models: test tinygrad concurrency (PR-2006)

.github/workflows/test_models.yml

@@ -0,0 +1,82 @@
+name: Test Models Compatibility With Tinygrad Changes
+on:
+  push:
+    paths:
+      - 'tinygrad_repo'
+  pull_request:
+    paths:
+      - 'tinygrad_repo'
+  workflow_dispatch:
+
+jobs:
+  generate-matrix:
+    runs-on: ubuntu-latest
+    outputs:
+      models: ${{ steps.set-matrix.outputs.models }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch and Parse json
+        id: set-matrix
+        run: |
+          python3 -c '
+          import json, urllib.request, os, re
+
+          with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
+            urls = re.findall(r"MODEL_URL(?:_CHESTNUT)?\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", f.read())
+
+          artifacts = []
+          for url in urls:
+            data = json.loads(urllib.request.urlopen(url).read())
+            for bundle in data.get("bundles", []):
+              for model in bundle.get("models", []):
+                if "artifact" in model:
+                  artifacts.append(model["artifact"])
+
+          with open(os.environ["GITHUB_OUTPUT"], "a") as f:
+            f.write(f"models={json.dumps(artifacts)}\n")
+          '
+
+  test-model:
+    name: Test ${{ matrix.artifact.file_name }}
+    needs: generate-matrix
+    runs-on: ubuntu-latest
+    container: ghcr.io/commaai/openpilot-base:latest
+    strategy:
+      fail-fast: false
+      matrix:
+        artifact: ${{ fromJson(needs.generate-matrix.outputs.models) }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Download Model Chunks in Parallel
+        run: |
+          mkdir -p /tmp/model_chunks
+          echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
+
+          BASE_URL="${{ matrix.artifact.download_uri.url }}"
+          export BASE_DIR=$(dirname "$BASE_URL")
+
+          python3 -c '
+          import json, os
+          with open("chunks.json") as f:
+            chunks = json.load(f)
+          manifest_path = f"/tmp/model_chunks/${{ matrix.artifact.file_name }}.chunkmanifest"
+          with open(manifest_path, "w") as f:
+            f.write(str(len(chunks)))
+          base_dir = os.environ["BASE_DIR"]
+          with open("/tmp/curl_config.txt", "w") as f:
+            for c in chunks:
+              fn = c["file_name"]
+              f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
+          '
+          curl -Z --parallel-immediate --parallel-max 16 -s -S -f -L -K /tmp/curl_config.txt
+
+      - name: Run Model Compatibility Test
+        env:
+          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
+          MODEL_CHUNK_DIR: "/tmp/model_chunks"
+          PYTHONPATH: ".:./tinygrad_repo"
+        run: |
+          python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py

openpilot/common/params_keys.h

@@ -227,11 +227,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
     {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
 
-    {"SunnylinkLocalApps", {PERSISTENT, JSON}},
-    {"SunnylinkLocalPairingCode", {CLEAR_ON_MANAGER_START, JSON}},
-    {"SunnylinkLocalDiscoveredApp", {CLEAR_ON_MANAGER_START, JSON}},
-    {"SunnylinkLocalPairingRequest", {CLEAR_ON_MANAGER_START, BOOL}},
-
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
     {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},

openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py

@@ -5,42 +5,22 @@ 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 pyray as rl
-from functools import partial
 from openpilot.cereal import custom
-from openpilot.common.version import sunnylink_consent_version
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.sunnypilot.sunnylink.athena.local_discovery import latest_discovered_app
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  LocalApp,
-  arm_pairing,
-  clear_pairing_request,
-  get_local_apps,
-  local_app_display_name,
-  pairing_requested,
-  read_pairing_code,
-  remove_local_app,
-)
 from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, button_item_sp, toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.widgets.button import ButtonStyle, Button, IconButton
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import dual_button_item
-from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-
-MAX_LOCAL_APPS = 4
-
-# Read-only value colors used by the local-mode rows.
-_LOCAL_DISCOVERED_COLOR = rl.Color(170, 170, 170, 255)  # grey: no app in sight
-_LOCAL_ACTIVE_COLOR = rl.Color(0, 255, 0, 255)          # green: discovered / pairing code
+from openpilot.common.version import sunnylink_consent_version
 
 
 class SunnylinkHeader(Widget):
@@ -212,15 +192,6 @@ class SunnylinkLayout(Widget):
     self._backup_btn.set_button_style(ButtonStyle.NORMAL)
     self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
 
-    self._mobile_app_btn = button_item_sp(
-      title=tr("Sunnylink Local Connections"),
-      button_text=tr("CONFIGURE"),
-      description=tr("Manage the mobile app(s) connected over Wi-Fi: pair a new app ") +
-                  tr("or unpair existing ones."),
-      callback=self._open_local_apps,
-    )
-    self._mobile_app_btn.set_visible(lambda: self._sunnylink_enabled)
-
     items = [
       SunnylinkHeader(),
       LineSeparator(),
@@ -231,11 +202,9 @@ class SunnylinkLayout(Widget):
       LineSeparator(),
       self._pair_btn,
       LineSeparator(),
-      self._mobile_app_btn,
-      LineSeparator(),
       self._sunnylink_uploader_toggle,
       LineSeparator(),
-      self._sunnylink_backup_restore_buttons,
+      self._sunnylink_backup_restore_buttons
     ]
     return items
 
@@ -348,8 +317,6 @@ class SunnylinkLayout(Widget):
       gui_app.push_widget(sl_terms_dlg)
     else:
       ui_state.params.put_bool("SunnylinkEnabled", state)
-      if not state:
-        clear_pairing_request()
       self._update_description(state)
 
   def _update_description(self, state: bool):
@@ -385,9 +352,6 @@ class SunnylinkLayout(Widget):
     self._pair_btn.action_item.set_text(pair_btn_text)
     self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
 
-  def _open_local_apps(self):
-    gui_app.push_widget(SunnylinkLocalAppLayout())
-
   def _render(self, rect):
     self._scroller.render(rect)
 
