Merge branch 'master' into ui-better-confidence-ball

* pandad: filter out external panda

* fix

* internal panda

* move it even higher

* this

* should be this still

* anoter

* more

* 1 more time

* bruh

* try this out

* revert

* gotta do this after

* filter

.github/workflows/build-all-tinygrad-models.yaml

@@ -34,10 +34,10 @@ jobs:
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo (sunnypilot-models, gh-pages)
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -202,7 +202,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

.github/workflows/build-single-tinygrad-model.yaml

@@ -119,7 +119,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

.gitignore

@@ -101,6 +101,8 @@ Pipfile
 .context/
 PLAN.md
 TASK.md
+CLAUDE.md
+SKILL.md
 
 ### JetBrains ###
 !.idea/customTargets.xml

common/params_keys.h

@@ -155,6 +155,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"FlatConfidenceBall", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},

selfdrive/pandad/pandad.py

@@ -68,21 +68,20 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda_serials: list[str]) -> bool:
-  unsupported = []
+def check_panda_support(panda_serials: list[str]) -> list[str]:
+  spi_serials = set(Panda.spi_list())
+  for serial in panda_serials:
+    if serial in spi_serials:
+      return [serial]
+
   for serial in panda_serials:
     panda = Panda(serial)
-    hw_type = panda.get_type()
+    is_internal = panda.is_internal()
     panda.close()
-    if hw_type in Panda.SUPPORTED_DEVICES:
-      return True
+    if is_internal:
+      return [serial]
 
-    unsupported.append((serial, hw_type))
-
-  for serial, hw_type in unsupported:
-    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
-
-  return False
+  return []
 
 
 def main() -> None:
@@ -137,8 +136,9 @@ def main() -> None:
       # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
       flash_rivian_long(panda_serials)
 
-      # skip flashing and health check if no supported panda is detected
-      if not check_panda_support(panda_serials):
+      # find the internal supported panda (e.g. skip external Black Panda)
+      panda_serials = check_panda_support(panda_serials)
+      if len(panda_serials) == 0:
         continue
 
       # Flash the first panda

selfdrive/ui/mici/onroad/confidence_ball.py

@@ -81,6 +81,9 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
       top_dot_color = rl.Color(50, 50, 50, 255)
       bottom_dot_color = rl.Color(13, 13, 13, 255)
 
+    if ui_state.flat_confidence_ball:
+      top_dot_color = bottom_dot_color
+
     draw_circle_gradient(content_rect.x + content_rect.width - status_dot_radius,
                          dot_height, status_dot_radius,
                          top_dot_color, bottom_dot_color)

selfdrive/ui/sunnypilot/ui_state.py

@@ -146,6 +146,7 @@ class UIStateSP:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.flat_confidence_ball = self.params.get_bool("FlatConfidenceBall")
 
 
 class DeviceSP:

sunnypilot/models/fetcher.py

@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v15.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v15.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/selfdrive/pandad/rivian_long_flasher.py

@@ -84,7 +84,11 @@ def flash_rivian_long(panda_serials: list[str]) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
+  # only check USB connected pandas, internal panda uses SPI and is never an external panda
+  usb_serials = set(Panda.usb_list())
   for serial in panda_serials:
+    if serial not in usb_serials:
+      continue
     panda = Panda(serial)
     # only flash external black pandas (HW_TYPE_BLACK = 0x03)
     if panda.get_type() == b'\x03' and not panda.is_internal():

sunnypilot/sunnylink/params_metadata.json

@@ -306,6 +306,10 @@
     "title": "Firmware Query Done",
     "description": ""
   },
+  "FlatConfidenceBall": {
+    "title": "Flat Confidence Ball",
+    "description": "Removes the gradient from the confidence ball and uses solid state colors for improved visibility"
+  },
   "ForcePowerDown": {
     "title": "Force Power Down",
     "description": ""

tools/replay/SConscript

@@ -1,25 +1,8 @@
-import os
-import subprocess
-
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 
 replay_env = env.Clone()
 replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
 
-if arch == "Darwin":
-  openssl_prefixes = []
-  for formula in ("openssl@3", "openssl"):
-    try:
-      prefix = subprocess.check_output(['brew', '--prefix', formula], encoding='utf8').strip()
-      if os.path.isdir(prefix):
-        openssl_prefixes.append(prefix)
-    except (FileNotFoundError, subprocess.CalledProcessError):
-      continue
-
-  for prefix in openssl_prefixes:
-    replay_env['CPPPATH'] += [f"{prefix}/include"]
-    replay_env['LIBPATH'] += [f"{prefix}/lib"]
-
 base_frameworks = []
 base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']