Update Python packages

# Conflicts:
#	openpilot/common/params_keys.h

launch_chffrplus.sh

@@ -24,7 +24,9 @@ function agnos_init {
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+    while true; do
+      $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+    done
   fi
 }
 

openpilot/common/params_keys.h

@@ -59,7 +59,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
     {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
     {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},

openpilot/selfdrive/ui/mici/widgets/button.py

@@ -149,11 +149,15 @@ class BigButton(Widget):
   def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
     super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
 
-  def _width_hint(self) -> int:
-    # A value moves the title to the top, where it shares space with the icon.
+  def _title_width_hint(self) -> int:
+    # A value moves the title to the top, where it shares space with the icon
     icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
     return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
 
+  def _subtitle_width_hint(self) -> int:
+    # Bottom aligned, so it sits below the icon
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
   def _get_label_font_size(self):
     if len(self.text) <= 18:
       return 48
@@ -228,14 +232,14 @@ class BigButton(Widget):
 
     label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
     self._label.set_color(label_color)
-    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._width_hint(),
+    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._title_width_hint(),
                               self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
     self._label.render(label_rect)
 
     if self.value:
-      label_y = btn_y + self.LABEL_VERTICAL_PADDING + self._label.get_content_height(self._width_hint())
+      label_y = label_rect.y + self._label.get_content_height(int(label_rect.width))
       sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
-      sub_label_rect = rl.Rectangle(label_x, label_y, self._width_hint(), sub_label_height)
+      sub_label_rect = rl.Rectangle(label_x, label_y, self._subtitle_width_hint(), sub_label_height)
       self._sub_label.render(sub_label_rect)
 
     # ICON -------------------------------------------------------------------
@@ -312,9 +316,6 @@ class BigMultiToggle(BigToggle):
 
     self.set_value(self._options[0])
 
-  def _width_hint(self) -> int:
-    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)
-
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     cur_idx = self._options.index(self.value)
@@ -363,9 +364,6 @@ class GreyBigButton(BigButton):
   def LABEL_VERTICAL_PADDING(self):
     return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
 
-  def _width_hint(self) -> int:
-    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
-
   def _get_label_font_size(self):
     return 36
 

openpilot/sunnypilot/models/default_model.py

@@ -9,7 +9,7 @@ from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MO
 
 
 def get_default_model() -> str:
-  show_big_model = (ui_state.usbgpu and ui_state.usbgpu_compiled
+  show_big_model = (ui_state.usbgpu
                     and (ui_state.usbgpu_active or ui_state.usbgpu_loading or ui_state.is_offroad()))
 
   return DEFAULT_BIG_MODEL if show_big_model else DEFAULT_MODEL

openpilot/sunnypilot/models/fetcher.py

@@ -13,8 +13,6 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
-from openpilot.selfdrive.modeld.helpers import usbgpu_present
-
 from openpilot.cereal import custom
 
 
@@ -149,11 +147,10 @@ class ModelFetcher:
     self._is_usbgpu: bool | None = None
     self.model_cache = ModelCache(params)
     self.model_url = self.MODEL_URL
-    self._update_model_source()
 
-  def _update_model_source(self) -> None:
-    """Updates what json to use based on usbgpu availability"""
-    is_usbgpu = usbgpu_present()
+  def _update_model_source(self, chestnut_present: bool) -> None:
+    """Updates what json to use based on chestnut hardware presence via deviceState"""
+    is_usbgpu = chestnut_present
     if is_usbgpu != self._is_usbgpu:
       self._is_usbgpu = is_usbgpu
       self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
@@ -191,9 +188,9 @@ class ModelFetcher:
 
     return None
 
-  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
+  def get_available_bundles(self, chestnut_present: bool = False) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
-    self._update_model_source()
+    self._update_model_source(chestnut_present)
     cached_data, is_expired = self.model_cache.get()
 
     if cached_data and not is_expired:
@@ -210,10 +207,12 @@ class ModelFetcher:
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)
 