@@ -400,157 +364,3 @@ class SunnylinkLayout(Widget):
   def hide_event(self):
     super().hide_event()
     ui_state.sunnylink_state.set_settings_open(False)
-
-
-class SunnylinkLocalAppLayout(Widget):
-
-  def __init__(self):
-    super().__init__()
-    self._local_apps_cache: list[LocalApp] = []
-
-    self._back_button = NavButton(tr("Back"))
-    self._back_button.set_click_callback(gui_app.pop_widget)
-
-    self._pair_app_btn = button_item_sp(
-      title=tr("Pair App"),
-      button_text=tr("PAIR"),
-      description=tr("Open a 5-minute pairing window and show the code to ") +
-                  tr("type into the app. Closing the dialog cancels pairing."),
-      callback=self._show_pairing_code_dialog,
-    )
-
-    self._local_app_rows: list[ListItemSP] = []
-    self._local_app_seps: list[LineSeparator] = []
-    for i in range(MAX_LOCAL_APPS):
-      row = button_item_sp(
-        title=lambda i=i: self._local_app_title(i),
-        button_text=tr("UNPAIR"),
-        description=lambda i=i: self._local_app_endpoint(i),
-        callback=partial(self._unpair_local_app, i),
-      )
-      sep = LineSeparator()
-      row.set_visible(lambda i=i: self._local_row_visible(i))
-      sep.set_visible(lambda i=i: self._local_row_visible(i))
-      self._local_app_rows.append(row)
-      self._local_app_seps.append(sep)
-
-    items = [self._pair_app_btn, LineSeparator()]
-    for row, sep in zip(self._local_app_rows, self._local_app_seps, strict=True):
-      items.extend((row, sep))
-    self._scroller = Scroller(items, line_separator=False, spacing=0)
-
-  def _local_row_visible(self, i: int) -> bool:
-    return i < len(self._local_apps_cache)
-
-  def _local_app_title(self, i: int) -> str:
-    if i >= len(self._local_apps_cache):
-      return ""
-    return local_app_display_name(self._local_apps_cache[i])
-
-  def _local_app_endpoint(self, i: int) -> str:
-    if i >= len(self._local_apps_cache):
-      return ""
-    return self._local_apps_cache[i].endpoint
-
-  def _show_pairing_code_dialog(self):
-    gui_app.push_widget(SunnylinkLocalPairingDialog())
-
-  def _unpair_local_app(self, index: int):
-    apps = self._local_apps_cache
-    if index >= len(apps):
-      return
-    app = apps[index]
-    name = local_app_display_name(app)
-
-    def on_confirm(_dialog_result: int):
-      remove_local_app(app.app_id)
-
-    dialog = ConfirmDialog(
-      text=tr("Unpair") + f" {name}? " + tr("You will need the pairing code again to reconnect it."),
-      confirm_text=tr("Unpair"),
-      callback=on_confirm,
-    )
-    gui_app.push_widget(dialog)
-
-  def _update_state(self):
-    super()._update_state()
-    self._local_apps_cache = get_local_apps()
-
-  def _render(self, rect):
-    self._back_button.set_position(self._rect.x, self._rect.y + 20)
-    self._back_button.render()
-    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40,
-                                rect.width, rect.height - self._back_button.rect.height - 40)
-    self._scroller.render(content_rect)
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._scroller.hide_event()
-
-
-class SunnylinkLocalPairingDialog(Widget):
-
-  def __init__(self):
-    super().__init__()
-    self._apps_before = len(get_local_apps())
-    arm_pairing()
-    self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80))
-    self._close_btn.set_click_callback(self._cancel)
-
-  def _cancel(self):
-    clear_pairing_request()
-    gui_app.pop_widget()
-
-  def _update_state(self):
-    if len(get_local_apps()) > self._apps_before:
-      gui_app.pop_widget()  # paired — window already cleared
-    elif not pairing_requested():
-      gui_app.pop_widget()  # window expired
-
-  def _render(self, rect) -> int:
-    rl.clear_background(rl.Color(224, 224, 224, 255))
-
-    margin = 70
-    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin,
-                                rect.width - 2 * margin, rect.height - 2 * margin)
-    y = content_rect.y
-
-    close_size = 80
-    pad = 20
-    close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2)
-    self._close_btn.render(close_rect)
-    y += close_size + 40
-
-    title_font = gui_app.font(FontWeight.NORMAL)
-    title_wrapped = wrap_text(title_font, tr("Pair with mobile app"), 75, int(content_rect.width))
-    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
-    y += len(title_wrapped) * 75 + 40
-
-    code = read_pairing_code() or "—"
-    code_font = gui_app.font(FontWeight.BOLD)
-    code_size = measure_text_cached(code_font, code, 110)
-    rl.draw_text_ex(code_font, code, rl.Vector2(content_rect.x + (content_rect.width - code_size.x) / 2, y),
-                    110, 0.0, rl.BLACK)
-    y += 170
-
-    hint_font = gui_app.font(FontWeight.NORMAL)
-    hint_wrapped = wrap_text(hint_font, tr("Enter this code in the sunnylink app on your phone."), 45,
-                             int(content_rect.width))
-    rl.draw_text_ex(hint_font, "\n".join(hint_wrapped), rl.Vector2(content_rect.x, y), 45, 0.0, rl.BLACK)
-    y += len(hint_wrapped) * 45 + 30
-
-    discovered = latest_discovered_app()
-    if discovered is not None:
-      endpoint, age = discovered
-      status = endpoint if age < 2 else f"{endpoint} ({age}s)"
-      color = _LOCAL_ACTIVE_COLOR
-    else:
-      status = tr("Waiting for the app…")
-      color = _LOCAL_DISCOVERED_COLOR
-    status_font = gui_app.font(FontWeight.NORMAL)
-    rl.draw_text_ex(status_font, status, rl.Vector2(content_rect.x, y), 40, 0.0, color)
-    return -1

openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py

@@ -5,34 +5,21 @@ 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 pyray as rl
-from functools import partial
+
 
 from openpilot.cereal import custom
-from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigDialogBase
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.sunnypilot.sunnylink.athena.local_discovery import latest_discovered_app
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  LocalApp,
-  arm_pairing,
-  clear_pairing_request,
-  get_local_apps,
-  local_app_display_name,
-  pairing_requested,
-  read_pairing_code,
-  remove_local_app,
-)
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
-
-MAX_LOCAL_APPS = 4
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 class SunnylinkInfo(Widget):
   def __init__(self):
@@ -86,15 +73,11 @@ class SunnylinkLayoutMici(NavScroller):
     self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
                                                 toggle_callback=self._sunnylink_uploader_callback)
 
-    self._mobile_app_btn = BigButton(tr("sunnylink local"), "")
-    self._mobile_app_btn.set_click_callback(lambda: gui_app.push_widget(LocalAppsPanelMici()))
-
     self._scroller.add_widgets([
       self._sunnylink_info,
       self._sunnylink_toggle,
       self._sunnylink_sponsor_button,
       self._sunnylink_pair_button,
-      self._mobile_app_btn,
       self._backup_btn,
       self._restore_btn,
       self._sunnylink_uploader_toggle
@@ -127,7 +110,6 @@ class SunnylinkLayoutMici(NavScroller):
       self._sunnylink_pair_button.set_text(tr("paired"))
     else:
       self._sunnylink_pair_button.set_text(tr("pair"))
-    self._mobile_app_btn.set_visible(self._sunnylink_enabled)
 
   def show_event(self):
     super().show_event()
@@ -158,8 +140,6 @@ class SunnylinkLayoutMici(NavScroller):
       gui_app.push_widget(sl_terms_dlg)
     else:
       ui_state.params.put_bool("SunnylinkEnabled", state)
-      if not state:
-        clear_pairing_request()
 
     ui_state.update_params()
 
