Merge commaai/openpilot fdd1df79 into sync-20260721

* remove per-car longitudinal stopping tunes

* bump opendbc

* lil more

* lil more

* lil more

* lil more

* revert modeld for now

.github/workflows/repo-maintenance.yaml

@@ -93,6 +93,14 @@ jobs:
             const { owner, repo } = context.repo;
             const upstream = `${owner}/${repo}`;
 
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
             for await (const response of github.paginate.iterator(github.rest.pulls.list, {
               owner,
               repo,

SConstruct

@@ -166,6 +166,11 @@ env = Environment(
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
 if arch != "larch64":
   env['_LIBFLAGS'] = _libflags
 

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.4"
+  export AGNOS_VERSION="18.5"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/log.capnp

@@ -812,6 +812,7 @@ struct SelfdriveState {
     promptDistracted @8;
 
     preAlert @9;
+    complete @10;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -2160,7 +2161,8 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  lockoutRecoveryPercent @11 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
   alert3Count @12 :Int8;
   noResponseCount @13 :Int8;
   noResponseForceDecel @14 :Bool;

openpilot/cereal/messaging/__init__.py

@@ -7,12 +7,43 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Union
 
 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
+__all__ = (
+  "NO_TRAVERSAL_LIMIT",
+  "Context",
+  "FrequencyTracker",
+  "IpcError",
+  "MultiplePublishersError",
+  "Poller",
+  "PubMaster",
+  "PubSocket",
+  "SocketEventHandle",
+  "SubMaster",
+  "SubSocket",
+  "delete_fake_prefix",
+  "drain_sock",
+  "drain_sock_raw",
+  "fake_event_handle",
+  "get_fake_prefix",
+  "log_from_bytes",
+  "new_message",
+  "pub_sock",
+  "recv_one",
+  "recv_one_or_none",
+  "recv_one_retry",
+  "recv_sock",
+  "reset_context",
+  "set_fake_prefix",
+  "sub_sock",
+  "toggle_fake_events",
+  "wait_for_one_event",
+)
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
   return msgq.pub_sock(endpoint, segment_size)
 
 
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+             conflate: bool = False, timeout: int | None = None) -> SubSocket:
   service = SERVICE_LIST.get(endpoint)
   segment_size = service.queue_size if service else 0
   return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
     return msg
 
 
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
     'logMonoTime': int(time.monotonic() * 1e9),
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
   return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
   return dat
 
 
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
 
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -148,27 +179,27 @@ class FrequencyTracker:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
+  def __init__(self, services: list[str], poll: str | None = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
     self.frame = -1
     self.services = services
-    self.seen = {s: False for s in services}
+    self.seen = dict.fromkeys(services, False)
-    self.updated = {s: False for s in services}
+    self.updated = dict.fromkeys(services, False)
-    self.recv_time = {s: 0. for s in services}
+    self.recv_time = dict.fromkeys(services, 0.0)
-    self.recv_frame = {s: 0 for s in services}
+    self.recv_frame = dict.fromkeys(services, 0)
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.logMonoTime = dict.fromkeys(services, 0)
 
     # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
     on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.static_freq_services = {s for s in services if not on_demand[s]}
     self.alive = {s: on_demand[s] for s in services}
     self.freq_ok = {s: on_demand[s] for s in services}
     self.valid = {s: on_demand[s] for s in services}
 
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.freq_tracker: dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -211,7 +242,7 @@ class SubMaster:
       msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
@@ -234,21 +265,21 @@ class SubMaster:
       self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
       self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_alive(self, service_list: list[str] | None = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
     return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_valid(self, service_list: list[str] | None = None) -> bool:
     return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_checks(self, service_list: list[str] | None = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:
-  def __init__(self, services: List[str]):
+  def __init__(self, services: list[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)

openpilot/cereal/messaging/tests/test_messaging.py

@@ -1,4 +1,3 @@
-import os
 import capnp
 import multiprocessing
 import numbers
@@ -6,7 +5,6 @@ import random
 import threading
 import time
 from openpilot.common.parameterized import parameterized
-import pytest
 
 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -24,10 +22,6 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
   return bytes([random.randrange(0xFF) for _ in range(length)])
 
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -53,16 +47,6 @@ def delayed_send(delay, sock, dat):
 
 
 class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -89,7 +73,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
@@ -110,7 +93,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
@@ -129,7 +111,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -142,12 +123,10 @@ class TestMessaging:
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
@@ -165,16 +144,13 @@ class TestMessaging:
     sock_timeout = 0.1
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
 
