Revert "Update rednose_repo"

This reverts commit 23ac14d802.

common/transformations/camera.py

@@ -65,7 +65,10 @@ DEVICE_CAMERAS = {
   ("unknown", "ox03c10"): _ar_ox_config,
 
   # simulator (emulates a tici)
-  ("pc", "unknown"): _ar_ox_config,
+  ("pc", "unknown"): _os_config,
+  # ("pc", "ar0231"): _ar_ox_config,
+  # ("pc", "ox03c10"): _ar_ox_config,
+  # ("pc", "os04c10"): _os_config,
 }
 prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
 DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})

selfdrive/selfdrived/events.py

@@ -185,9 +185,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque
-  damp = sm['carControl'].actuators.dampFactor
-  damp_pct = round((damp - 3) / (200 - 3) * 100.) if damp > 0 else 50
-  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%\nDamp: {damp_pct}%"
+  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
   return NormalPermanentAlert("Joystick Mode", vals)
 
 

sunnypilot/selfdrive/locationd/SConscript

@@ -29,6 +29,9 @@ lenv = env.Clone()
 # ekf filter libraries need to be linked, even if no symbols are used
 if arch != "Darwin":
   lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
+else:
+  # On macOS, point the executable at the generated filter dylibs next to it.
+  lenv["LINKFLAGS"] += ["-Wl,-rpath,@loader_path/models/generated"]
 
 lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
 lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)

system/manager/manager.py

@@ -227,7 +227,7 @@ def main() -> None:
 
 
 if __name__ == "__main__":
-  unblock_stdout()
+  # unblock_stdout()
 
   try:
     main()

system/ui/lib/application.py

@@ -457,6 +457,10 @@ class GuiApplication(GuiApplicationExt):
 
   def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
               alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
+    if width is not None:
+      width = int(width)
+    if height is not None:
+      height = int(height)
     cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
     if cache_key in self._textures:
       return self._textures[cache_key]

tools/cabana/SConscript

@@ -69,7 +69,7 @@ base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks.append('QtCharts')
+  base_frameworks += ['QtCharts', 'CoreFoundation', 'IOKit', 'Security']
 else:
   base_libs.append('Qt5Charts')
 

tools/joystick/joystick_control.py

@@ -55,11 +55,10 @@ class Joystick:
       steer_axis = 'ABS_Z'
       self.flip_map = {'ABS_RY': accel_axis}
 
-    damp_axis = 'ABS_X'
-    self.min_axis_value = {accel_axis: 0., steer_axis: 0., damp_axis: 0.}
-    self.max_axis_value = {accel_axis: 255., steer_axis: 255., damp_axis: 255.}
-    self.axes_values = {accel_axis: 0., steer_axis: 0., damp_axis: 0.}
-    self.axes_order = [accel_axis, steer_axis, damp_axis]
+    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
+    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
+    self.axes_values = {accel_axis: 0., steer_axis: 0.}
+    self.axes_order = [accel_axis, steer_axis]
     self.cancel = False
 
   def update(self):
@@ -70,7 +69,6 @@ class Joystick:
       return False
 
     event = (joystick_event.code, joystick_event.state)
-    print(f"event: code={joystick_event.code}, state={joystick_event.state}, ev_type={joystick_event.ev_type}")
 
     # flip left trigger to negative accel
     if event[0] in self.flip_map:

tools/joystick/joystickd.py

@@ -57,10 +57,6 @@ def joystickd_thread():
       actuators.torque = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.torque * max_angle, actuators.torque * -max_curvature
 
-    if len(joystick_axes) > 2:
-      # axes[2] controls DAMP_FACTOR: [-1, 1] mapped to [3, 200]
-      actuators.dampFactor = float(np.interp(joystick_axes[2], [-1, 1], [3, 200]))
-
     pm.send('carControl', cc_msg)
 
     cs_msg = messaging.new_message('controlsState')