@@ -272,108 +252,3 @@ class SunnylinkPairBigButton(BigButton):
       dlg = SunnylinkPairingDialog(sponsor_pairing=False)
     if dlg:
       gui_app.push_widget(dlg)
-
-
-class LocalAppsPanelMici(NavScroller):
-
-  def __init__(self):
-    super().__init__()
-    self._local_apps_cache: list[LocalApp] = []
-
-    self._pair_app_btn = BigButton(tr("pair app"), "")
-    self._pair_app_btn.set_click_callback(lambda: gui_app.push_widget(LocalPairingCodeDialogMici()))
-
-    self._local_app_btns: list[BigButton] = []
-    for i in range(MAX_LOCAL_APPS):
-      btn = BigButton("", "")
-      btn.set_click_callback(partial(self._confirm_unpair_local_app, i))
-      self._local_app_btns.append(btn)
-
-    self._scroller.add_widgets([self._pair_app_btn, *self._local_app_btns])
-
-  def _update_state(self):
-    super()._update_state()
-    self._local_apps_cache = get_local_apps()
-    for i, btn in enumerate(self._local_app_btns):
-      btn.set_visible(i < len(self._local_apps_cache))
-      if i < len(self._local_apps_cache):
-        app = self._local_apps_cache[i]
-        btn.set_text(local_app_display_name(app))
-        btn.set_value(app.endpoint)
-
-  def _confirm_unpair_local_app(self, index: int):
-    apps = self._local_apps_cache
-    if index >= len(apps):
-      return
-    app = apps[index]
-
-    def unpair():
-      remove_local_app(app.app_id)
-
-    icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
-    dlg = BigConfirmationDialog(
-      tr("slide to unpair"),
-      icon,
-      confirm_callback=unpair,
-      red=True,
-    )
-    gui_app.push_widget(dlg)
-
-
-class LocalPairingCodeDialogMici(BigDialogBase):
-
-  def __init__(self):
-    super().__init__()
-    self._apps_before = len(get_local_apps())
-    arm_pairing()
-    self.set_back_callback(clear_pairing_request)
-
-    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
-    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
-    self._title = UnifiedLabel(tr("pair with mobile app"), font_size=48, font_weight=FontWeight.BOLD,
-                               text_color=header_color, line_height=0.8)
-    self._code_label = UnifiedLabel("", font_size=110, font_weight=FontWeight.DISPLAY,
-                                    text_color=rl.Color(0, 255, 0, 255))
-    self._hint = UnifiedLabel(tr("enter this code in the sunnylink app"), font_size=32,
-                              text_color=subheader_color, line_height=0.9)
-    self._status = UnifiedLabel("", font_size=28,
-                                text_color=rl.Color(255, 255, 255, int(255 * 0.45)), line_height=0.9)
-
-  def _update_state(self):
-    super()._update_state()
-    if self.is_dismissing:
-      return
-    if len(get_local_apps()) > self._apps_before:
-      self.dismiss()  # paired — window already cleared
-    elif not pairing_requested():
-      self.dismiss()  # window expired
-
-  def _render(self, _):
-    self._code_label.set_text(read_pairing_code() or "—")
-
-    discovered = latest_discovered_app()
-    if discovered is not None:
-      endpoint, age = discovered
-      self._status.set_text(endpoint if age < 2 else f"{endpoint} ({age}s)")
-      self._status.set_text_color(rl.Color(0, 255, 0, 255))
-    else:
-      self._status.set_text(tr("waiting for the app…"))
-      self._status.set_text_color(rl.Color(255, 255, 255, int(255 * 0.45)))
-
-    x = self._rect.x + 20
-    width = int(self._rect.width - 40)
-    self._title.set_max_width(width)
-    self._title.set_position(x, self._rect.y + 40)
-    self._title.render()
-
-    self._code_label.set_max_width(width)
-    self._code_label.set_position(x, self._rect.y + 130)
-    self._code_label.render()
-
-    self._hint.set_max_width(width)
-    self._hint.set_position(x, self._rect.y + 290)
-    self._hint.render()
-
-    self._status.set_max_width(width)
-    self._status.set_position(x, self._rect.y + 360)
-    self._status.render()

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -0,0 +1,100 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+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 io
+import struct
+import pickle
+import inspect
+import importlib
+import enum
+
+
+def _pad_args(func, args, kwargs):
+  try:
+    sig = inspect.signature(func)
+  except Exception:
+    return args, kwargs
+  params = list(sig.parameters.values())
+  if inspect.isfunction(func) and params and params[0].name in ('cls', 'self'):
+    params = params[1:]
+
+  new_args = list(args)
+  has_varargs = any(p.kind == inspect.Parameter.VAR_POSITIONAL for p in params)
+  if len(new_args) > len(params) and not has_varargs:
+    new_args = new_args[:len(params)]
+
+  for i in range(len(new_args), len(params)):
+    param = params[i]
+    if param.kind in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD):
+      continue
+    val = param.default if param.default is not inspect.Parameter.empty else None
+    new_args.append(val)
+  return new_args, kwargs
+
+
+def _enum_factory(enum_class):
+  def factory(*args, **kwargs):
+    try:
+      return enum_class(*args, **kwargs)
+    # OptOps and UOp objects in the .pkl are left over from the compilation phase,
+    # reassignment does nothing because they aren't tied to the execution graph
+    # It never executes or evaluates the UOp nodes again.
+    except ValueError:
+      return list(enum_class)[0]
+  factory.__name__ = enum_class.__name__
+  factory.__module__ = enum_class.__module__
+  return factory
+
+
+def _dynamic_factory(real_class):
+  if isinstance(real_class, type) and issubclass(real_class, enum.Enum):
+    return _enum_factory(real_class)
+
+  def factory(*args, **kwargs):
+    try:
+      return real_class(*args, **kwargs)
+    except TypeError:
+      new_args, new_kwargs = _pad_args(real_class, args, kwargs)
+      return real_class(*new_args, **new_kwargs)
+
+  class DynamicMeta(type(real_class)):
+    def __call__(cls, *args, **kwargs):
+      return factory(*args, **kwargs)
+
+  class DynamicProxy(real_class, metaclass=DynamicMeta):
+    __slots__ = ()
+
+    def __new__(cls, *args, **kwargs):
+      return factory(*args, **kwargs)
+
+  DynamicProxy.__name__ = real_class.__name__
+  DynamicProxy.__module__ = real_class.__module__
+  return DynamicProxy
+
+
+class DynamicTinygradUnpickler(pickle.Unpickler):
+  def find_class(self, module, name):
+    if module == "tinygrad.ops":
+      try:
+        importlib.import_module("tinygrad.uops")
+        module = "tinygrad.uops"
+      except ImportError:
+        pass
+    real_class = getattr(importlib.import_module(module), name)
+    if module.startswith("tinygrad"):
+      return _dynamic_factory(real_class)
+    return real_class
+
+
+def load_oob(f):
+  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
+  def buffers():
+    while (h := f.read(8)):
+      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
+      f.readinto(pb)
+      yield pb
+  return DynamicTinygradUnpickler(io.BytesIO(opcodes), buffers=buffers()).load()

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -17,7 +17,7 @@ from tinygrad.tensor import Tensor
 
 import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
+from openpilot.selfdrive.modeld.helpers import chestnut_present
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
@@ -52,6 +52,7 @@ from openpilot.sunnypilot.modeld_v2.compile_modeld import (derive_frame_skip, ma
                                                            WARP_INPUTS, POLICY_INPUTS)
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.modeld_v2.helpers import load_oob
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 

openpilot/sunnypilot/modeld_v2/tests/test_models.py

@@ -0,0 +1,43 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+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 unittest
+from unittest.mock import patch
+from openpilot.common.file_chunker import open_file_chunked
+from openpilot.sunnypilot.modeld_v2.helpers import load_oob
+from tinygrad.device import Device
+
+
+class TestLegacyModels(unittest.TestCase):
+  def test_legacy_model_load(self):
+    base_name = os.environ.get("MODEL_BASE_NAME")
+    if not base_name:
+      raise unittest.SkipTest("MODEL_BASE_NAME env var not set, skipping integration test.")
+    chunk_dir = os.environ.get("MODEL_CHUNK_DIR", "/tmp/model_chunks")
+    base_path = os.path.join(chunk_dir, base_name)
+
+    try:
+      f = open_file_chunked(base_path)
+    except Exception as error:
+      self.fail(f"Failed to open chunked file {base_path}: {error}")
+    self.addCleanup(f.close)
+
+    real_getitem = Device.__class__.__getitem__
+
+    def safe_getitem(device_self, ix):
+      if ix == "QCOM" and not os.path.exists("/dev/kgsl-3d0"):
+        return real_getitem(device_self, "CPU")
+      if ix == "AMD" and not os.path.exists("/dev/kfd"):
+        return real_getitem(device_self, "CPU")
+      return real_getitem(device_self, ix)
+
+    with patch.object(Device.__class__, "__getitem__", safe_getitem):
+      obj = load_oob(f)
+
+    assert isinstance(obj, dict), "Parsed object is not a dictionary"
+    assert "metadata" in obj, "Metadata key is missing"

