", hash = "sha256:c8541c3e186dc88d19a5513ad3a0b2d0b22beaa780969fc0c13b995a64265365", size = 14855, upload-time = "2026-08-17T05:50:52.218Z" },
 ]
 
 [[package]]
 name = "filelock"
-version = "3.32.2"
+version = "3.32.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/7d/64/a02e6765de08964ed371eca577870593245afc9dfac16d037de7c10d18e6/filelock-3.32.3.tar.gz", hash = "sha256:0ffa185a3540854c95caa7fa76b76cb219d907415e2c5dc9af25fd970563487f", size = 218135, upload-time = "2026-08-13T16:00:05.577Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/a7/8e/50f46a9c0ce8d2861a394c1347caae037ea0431d2f67d7feb151cbc4649a/filelock-3.32.3-py3-none-any.whl", hash = "sha256:7f0ca4bcc0e181c60dbbd8aa9ab5b120ebb99e4e064e83636340056f833a1f09", size = 98901, upload-time = "2026-08-13T16:00:03.974Z" },
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 [[package]]
@@ -478,7 +478,7 @@ wheels = [
 
 [[package]]
 name = "huggingface-hub"
-version = "1.27.0"
+version = "1.28.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -491,18 +491,18 @@ dependencies = [
     { name = "tqdm" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/3e/9b/ddf3d02a8681f1b9ce52fda03d755dad6b74c4f8172304c4c8d2975450f9/huggingface_hub-1.27.0.tar.gz", hash = "sha256:c1fed40ea82a6b41b477f5243546549b792ae0a93abcea608cff66089bf8f8df", size = 942668, upload-time = "2026-08-07T12:48:05.161Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/c6/ae/222a91937ebee7f62c0ca8f5ee0afd97577caf24c0abb927d1f5c7e9f6d2/huggingface_hub-1.28.0.tar.gz", hash = "sha256:46a2e950c09234de54093d587d1675382f0d08dbd600d9fb599b5932f5b2c6cb", size = 959609, upload-time = "2026-08-18T12:27:15.101Z" }
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+    { url = "https://files.pythonhosted.org/packages/51/0e/eafef18f1a75e125e68395db21131db0cf868a128ecd2fce69b4df6c584b/huggingface_hub-1.28.0-py3-none-any.whl", hash = "sha256:58a8bacb03072edfc38067065e9dc24bbb34805410fcd36a1632de0b329660bb", size = 793202, upload-time = "2026-08-18T12:27:12.719Z" },
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 [[package]]
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-version = "3.18"
+version = "3.19"
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-sdist = { url = "https://files.pythonhosted.org/packages/cd/63/9496c57188a2ee585e0f1db071d75089a11e98aa86eb99d9d7618fc1edce/idna-3.18.tar.gz", hash = "sha256:ffb385a7e039654cef1ab9ef32c6fafe283c0c0467bba1d9029738ce4a14a848", size = 196711, upload-time = "2026-06-02T14:34:07.794Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/5f/f7/abb373e5757eaec4b922b92f97ec8d6d7e057cf06778247604fbc4e7c3f3/idna-3.19.tar.gz", hash = "sha256:5e0811a4383b21dc5838069f801c4fb62113b7447663d2530d2bd6e77b49bf15", size = 215237, upload-time = "2026-08-18T05:14:24.27Z" }
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+    { url = "https://files.pythonhosted.org/packages/57/b0/0e52c878c53f245edd3a11020f20979b3f490f245af532c7cae3027754b5/idna-3.19-py3-none-any.whl", hash = "sha256:815e7be7a7806d54abb586dc943addc79e8b2ee16915059658cbeff4b1b43bf4", size = 68550, upload-time = "2026-08-18T05:14:22.343Z" },
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 [[package]]
@@ -971,11 +971,11 @@ wheels = [
 
 [[package]]
 name = "pygments"
-version = "2.20.0"
+version = "2.21.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c3/b2/bc9c9196916376152d655522fdcebac55e66de6603a76a02bca1b6414f6c/pygments-2.20.0.tar.gz", hash = "sha256:6757cd03768053ff99f3039c1a36d6c0aa0b263438fcab17520b30a303a82b5f", size = 4955991, upload-time = "2026-03-29T13:29:33.898Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/49/2e/ced460408999b33da6b31b0021b0f37d329e202d4169aeb164493778f25b/pygments-2.21.0.tar.gz", hash = "sha256:610ca751c9bc2492b38eb9a38a7fbc93edbbb2d7182edaf34e66ae493dee5c8c", size = 5005329, upload-time = "2026-08-17T08:02:48.824Z" }
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+    { url = "https://files.pythonhosted.org/packages/71/46/17f022dd3e953bf20a04a028a21ec746d942f8d2af30fa0f124fa0e6a684/pygments-2.21.0-py3-none-any.whl", hash = "sha256:2363c69b61c4a97c838da3b130dcd6468f4848992b21a82f2a63ec34377137d9", size = 1250147, upload-time = "2026-08-17T08:02:44.912Z" },
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 [[package]]
@@ -1194,18 +1194,18 @@ wheels = [
 
 [[package]]
 name = "sounddevice"
-version = "0.5.5"
+version = "0.5.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi" },
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