+
 if __name__ == "__main__":
+  from openpilot.selfdrive.modeld.helpers import usbgpu_present
   params = Params()
   model_fetcher = ModelFetcher(params)
-  bundles = model_fetcher.get_available_bundles()
+  bundles = model_fetcher.get_available_bundles(chestnut_present=usbgpu_present())
   for bundle in bundles:
     for model in bundle.models:
       model_overrides = {override.key: override.value for override in bundle.overrides}

openpilot/sunnypilot/models/manager.py

@@ -30,6 +30,7 @@ class ModelManagerSP:
     self.params = Params()
     self.model_fetcher = ModelFetcher(self.params)
     self.pm = messaging.PubMaster(["modelManagerSP"])
+    self.sm = messaging.SubMaster(["deviceState"])
     self.available_models: list[custom.ModelManagerSP.ModelBundle] = []
     self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
     self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params)
@@ -262,7 +263,8 @@ class ModelManagerSP:
 
     while True:
       try:
-        self.available_models = self.model_fetcher.get_available_bundles()
+        self.sm.update(0)
+        self.available_models = self.model_fetcher.get_available_bundles(self.sm['deviceState'].chestnutPresent)
         validate_active_bundle(self.params, self.available_models)
         self.active_bundle = get_active_bundle(self.params)
 

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -28,7 +28,6 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection, WebSocketConnectionClosedException)
 
 import openpilot.cereal.messaging as messaging
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
@@ -182,10 +181,9 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
-    # mirrors get_default_model() — ui_state unavailable in sunnylinkd process
-    show_big = (usbgpu_present() and usbgpu_compiled()
-                and (params.get_bool("UsbGpuActive") or params.get_bool("UsbGpuLoading") or params.get_bool("IsOffroad")))
-    schema["default_model"] = DEFAULT_BIG_MODEL if show_big else DEFAULT_MODEL
+    schema["default_model"] = DEFAULT_MODEL
+    schema["default_big_model"] = DEFAULT_BIG_MODEL
+    schema["usbgpu_active"] = params.get_bool("UsbGpuActive")
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:

openpilot/system/athena/athenad.py

@@ -828,20 +828,22 @@ def startStream(sdp: str, enabled: bool) -> dict:
   bridge_services_in = []
 
   # stale car params case taken care of by webrtcd being shut off on ignition
-  cp_bytes = Params().get("CarParamsPersistent")
+  cp_bytes = params.get("CarParamsPersistent")
   if cp_bytes is not None:
     with car.CarParams.from_bytes(cp_bytes) as CP:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
-  else:
-    raise Exception("failed to get CarParamsPersistent")
 
   if params.get_bool("IsOffroad"):
     # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
     # webrtcd clears IsLiveStreaming when the session ends
     params.put_bool("IsLiveStreaming", True)
     # wait for webrtcd end points to wake up
-    wait_for_webrtcd()
+    try:
+      wait_for_webrtcd()
+    except TimeoutError:
+      cloudlog.event("athena.startStream.webrtcd_offroad_start_timeout", error=True)
+      raise
 
   return post_stream_request(StreamRequestBody(sdp, ["wideRoad"], enabled, bridge_services_in, ["carState", "deviceState"]))
 

openpilot/system/manager/process_config.py

@@ -106,15 +106,12 @@ def or_(*fns):
 def and_(*fns):
   return lambda *args: operator.and_(*(fn(*args) for fn in fns))
 
-def not_(*fns):
-  return lambda *args: operator.not_(*(fn(*args) for fn in fns))
-
 procs = [
   DaemonProcess("manage_athenad", "openpilot.system.athena.manage_athenad", "AthenadPid"),
 
   NativeProcess("loggerd", "openpilot/system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "openpilot/system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "openpilot/system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
+  NativeProcess("stream_encoderd", "openpilot/system/loggerd", ["./encoderd", "--stream"], or_(livestream, notcar)),
   PythonProcess("logmessaged", "openpilot.system.logmessaged", always_run),
 