openpilot/sunnypilot/models/tests/test_tinygrad_ref.py

@@ -1,24 +0,0 @@
-import requests
-
-from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
-from openpilot.sunnypilot.models.fetcher import ModelFetcher
-from openpilot.common.test import OpenpilotTestCase
-
-def fetch_tinygrad_ref():
-  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
-  response.raise_for_status()
-  json_data = response.json()
-  return json_data.get("tinygrad_ref")
-
-
-class TestTinygradRef(OpenpilotTestCase):
-  def test_tinygrad_ref(self):
-    current_ref = get_tinygrad_ref()
-    remote_ref = fetch_tinygrad_ref()
-    assert remote_ref == current_ref, (
-      f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
-    Current: {current_ref}
-    Remote: {remote_ref}
-    Please run build-all workflow to update models."""
-    )
-    print("tinygrad_repo ref matches current compiled driving models json ref.")

openpilot/sunnypilot/sunnylink/athena/local_discovery.py

@@ -1,261 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-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.
-"""
-from __future__ import annotations
-
-import json
-import socket
-import threading
-import time
-from collections.abc import Callable
-from dataclasses import dataclass
-
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  BEACON_PREFIX,
-  DISCOVERED_APP_KEY,
-  SUNNYLINK_LOCAL_UDP_PORT,
-  format_endpoint,
-  get_local_apps,
-  pairing_requested,
-  update_local_app_endpoint,
-)
-
-LOCAL_BEACON_FRESH_S = 30
-
-@dataclass
-class AppBeacon:
-  """A parsed app beacon — the app announcing it is acting as the local backend."""
-  app_id: str
-  ws_port: int
-  source_ip: str
-
-  @property
-  def endpoint(self) -> str:
-    return format_endpoint(self.source_ip, self.ws_port)
-
-
-def parse_beacon(raw: str | bytes, source_ip: str = "") -> AppBeacon | None:
-  """
-  Parse one UDP beacon line from the app.
-
-  Wire format: `SUNNYLINK1 {"v":1,"role":"app","app_id":"<uuid>","ws_port":8443}`
-  Returns None for anything else. Beacons carry ids + addresses only — no secrets.
-  """
-  if isinstance(raw, bytes):
-    raw = raw.decode("utf-8", errors="replace")
-  raw = raw.strip()
-  if not raw.startswith(BEACON_PREFIX + " "):
-    return None
-  try:
-    data = json.loads(raw[len(BEACON_PREFIX) + 1:])
-  except ValueError:
-    return None
-  if not isinstance(data, dict):
-    return None
-  if data.get("role") != "app" or data.get("v") != 1:
-    return None
-  app_id = data.get("app_id")
-  ws_port = data.get("ws_port")
-  if not isinstance(app_id, str) or not app_id:
-    return None
-  if not isinstance(ws_port, int) or not (0 < ws_port <= 65535):
-    return None
-  return AppBeacon(app_id=app_id, ws_port=ws_port, source_ip=source_ip)
-
-
-class LocalDiscovery(threading.Thread):
-  """
-  Passive UDP listener
-
-  - While a pairing window is armed: track the freshest app beacon so the
-    daemon can offer pairing to a NEW app, and mirror it into a status param
-    for the settings UI.
-  - Independently of any window: a beacon from an app ALREADY in the paired
-    registry refreshes its cached endpoint — IPs are not identity, the app can
-    move between networks.
-  """
-
-  def __init__(self, params: Params | None = None, port: int = SUNNYLINK_LOCAL_UDP_PORT,
-               sock: socket.socket | None = None, write_interval_s: float = 5.0,
-               paired_refresh_cb: Callable[[AppBeacon], None] | None = None):
-    super().__init__(name="local_discovery_listener", daemon=True)
-    self.params = params or Params()
-    self.port = port
-    self._sock = sock
-    self.paired_refresh_cb = paired_refresh_cb
-    self._latest_endpoint: str | None = None
-    self._latest_app_id: str | None = None
-    self._last_seen_monotonic: float = 0.0
-    self._latest_paired_endpoint: str | None = None
-    self._latest_paired_app_id: str | None = None
-    self._last_paired_seen_monotonic: float = 0.0
-    self._lock = threading.Lock()
-    self._stop_event = threading.Event()
-    self.write_interval_s = write_interval_s
-    self._last_write_monotonic = 0.0
-    self._last_written_endpoint: str | None = None
-    self._last_written_app_id: str | None = None
-    self._discovered_cleared = False
-
-  def stop(self) -> None:
-    self._stop_event.set()
-    if self._sock is not None:
-      try:
-        self._sock.close()
-      except OSError:
-        pass
-
-  def latest_endpoint(self) -> str | None:
-    """The most recently announced app endpoint (None outside a pairing window)."""
-    with self._lock:
-      return self._latest_endpoint
-
-  def latest_app_id(self) -> str | None:
-    """The app_id of the most recently announced beacon (None outside a window)."""
-    with self._lock:
-      return self._latest_app_id
-
-  def last_seen_ago(self) -> float | None:
-    """Seconds since the last app beacon was heard (None when none heard yet)."""
-    with self._lock:
-      if self._last_seen_monotonic == 0.0:
-        return None
-      return time.monotonic() - self._last_seen_monotonic
-
-  def latest_paired_endpoint(self) -> str | None:
-    """The freshest beacon endpoint announced by an ALREADY-PAIRED."""
-    with self._lock:
-      return self._latest_paired_endpoint
-
-  def latest_paired_app_id(self) -> str | None:
-    """The app_id of the freshest paired-app beacon (None until one is heard)."""
-    with self._lock:
-      return self._latest_paired_app_id
-
-  def latest_paired_seen_ago(self) -> float | None:
-    """Seconds since the freshest paired-app beacon was heard (None when none)."""
-    with self._lock:
-      if self._last_paired_seen_monotonic == 0.0:
-        return None
-      return time.monotonic() - self._last_paired_seen_monotonic
-
-  def _handle(self, raw: bytes, source_ip: str) -> None:
-    beacon = parse_beacon(raw, source_ip)
-    if beacon is None:
-      return
-    if pairing_requested(self.params):
-      with self._lock:
-        self._latest_endpoint = beacon.endpoint
-        self._latest_app_id = beacon.app_id
-        self._last_seen_monotonic = time.monotonic()
-      self._write_discovered_param(beacon)
-      cloudlog.debug(f"local_discovery.app_found {beacon.app_id} at {beacon.endpoint}")
-    else:
-      with self._lock:
-        self._latest_endpoint = None
-        self._latest_app_id = None
-        self._last_seen_monotonic = 0.0
-      self._clear_discovered_param()
-    self._maybe_refresh_paired_app(beacon)
-
-  def _maybe_refresh_paired_app(self, beacon: AppBeacon) -> None:
-    """Refresh a paired app's registry endpoint from its beacon."""
-
-    if not any(app.app_id == beacon.app_id for app in get_local_apps(self.params)):
-      return
-    with self._lock:
-      self._latest_paired_endpoint = beacon.endpoint
-      self._latest_paired_app_id = beacon.app_id
-      self._last_paired_seen_monotonic = time.monotonic()
-    if update_local_app_endpoint(beacon.app_id, beacon.endpoint, self.params):
-      cloudlog.debug(f"local_discovery.paired_refresh {beacon.app_id} -> {beacon.endpoint}")
-    if self.paired_refresh_cb is not None:
-      try:
-        self.paired_refresh_cb(beacon)
-      except Exception:
-        cloudlog.exception("local_discovery.paired_refresh_cb.exception")
-
-  def _clear_discovered_param(self) -> None:
-    if self._discovered_cleared:
-      return
-    self._discovered_cleared = True
-    try:
-      self.params.remove(DISCOVERED_APP_KEY)
-    except Exception:
-      cloudlog.exception("local_discovery.param_clear.exception")
-
-  def _write_discovered_param(self, beacon: AppBeacon) -> None:
-    """Mirror the freshest beacon into a param the settings UI can read."""
-    now = time.monotonic()
-    changed = beacon.endpoint != self._last_written_endpoint or beacon.app_id != self._last_written_app_id
-    if not changed and now - self._last_write_monotonic < self.write_interval_s:
-      return
-    self._last_write_monotonic = now
-    self._last_written_endpoint = beacon.endpoint
-    self._last_written_app_id = beacon.app_id
-    self._discovered_cleared = False
-    payload = {
-      "endpoint": beacon.endpoint,
-      "app_id": beacon.app_id,
-      "ts": int(time.monotonic()),
-    }
-    try:
-      self.params.put(DISCOVERED_APP_KEY, payload, block=True)
-    except Exception:
-      cloudlog.exception("local_discovery.param_write.exception")
-
-  def _bind(self) -> socket.socket:
-    if self._sock is not None:
-      return self._sock
-    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-    sock.bind(("0.0.0.0", self.port))
-    sock.settimeout(0.5)
-    return sock
-
-  def run(self) -> None:
-    sock = self._bind()
-    try:
-      while not self._stop_event.is_set():
-        try:
-          data, addr = sock.recvfrom(4096)
-          self._handle(data, addr[0] if len(addr) > 0 else "")
-        except TimeoutError:
-          continue
-        except OSError:
-          # Socket closed by stop() — exit quietly.
-          if self._stop_event.is_set():
-            break
-          cloudlog.exception("local_discovery.recv.exception")
-          break
-    finally:
-      try:
-        sock.close()
-      except OSError:
-        pass
-
-
-def latest_discovered_app(params: Params | None = None,
-                          fresh_s: float = LOCAL_BEACON_FRESH_S) -> tuple[str, int] | None:
-  params = params or Params()
-  data = params.get(DISCOVERED_APP_KEY)
-  if not isinstance(data, dict):
-    return None
-  endpoint = str(data.get("endpoint", ""))
-  try:
-    ts = int(data.get("ts") or 0)
-  except (ValueError, TypeError):
-    return None
-  if not endpoint or ts <= 0:
-    return None
-  age = time.monotonic() - ts
-  # Negative age = written before the last reboot (monotonic restarts at boot).
-  if age < 0 or age > fresh_s:
-    return None
-  return endpoint, max(0, int(age))