   NativeProcess("camerad", "openpilot/system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
@@ -159,7 +156,7 @@ procs = [
 
   # debug procs
   NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
+  PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(livestream, notcar)),
   PythonProcess("joystick", "openpilot.tools.joystick.joystick_control", and_(joystick, iscar)),
 
   # sunnylink <3

openpilot/system/webrtc/helpers.py

@@ -23,9 +23,9 @@ def post_stream_request(body: StreamRequestBody) -> dict:
     ret["time"] = (t_end - t_start) * 1000
     return ret
   except requests.ConnectTimeout as e:
-    raise Exception("webrtc took too long to respond.") from e
+    raise Exception("device took too long to respond.") from e
   except requests.ConnectionError as e:
-    raise Exception("webrtc server on device is not running.") from e
+    raise Exception("turn car ignition off to use livestreaming.") from e
 
 
 def wait_for_webrtcd(max_retries: float = 10) -> None:
@@ -37,4 +37,4 @@ def wait_for_webrtcd(max_retries: float = 10) -> None:
     except requests.ConnectionError:
       attempts += 1
       time.sleep(0.5)
-  raise TimeoutError("webrtcd did not initialize in time.")
+  raise TimeoutError("livestreaming service did not initialize in time.")

openpilot/system/webrtc/webrtcd.py

@@ -21,10 +21,16 @@ from typing import Any
 from openpilot.system.webrtc.helpers import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.cereal import messaging, log
 
 SESSION_TIMEOUT_SECONDS = 300
 
+
+# ice candidate parser for logging
+def _ice_candidates(sdp: str) -> list[str]:
+  return [line.removeprefix("a=") for line in sdp.splitlines() if line.startswith("a=candidate:")]
+
 # socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
 # return the source interfaces IP which is the default interface of the device
 def _default_route_ip() -> str | None:
@@ -253,7 +259,7 @@ class StreamSession:
     self._cleanup_lock = asyncio.Lock()
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info(
+    cloudlog.warning(
       "New stream session (%s), video cameras %s, video enabled %s, incoming services %s, outgoing services %s",
       self.identifier, [t.id for t in self.video_tracks], body.enabled, body.bridge_services_in, body.bridge_services_out,
     )
@@ -329,9 +335,12 @@ class StreamSession:
   async def run(self):
     try:
       self.params.put("LivestreamRequestKeyframe", True)
+
+      # avoid datachannel race by adding messange_handler immediately
+      self.stream.set_message_handler(self.message_handler)
+
       await asyncio.wait_for(self.stream.wait_for_connection(), timeout=15)
       if self.stream.has_messaging_channel():
-        self.stream.set_message_handler(self.message_handler)
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
         if self.outgoing_bridge is not None:
@@ -341,14 +350,18 @@ class StreamSession:
       if self.bitrate_controller is not None:
         self.bitrate_controller.start()
 
-      self.logger.info("Stream session (%s) connected", self.identifier)
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.warning("webrtcd.session.connected")
       if self.is_body:
         await self.run_body_session()
       else:
         await self.run_normal_session()
-      self.logger.info("Stream session (%s) ended", self.identifier)
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.warning("webrtcd.session.ended")
     except Exception:
       self.logger.exception("Stream session failure")
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.exception("webrtcd.session.exception")
     finally:
       await self.post_run_cleanup()
 
@@ -422,15 +435,25 @@ async def handle_get_stream(state: ServerState, raw_body: bytes, content_type: s
     stream_dict[session.identifier] = session
     try:
       answer = await asyncio.wait_for(session.get_answer(), timeout=30)
+      cloudlog.event(
+        "webrtcd.session.ice_candidates",
+        session_id=session.identifier,
+        offer_candidates=_ice_candidates(body.sdp),
+        answer_candidates=_ice_candidates(answer.sdp),
+      )
     except TimeoutError:
       await session.stop()
       stream_dict.pop(session.identifier, None)
       logging.getLogger("webrtcd").exception("Timed out creating stream answer")
+      with cloudlog.ctx(session_id=session.identifier):
+        cloudlog.warning("webrtcd.session.answer_timeout")
       raise
     except Exception:
       await session.stop()
       stream_dict.pop(session.identifier, None)
       logging.getLogger("webrtcd").exception("Failed to create stream answer")
+      with cloudlog.ctx(session_id=session.identifier):
+        cloudlog.exception("webrtcd.session.answer_exception")
       raise
     session.start()
 