openpilot/sunnypilot/sunnylink/athena/local_pairing.py

@@ -1,257 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-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.
-"""
-from __future__ import annotations
-
-import secrets
-import threading
-import time
-from dataclasses import asdict, dataclass
-from datetime import datetime, UTC
-from typing import Any
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-SUNNYLINK_LOCAL_UDP_PORT = 53133
-SUNNYLINK_LOCAL_WS_PORT = 8443
-
-LOCAL_APPS_KEY = "SunnylinkLocalApps"
-PAIRING_CODE_KEY = "SunnylinkLocalPairingCode"
-PAIRING_REQUEST_KEY = "SunnylinkLocalPairingRequest"
-DISCOVERED_APP_KEY = "SunnylinkLocalDiscoveredApp"
-
-PAIRING_CODE_LENGTH = 6
-PAIRING_CODE_ALPHABET = "0123456789"
-DEFAULT_CODE_ROTATION_S = 10 * 60  # re-roll the displayed code every 10 min
-PAIRING_WINDOW_S = 5 * 60
-
-BEACON_PREFIX = "SUNNYLINK1"
-
-
-@dataclass
-class LocalApp:
-  """One app paired with this device (the app runs the local "backend")."""
-  app_id: str
-  endpoint: str
-  app_name: str = ""
-  alias: str = ""
-  paired_at: int = 0  # epoch seconds
-
-  @staticmethod
-  def from_dict(data: dict[str, Any]) -> LocalApp:
-    return LocalApp(
-      app_id=str(data.get("app_id", "")),
-      endpoint=str(data.get("endpoint", "")),
-      app_name=str(data.get("app_name", "")),
-      alias=str(data.get("alias", "")),
-      paired_at=int(data.get("paired_at") or 0),
-    )
-
-
-def local_app_display_name(app: LocalApp) -> str:
-  return app.alias or app.app_name or app.app_id
-
-
-def is_locally_paired(params: Params | None = None) -> bool:
-  return len(get_local_apps(params)) > 0
-
-
-def get_local_apps(params: Params | None = None) -> list[LocalApp]:
-  """The paired-app registry (a JSON list persisted in `SunnylinkLocalApps`)."""
-  params = params or Params()
-  data = params.get(LOCAL_APPS_KEY)
-  if not isinstance(data, list):
-    return []
-  return [LocalApp.from_dict(item) for item in data if isinstance(item, dict) and item.get("app_id")]
-
-
-def _save_local_apps(apps: list[LocalApp], params: Params | None = None) -> None:
-  params = params or Params()
-  if apps:
-    params.put(LOCAL_APPS_KEY, [asdict(app) for app in apps], block=True)
-  else:
-    params.remove(LOCAL_APPS_KEY)
-
-
-def add_local_app(app: LocalApp, params: Params | None = None) -> None:
-  """Append (or update by app_id) and persist."""
-  if not app.paired_at:
-    app.paired_at = int(datetime.now(UTC).replace(tzinfo=None).timestamp())
-  apps = [existing for existing in get_local_apps(params) if existing.app_id != app.app_id]
-  apps.append(app)
-  _save_local_apps(apps, params)
-  cloudlog.event("local_pairing.app_paired", app_id=app.app_id, endpoint=app.endpoint)
-
-
-def update_local_app_endpoint(app_id: str, endpoint: str, params: Params | None = None) -> bool:
-  """Refresh a PAIRED app's cached endpoint from its beacon."""
-  apps = get_local_apps(params)
-  for i, app in enumerate(apps):
-    if app.app_id != app_id or app.endpoint == endpoint:
-      continue
-    apps[i] = LocalApp(app_id=app.app_id, endpoint=endpoint,
-                       app_name=app.app_name, alias=app.alias, paired_at=app.paired_at)
-    _save_local_apps(apps, params)
-    cloudlog.event("local_pairing.app_endpoint_refreshed", app_id=app_id, endpoint=endpoint)
-    return True
-  return False
-
-
-def set_local_app_alias(app_id: str, alias: str, params: Params | None = None) -> bool:
-  apps = get_local_apps(params)
-  for i, app in enumerate(apps):
-    if app.app_id != app_id:
-      continue
-    if app.alias == alias:
-      return False
-    apps[i] = LocalApp(app_id=app.app_id, endpoint=app.endpoint,
-                       app_name=app.app_name, alias=alias, paired_at=app.paired_at)
-    _save_local_apps(apps, params)
-    cloudlog.event("local_pairing.app_alias_updated", app_id=app_id, alias=alias)
-    return True
-  return False
-
-
-def remove_local_app(app_id: str, params: Params | None = None) -> bool:
-  """Unpair an app by id. Returns True when an app was removed."""
-  apps = get_local_apps(params)
-  remaining = [app for app in apps if app.app_id != app_id]
-  if len(remaining) == len(apps):
-    return False
-  _save_local_apps(remaining, params)
-  cloudlog.event("local_pairing.app_unpaired", app_id=app_id)
-  return True
-
-
-def remove_all_local_apps(params: Params | None = None) -> None:
-  """Unpair every app."""
-  _save_local_apps([], params)
-  cloudlog.event("local_pairing.all_apps_unpaired")
-
-
-def generate_pairing_code() -> str:
-  """A 6-digit numeric pairing code."""
-  return "".join(secrets.choice(PAIRING_CODE_ALPHABET) for _ in range(PAIRING_CODE_LENGTH))
-
-
-def _write_pairing_code(code: str, params: Params) -> None:
-  """Persist the code with its armed-at monotonic timestamp — the window is derived from it."""
-  params.put(PAIRING_CODE_KEY, {"code": code, "ts": int(time.monotonic())}, block=True)
-
-
-def read_pairing_code(params: Params | None = None) -> str | None:
-  """The stored pairing code, or None when cleared / not yet generated."""
-  params = params or Params()
-  data = params.get(PAIRING_CODE_KEY)
-  if not isinstance(data, dict):
-    return None
-  code = data.get("code")
-  return str(code) if code else None