openpilot/tools/live/README.md

@@ -1,198 +0,0 @@
-# Live UI
-
-View a comma device's live sunnypilot UI over Wi-Fi. Replay, ADB, and USB are
-not used.
-
-| Mode | Output | Device bridge |
-| --- | --- | --- |
-| Mimic (default) | Local UI rendered from live device data | Required |
-| Exact (`--exact`) | Actual pixels shown on the device | Not required |
-
-Mimic mode does not directly require SSH, but the device bridge must be started
-somehow; the examples use SSH. Exact mode, touch control, and `--stop-exact`
-require key-based SSH access.
-
-Choose **mimic** when developing or inspecting the local UI with live device
-data. Choose **exact** when you need to see or control what is physically shown
-on the device.
-
-## Before the first run
-
-1. Replace `192.168.43.1` in the examples if your device uses a different IP.
-2. Connect the computer and device to networks that can reach each other.
-3. Run local commands from the sunnypilot repository root.
-4. For exact mode, verify non-interactive SSH access:
-
-   ```bash
-   ssh -o BatchMode=yes comma@192.168.43.1 true
-   ```
-
-The script automatically switches to the repository's `.venv` when present.
-
-## Mimic UI
-
-Mimic mode receives live cereal messages and encoded road-camera frames, then
-renders a new UI instance on the computer. It resembles the device UI but is
-not a pixel-for-pixel screen mirror.
-
-Build the messaging bridge once on the computer:
-
-```bash
-scons -u cereal/messaging/bridge
-```
-
-Use two terminals. In the first, start the bridge on the device and leave it
-running:
-
-```bash
-ssh comma@192.168.43.1
-./cereal/messaging/bridge
-```
-
-In the second terminal, start the local UI:
-
-```bash
-BIG=0 ./openpilot/tools/live/ui.py 192.168.43.1
-```
-
-`BIG` is inherited from your environment and is not forced by the tool.
-
-## Exact device screen
-
-Exact mode streams the actual device display. It does not need either
-messaging bridge:
-
-```bash
-./openpilot/tools/live/ui.py --exact 192.168.43.1
-```
-
-The tool runs a temporary capture helper through SSH using AGNOS's existing
-DRM broker. It does not install software or modify openpilot source on the
-device. Exact mode requires a compatible AGNOS DRM writeback connector and
-captures the post-processed display output when that mode is available.
-
-Exact mode is experimental. Some Qualcomm/AGNOS combinations can time out
-during DRM writeback, freezing both the mirrored window and physical device UI.
-This can happen without `--control`; mouse, keyboard, and shortcut forwarding
-are not required to trigger the capture failure.
-The tool stops its verified helper when capture stalls, but the kernel display
-state may require a full device reboot before exact mode can be tried again.
-Restarting openpilot alone does not reset the display driver.
-
-Set the capture rate from 1 to 60 FPS; the default is 15:
-
-```bash
-./openpilot/tools/live/ui.py --exact --exact-fps 30 192.168.43.1
-./openpilot/tools/live/ui.py --exact --exact-fps 60 192.168.43.1
-```
-
-Start with 15 or 30 FPS. Higher rates use more device CPU and Wi-Fi bandwidth.
-
-Use `SCALE` to resize the local window:
-
-```bash
-SCALE=2 ./openpilot/tools/live/ui.py --exact 192.168.43.1
-```
-
-Only one exact session can run at a time.
-
-## Touch control
-
-Touch control is available only with exact mode:
-
-```bash
-./openpilot/tools/live/ui.py --exact --control 192.168.43.1
-```
-
-Left-clicks and drags are forwarded to the physical touchscreen over SSH.
-These inputs affect the real device, including settings and confirmation
-buttons.
-
-When the device's on-screen keyboard is visible, type with the computer