-
-
-def get_pairing_code(params: Params | None = None) -> str:
-  """The displayed pairing code, generating and persisting one on first use."""
-  params = params or Params()
-  code = read_pairing_code(params)
-  if code is None:
-    code = generate_pairing_code()
-    _write_pairing_code(code, params)
-  return code
-
-
-def pairing_requested(params: Params | None = None) -> bool:
-  """True while the pairing window is armed and fresh.
-
-  Self-expiring: if the code (which carries the armed-at timestamp) is missing
-  or older than PAIRING_WINDOW_S, the flag is dropped here."""
-  params = params or Params()
-  if not params.get_bool(PAIRING_REQUEST_KEY):
-    return False
-  data = params.get(PAIRING_CODE_KEY)
-  ts = data.get("ts") if isinstance(data, dict) else None
-  if not isinstance(ts, (int, float)):
-    clear_pairing_request(params)
-    return False
-  age = time.monotonic() - ts
-  # Negative age = armed before the last reboot (monotonic restarts at boot).
-  if age < 0 or age > PAIRING_WINDOW_S:
-    clear_pairing_request(params)
-    return False
-  return True
-
-
-def arm_pairing(params: Params | None = None) -> str:
-  """Arm a pairing window and return the code for the app.
-
-  Rolls a fresh code first, then sets the flag, so pairing_requested never
-  sees an armed flag without a valid code."""
-  params = params or Params()
-  code = generate_pairing_code()
-  _write_pairing_code(code, params)
-  params.put_bool(PAIRING_REQUEST_KEY, True, block=True)
-  return code
-
-
-def clear_pairing_request(params: Params | None = None) -> None:
-  """Close the pairing window: drop the request flag and the code together."""
-  params = params or Params()
-  params.remove(PAIRING_REQUEST_KEY)
-  params.remove(PAIRING_CODE_KEY)
-
-
-def verify_pairing_code(code: str, params: Params | None = None) -> bool:
-  """Constant-time check of a code typed into the app against the displayed one."""
-  params = params or Params()
-  current = read_pairing_code(params)
-  if current is None:
-    return False
-  return secrets.compare_digest(str(code).strip().upper(), current)
-
-
-class PairingCodeRotator(threading.Thread):
-  """Re-roll the displayed code while a pairing window is armed; clear it
-  otherwise — the code is never generated outside a window."""
-
-  def __init__(self, params: Params | None = None, rotation_s: float = DEFAULT_CODE_ROTATION_S,
-               stop_event: threading.Event | None = None, tick_cb: Callable[[], None] | None = None):
-    super().__init__(name="local_pairing_code_rotator", daemon=True)
-    self.params = params or Params()
-    self.rotation_s = rotation_s
-    self.stop_event = stop_event or threading.Event()
-    # Test seam: invoked once per loop iteration after state is updated.
-    self.tick_cb = tick_cb
-
-  def rotate(self) -> None:
-    """Re-roll the code while the window is armed, clear it otherwise."""
-    if pairing_requested(self.params):
-      _write_pairing_code(generate_pairing_code(), self.params)
-    else:
-      self.params.remove(PAIRING_CODE_KEY)
-
-  def run(self) -> None:
-    self.rotate()
-    while not self.stop_event.wait(self.rotation_s):
-      try:
-        self.rotate()
-        if self.tick_cb is not None:
-          self.tick_cb()
-      except Exception:
-        cloudlog.exception("local_pairing.code_rotator.exception")
-
-
-def format_endpoint(host: str, ws_port: int = SUNNYLINK_LOCAL_WS_PORT) -> str:
-  return f"ws://{host}:{ws_port}"
-
-
-def local_identity(params: Params | None = None) -> str:
-  """Identity claim on local connections. DongleId always exists on comma
-  hardware (SunnylinkDongleId is "UnregisteredDevice" until cloud
-  registration) and is what the app matches against the backend device list
-  to dedupe cloud + local entries."""
-  params = params or Params()
-  return params.get("DongleId") or params.get("HardwareSerial") or ""

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -30,26 +30,10 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import openpilot.cereal.messaging as messaging
 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.system.athena import rpc as rpc_module
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
-from openpilot.sunnypilot.sunnylink.athena.local_discovery import LOCAL_BEACON_FRESH_S, AppBeacon, LocalDiscovery
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  PAIRING_WINDOW_S,
-  LocalApp,
-  PairingCodeRotator,
-  add_local_app,
-  clear_pairing_request,
-  get_local_apps,
-  is_locally_paired,
-  local_identity,
-  pairing_requested,
-  remove_local_app,
-  set_local_app_alias,
-  verify_pairing_code,
-)
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -58,15 +42,6 @@ SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
 
-LOCAL_PAIRING_SESSION_TIMEOUT_S = PAIRING_WINDOW_S
-LOCAL_PROBE_INTERVAL_S = 60
-LOCAL_ENDPOINT_BACKOFF_S = 300
-PAIRING_WATCHDOG_INTERVAL_S = 2.0
-
-_active_local_endpoint: str | None = None
-_active_ws: WebSocket | None = None
-_pairing_in_progress = threading.Event()
-
 params = Params()
 
 # Parameters that should never be remotely modified
@@ -291,302 +266,44 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
   return start_local_proxy_shim(global_end_event, local_port, ws)
 
 
-@dispatcher.add_method
-def pairLocalApp(code: str, app_id: str = "", app_name: str = "", alias: str = "") -> dict[str, bool | str]:
-  """Complete pairing with the app on the CURRENT local connection."""
-  if _active_local_endpoint is None:
-    return {"success": False, "error": "not connected to a local app"}
-  if not verify_pairing_code(code):
-    cloudlog.warning("sunnylinkd.pairLocalApp.invalid_code")
-    return {"success": False, "error": "invalid code"}
-  add_local_app(LocalApp(app_id=app_id or f"app@{_active_local_endpoint}",
-                         endpoint=_active_local_endpoint, app_name=app_name, alias=alias))
-  clear_pairing_request()
-  return {"success": True}
-
-
-@dispatcher.add_method
-def updateLocalAppAlias(app_id: str, alias: str) -> dict[str, bool | str]:
-  if _active_local_endpoint is None:
-    return {"success": False, "error": "not connected to a local app"}
-  updated = set_local_app_alias(app_id, alias)
-  return {"success": True, "updated": updated}
-
-
-@dispatcher.add_method
-def unpairLocalApp(app_id: str) -> dict[str, bool | str]:
-  if _active_local_endpoint is None:
-    return {"success": False, "error": "not connected to a local app"}
-  removed = remove_local_app(app_id)
-  return {"success": True, "removed": removed}
-
-
-def _auth_header(is_local: bool) -> dict[str, str]:
-  """Bearer header for a dial."""
-  api = SunnylinkApi(params.get("SunnylinkDongleId"))
-  payload = {"identity": local_identity()} if is_local else None
-  return {"Authorization": f"Bearer {api.get_token(payload_extra=payload)}"}
-
-
-def _pairing_session(ws: WebSocket, timeout_s: float = LOCAL_PAIRING_SESSION_TIMEOUT_S) -> bool:
-  """Serve only the pairing RPCs to an app that isn't in the registry yet —
-  everything else is refused. Returns True if pairing completed (the connection may then
-  serve normally)."""
-  cloudlog.info("sunnylinkd.pairing_session.started")
-  ws.settimeout(10)
-  deadline = time.monotonic() + timeout_s
-  try:
-    while time.monotonic() < deadline and pairing_requested():
-      try:
-        raw = ws.recv()  # auto-pongs pings; blocks up to the socket timeout
-      except WebSocketTimeoutException:
-        continue
-      except Exception as e:
-        cloudlog.warning(f"sunnylinkd.pairing_session.{type(e).__name__}")
-        return is_locally_paired()
-      try:
-        msg = rpc_module.loads(raw)
-      except Exception:
-        continue
-      if not rpc_module.is_call(msg):
-        continue
-      if msg.get("method") not in ("pairLocalApp", "unpairLocalApp"):
-        continue  # refuse anything but pairing until paired
-      try:
-        ws.send(rpc_module.handle(msg, dispatcher))
-      except Exception as e:
-        cloudlog.warning(f"sunnylinkd.pairing_session.{type(e).__name__}")
-        return is_locally_paired()
-    return is_locally_paired()
-  finally:
-    ws.settimeout(SUNNYLINK_RECONNECT_TIMEOUT_S)
-
-
-def _pick_ws_uri(discovery: LocalDiscovery, backoffs: dict[str, float]) -> tuple[str, str]:
-  now = time.monotonic()
-  apps = get_local_apps()
-  app_ids = {app.app_id for app in apps}
-  if pairing_requested():
-    latest = discovery.latest_endpoint()
-    seen = discovery.last_seen_ago()
-    app_id = discovery.latest_app_id()
-    if latest is not None and seen is not None and seen <= LOCAL_BEACON_FRESH_S \
-       and app_id is not None and app_id not in app_ids \
-       and backoffs.get(latest, 0.0) <= now:
-      return latest, "pairing_offer"
-    return SUNNYLINK_ATHENA_HOST, "cloud"
-  fresh_endpoint = discovery.latest_paired_endpoint()
-  fresh_seen = discovery.latest_paired_seen_ago()
-  fresh_app_id = discovery.latest_paired_app_id()
-  fresh_ok = (fresh_endpoint is not None and fresh_seen is not None
-              and fresh_seen <= LOCAL_BEACON_FRESH_S and fresh_app_id is not None
-              and fresh_app_id in app_ids)
-  if fresh_ok and backoffs.get(fresh_endpoint, 0.0) <= now:
-    return fresh_endpoint, "paired_local"
-  for app in reversed(apps):
-    if fresh_ok and app.app_id == fresh_app_id:
-      continue
-    if backoffs.get(app.endpoint, 0.0) <= now:
-      return app.endpoint, "paired_local"
-  return SUNNYLINK_ATHENA_HOST, "cloud"
-
-
-def _probe_local_apps(active_ws: WebSocket, discovery: LocalDiscovery,
-                      backoffs: dict[str, float], stop_event: threading.Event) -> None:
-  while not stop_event.wait(LOCAL_PROBE_INTERVAL_S):
-    if pairing_requested():
-      # The pairing watchdog owns an armed window; don't migrate mid-window.
-      continue
-    now = time.monotonic()
-    candidate: str | None = None
-    for app in reversed(get_local_apps()):
-      if backoffs.get(app.endpoint, 0.0) <= now:
-        candidate = app.endpoint
-        break
-    if candidate is None:
-      continue
-    try:
-      probe = create_connection(candidate, header=_auth_header(is_local=True), timeout=10)
-      probe.close()
-    except Exception:
-      backoffs[candidate] = now + LOCAL_ENDPOINT_BACKOFF_S
-      continue
-    cloudlog.event("sunnylinkd.local_probe.reachable", endpoint=candidate)
-    try:
-      active_ws.close()
-    except Exception:
-      pass
-    break
-
-
-def _handle_paired_refresh(backoffs: dict[str, float], force_attempts: dict[str, float],
-                           beacon: AppBeacon) -> None:
-  if not any(app.app_id == beacon.app_id for app in get_local_apps()):
-    return
-  for app in get_local_apps():
-    if app.app_id == beacon.app_id:
-      backoffs.pop(app.endpoint, None)
-  backoffs.pop(beacon.endpoint, None)
-  if _pairing_in_progress.is_set():
-    return
-  if _active_local_endpoint == beacon.endpoint:
-    return
-  if _active_local_endpoint is not None:
-    return
-  now = time.monotonic()
-  if force_attempts.get(beacon.endpoint, 0.0) + LOCAL_BEACON_FRESH_S > now:
-    return
-  force_attempts[beacon.endpoint] = now
-  ws = _active_ws
-  if ws is not None:
-    cloudlog.event("sunnylinkd.paired_refresh.reconnect",
-                   app_id=beacon.app_id, endpoint=beacon.endpoint)
-    try:
-      ws.close()
-    except Exception:
-      pass
-
-
-def _pairing_watchdog(active_ws: WebSocket, backoffs: dict[str, float],
-                      stop_event: threading.Event,
-                      interval_s: float = PAIRING_WATCHDOG_INTERVAL_S) -> None:
-  """Watch for the pairing window being armed mid-session and force a
-  re-selection to the newly-discovered app."""
-  while not stop_event.wait(interval_s):
-    if not pairing_requested():
-      continue
-    cloudlog.event("sunnylinkd.pairing_watchdog.arm_detected")
-    for key in list(backoffs):
-      backoffs.pop(key, None)
-    try:
-      active_ws.close()
-    except Exception:
-      pass
-    break
-
-
 def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
-  discovery = LocalDiscovery()
-  code_rotator = PairingCodeRotator()
-  discovery.start()
-  code_rotator.start()
-
-  try:
-    _connection_loop(exit_event, discovery)
-  finally:
-    discovery.stop()
-    code_rotator.stop_event.set()
-
-
-def _serviceable(params: Params) -> bool:
-  """sunnylinkd should run when sunnylink is enabled and not on a temporary
-  fault. This deliberately includes the unregistered/unpaired state so a
-  never-registered device can still be discovered and paired over the LAN (the
-  actual session gates — registration/local pairing — are handled per
-  connection inside the loop)."""
-  return params.get_bool("SunnylinkEnabled") and not params.get_bool("SunnylinkTempFault")
-
-
-def _connection_loop(exit_event: threading.Event | None, discovery: LocalDiscovery) -> None:
-  """Local-first, cloud-fallback connection loop: a paired local endpoint
-  first, cloud when unreachable, and a pairing session to a freshly-discovered
-  app when a window is armed."""
-  global _active_local_endpoint, _active_ws
+  while sunnylink_need_register(params):
+    cloudlog.info("Waiting for sunnylink registration to complete")
+    time.sleep(10)
 