-keyboard. Letters, numbers, symbols, Space, Backspace, and Return are converted
-to taps on the device keyboard.
-
-Exact control also provides simulator-style shortcuts:
-
-| Shortcut | Action |
-| --- | --- |
-| `↓` | Go back with a swipe-down gesture |
-| `←` | Swipe right |
-| `→` | Swipe left |
-| `Command`+`K` (macOS) or `Ctrl`+`K` (Linux/Windows) | Force keyboard forwarding on, or return to automatic detection |
-
-Hold an arrow key to repeat its gesture until the key is released.
-
-Escape has no action and does not close the program; use `Ctrl-C` or the window
-close button to exit. `Command`+`K`/`Ctrl`+`K` enables manual keyboard forwarding
-regardless of exact-screen resolution; touch locations scale to the captured
-screen. Automatic keyboard detection targets the 536x240 mici UI. Turn forced
-forwarding back off after typing so ordinary keys cannot produce unintended
-taps on incompatible keyboard layouts.
-
-## Connection status
-
-Status appears in the window title and terminal:
-
-- `connected`: mimic telemetry and camera frames, or exact screen frames, are
-  arriving.
-- `keyboard`: exact-mode keyboard forwarding is currently active. This appears
-  only while the device keyboard is detected or forwarding is forced on.
-- `no camera`: mimic telemetry is arriving, but road-camera frames are not.
-- `disconnected`: expected mimic-mode live data has stopped.
-
-At the default capture rate, exact mode reports a stopped screen stream in
-about one second. Lower `--exact-fps` values allow more time between frames.
-If Qualcomm DRM writeback stalls, exact mode immediately stops its verified
-device helper and exits to avoid leaving the physical display frozen.
-
-## Stop and clean up
-
-Press `Ctrl-C` or close the window. If an exact helper remains orphaned, run:
-
-```bash
-./openpilot/tools/live/ui.py --stop-exact 192.168.43.1
-```
-
-`--kill-exact` is an alias. Stop exact mode before restarting or rebuilding
-openpilot to avoid blocking the physical UI during a display transition.
-
-## Options
-
-```text
---exact                 Show the actual device screen
---control               Forward mouse and keyboard input; requires --exact
---exact-fps FPS         Exact capture rate, 1-60 (default: 15)
---stop-exact            Stop orphaned exact helpers
---kill-exact            Alias for --stop-exact
---ip ADDRESS            Alternative to the positional address
-```
-
-See the complete command help:
-
-```bash
-./openpilot/tools/live/ui.py --help
-```
-
-## Troubleshooting
-
-- **`cereal/messaging/bridge` is not built:** Run:
-
-  ```bash
-  scons -u cereal/messaging/bridge
-  ```
-
-- **Mimic is disconnected:** Confirm the device bridge is still running and
-  the IP is reachable.
-- **Mimic reports no camera:** Confirm the device is publishing
-  `roadEncodeData`. Camera display may also wait briefly for the next keyframe.
-- **Exact says another session is running:** Close the other exact window. If
-  none is open, run `--stop-exact`.
-- **Exact cannot connect:** Recheck key-based SSH and the device IP using the
-  command in "Before the first run."
-- **Exact stalls or the physical UI freezes:** Stop the exact window and run
-  `--stop-exact`. If the device UI remains unstable or exact immediately stalls
-  again, fully reboot the device; restarting openpilot is not sufficient. If
-  the problem returns after reboot, use mimic mode because continuous DRM
-  writeback is not reliable on that device/AGNOS combination. Removing
-  `--control` does not address this capture-layer failure.

uv.lock

@@ -359,24 +359,24 @@ wheels = [
 
 [[package]]
 name = "cython"
-version = "3.2.9"
+version = "3.3.0"
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