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   UploadQueueCache.initialize(upload_queue)
+
   update_car_list_param()
 
+  ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
   conn_start = None
   conn_retries = 0
-  backoffs: dict[str, float] = {}
-  force_attempts: dict[str, float] = {}
-  discovery.paired_refresh_cb = partial(_handle_paired_refresh, backoffs, force_attempts)
-
-  while (exit_event is None or not exit_event.is_set()) and _serviceable(params):
-    ws_uri, kind = _pick_ws_uri(discovery, backoffs)
-
-    if kind == "cloud" and pairing_requested():
-      cloudlog.debug("sunnylinkd.main.pairing_waiting_for_beacon")
-      time.sleep(3)
-      continue
-
-    if kind == "cloud" and sunnylink_need_register(params):
-      cloudlog.info("Waiting for sunnylink registration or local pairing to complete")
-      time.sleep(10)
-      continue
-
-    if conn_start is None:
-      conn_start = time.monotonic()
-
-    cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, kind=kind, retries=conn_retries)
+  while (exit_event is None or not exit_event.is_set()) and sunnylink_ready(params):
     try:
+      if conn_start is None:
+        conn_start = time.monotonic()
+
+      cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
       ws = create_connection(
         ws_uri,
-        header=_auth_header(is_local=kind != "cloud"),
+        header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
         enable_multithread=True,
         sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
         timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
       )
-    except Exception as e:
-      if kind != "cloud":
-        backoffs[ws_uri] = time.monotonic() + LOCAL_ENDPOINT_BACKOFF_S
-      conn_retries += 1
-      params.remove("LastSunnylinkPingTime")
-      _log_connection_error(e)
-      time.sleep(backoff(conn_retries))
-      continue
+      cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
+                     duration=time.monotonic() - conn_start)
+      conn_start = None
 
-    cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, kind=kind, retries=conn_retries,
-                   duration=time.monotonic() - conn_start)
-    conn_start = None
-    conn_retries = 0
-    cur_upload_items.clear()
-    _active_ws = ws
-
-    probe_stop: threading.Event | None = None
-    watch_stop: threading.Event | None = None
-    session_endpoint: str | None = ws_uri if kind != "cloud" else None
-    try:
-      if kind == "pairing_offer":
-        _active_local_endpoint = ws_uri
-        _pairing_in_progress.set()
-        try:
-          paired_ok = _pairing_session(ws)
-        finally:
-          _pairing_in_progress.clear()
-        if not paired_ok:
-          backoffs[ws_uri] = time.monotonic() + LOCAL_ENDPOINT_BACKOFF_S
-          conn_retries += 1
-          params.remove("LastSunnylinkPingTime")
-          try:
-            ws.close()
-          except Exception:
-            pass
-          time.sleep(backoff(conn_retries))
-          continue
-        # Paired during the session — this connection may now serve normally.
-        kind = "paired_local"
-
-      if kind == "paired_local":
-        _active_local_endpoint = ws_uri
-      else:
-        _active_local_endpoint = None
-        # While on the cloud link, watch for the local app and migrate back.
-        probe_stop = threading.Event()
-        threading.Thread(target=_probe_local_apps,
-                         args=(ws, discovery, backoffs, probe_stop),
-                         name="sunnylinkd_local_probe", daemon=True).start()
-
-      # Started after any pairing session on this connection, so it can never
-      # close the connection the code is typed over.
-      watch_stop = threading.Event()
-      threading.Thread(target=_pairing_watchdog, args=(ws, backoffs, watch_stop),
-                       name="sunnylinkd_pairing_watchdog", daemon=True).start()
+      conn_retries = 0
+      cur_upload_items.clear()
 
       handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
@@ -594,37 +311,23 @@ def _connection_loop(exit_event: threading.Event | None, discovery: LocalDiscove
     except Exception as e:
       conn_retries += 1
       params.remove("LastSunnylinkPingTime")
-      _log_connection_error(e)
-    finally:
-      if probe_stop is not None:
-        probe_stop.set()
-      if watch_stop is not None:
-        watch_stop.set()
-      if session_endpoint is not None and kind == "paired_local":
-        backoffs.pop(session_endpoint, None)
-      if _active_local_endpoint == session_endpoint:
-        _active_local_endpoint = None
-      if _active_ws is ws:
-        _active_ws = None
+
+      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+      elif isinstance(e, OSError):
+        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+      else:
+        cloudlog.exception("sunnylinkd.main.exception")
 
     time.sleep(backoff(conn_retries))
 
-  if not _serviceable(params):
-    cloudlog.debug("Reached end of sunnylinkd.main while sunnylink is not serviceable. Waiting 60s before retrying")
+  if not sunnylink_ready(params):
+    cloudlog.debug("Reached end of sunnylinkd.main while sunnylink is not ready. Waiting 60s before retrying")
     time.sleep(60)
 
 
-def _log_connection_error(e: Exception) -> None:
-  if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
-    cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
-  elif isinstance(e, OSError):
-    name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
-    msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
-    is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
-    cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
-  else:
-    cloudlog.exception("sunnylinkd.main.exception")
-
-
 if __name__ == "__main__":
   main()

openpilot/sunnypilot/sunnylink/utils.py

@@ -2,7 +2,6 @@ import base64
 import gzip
 import json
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import is_locally_paired
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.version import is_prebuilt
 
@@ -17,11 +16,10 @@ def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
 
 
 def sunnylink_ready(params=None) -> bool:
-  """Enabled and (cloud-registered or locally paired), and not on a temporary
-  fault. Local pairing makes never-registered devices usable over the LAN."""
+  """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
   params = params or Params()
   is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
-  return is_sunnylink_enabled and (is_registered or is_locally_paired(params)) and not is_on_temporary_fault
+  return is_sunnylink_enabled and is_registered and not is_on_temporary_fault
 
 
 def use_sunnylink_uploader(params) -> bool:
@@ -30,11 +28,10 @@ def use_sunnylink_uploader(params) -> bool:
 
 
 def sunnylink_need_register(params=None) -> bool:
-  """Enabled, unregistered, and not locally paired — a locally paired device
-  works without cloud registration and must not be blocked."""
+  """Check if the device needs to be registered with Sunnylink."""
   params = params or Params()
   is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
-  return is_sunnylink_enabled and not is_registered and not is_locally_paired(params) and not is_on_temporary_fault
+  return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault
 
 
 def register_sunnylink():