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
+    # wait 5 socket timeouts and make sure it's still retrying
-    if "ZMQ" not in os.environ:
+    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      # wait 5 socket timeouts and make sure it's still retrying
+    p.start()
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+    time.sleep(sock_timeout*5)
-      p.start()
+    assert p.is_alive()
-      time.sleep(sock_timeout*5)
+    p.terminate()
-      assert p.is_alive()
-      p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -1,21 +1,16 @@
 import random
 import time
-from typing import Sized, cast
+from typing import cast
+from collections.abc import Sized
 
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
+                                                  random_bytes, random_carstate, assert_carstate
-                                                  zmq_sleep
 from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
 
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
   def test_init(self):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -42,7 +37,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
@@ -54,7 +48,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     for i in range(10):
       msg = messaging.new_message(sock)
@@ -91,21 +84,13 @@ class TestSubMaster:
 
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
+          assert min_freq is not None
           assert sm._check_avg_freq(service)
           assert sm.freq_tracker[service].max_freq == max_freq*1.2
           assert sm.freq_tracker[service].min_freq == min_freq*0.8
         else:
           assert not sm._check_avg_freq(service)
 
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
   # SubMaster should always conflate
   def test_conflate(self):
     sock = "carState"
@@ -124,11 +109,6 @@ class TestSubMaster:
 
 class TestPubMaster:
 
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
   def test_init(self):
     messaging.PubMaster(events)
 
@@ -136,7 +116,6 @@ class TestPubMaster:
     socks = random_socks()
     pm = messaging.PubMaster(socks)
     sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
 
     # PubMaster accepts either a capnp msg builder or bytes
     for capnp in [True, False]:

openpilot/cereal/services.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import IntEnum
-from typing import Optional
 
 
 # TODO: this should be automatically determined using the capnp schema
@@ -11,7 +10,7 @@ class QueueSize(IntEnum):
 
 
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
                queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
@@ -125,8 +124,7 @@ def build_header():
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+    h += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
 
   h += "#endif\n"

openpilot/common/api/base.py

@@ -38,6 +38,7 @@ class BaseApi:
     }
     if payload_extra is not None:
       payload.update(payload_extra)
+    assert self.private_key is not None
     token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')

openpilot/common/file_chunker.py

@@ -42,25 +42,26 @@ def get_existing_chunks(path):
 class ChunkStream(io.RawIOBase):
   def __init__(self, paths):
     self._paths = iter(paths)
-    self._buf = memoryview(b'')
+    self._f = None
 
   def readable(self):
     return True
 
   def readinto(self, b):
     n = 0
+    view = memoryview(b)
     while n < len(b):
-      if not self._buf:
+      if self._f is None:
         p = next(self._paths, None)
         if p is None:
           break
-        with open(p, 'rb') as f:
+        self._f = open(p, 'rb')
-          self._buf = memoryview(f.read())
+      count = self._f.readinto(view[n:])
+      if not count:
+        self._f.close()
+        self._f = None
         continue
-      take = min(len(b) - n, len(self._buf))
+      n += count
-      b[n:n + take] = self._buf[:take]
-      self._buf = self._buf[take:]
-      n += take
     return n
 
 def open_file_chunked(path):

openpilot/common/hardware/tici/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
     "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+    "ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
     "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
       "size": 4718592000
     }
   }

openpilot/common/hardware/tici/agnos.py

@@ -19,7 +19,7 @@ class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False

openpilot/common/hardware/tici/hardware.py

@@ -339,7 +339,7 @@ class Tici(HardwareBase):
 
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
     gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, 1)
+    gpio_set(GPIO.SOM_ST_IO, True)
 
     # *** IRQ config ***
 
@@ -389,21 +389,21 @@ class Tici(HardwareBase):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_BOOT0, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
 
   def recover_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_BOOT0, 1)
+    gpio_set(GPIO.STM_BOOT0, True)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_BOOT0, False)
 
   def booted(self):
     # this normally boots within 8s, but on rare occasions takes 30+s

openpilot/common/hardware/tici/modem.py

@@ -52,7 +52,7 @@ PPPD_CMD = [
   "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
   "user", '""', "password", '""',
 ]
-INITIAL_STATE = {
+INITIAL_STATE: dict[str, object] = {
   "seconds_since_boot": 0,
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",

openpilot/common/params_keys.h

@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
     {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},

openpilot/common/pid.py

@@ -1,11 +1,13 @@
 import numpy as np
-from numbers import Number
+from collections.abc import Sequence
+
+Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+  def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 

openpilot/common/swaglog.py

@@ -27,7 +27,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
     self.log_files = self.get_existing_logfiles()
     log_indexes = [f.split(".")[-1] for f in self.log_files]
     self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
-    self.last_rollover = None
+    self.last_rollover = 0.0
     self.doRollover()
 
   def _open(self):
@@ -39,7 +39,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
     return stream
 
   def get_existing_logfiles(self):
-    log_files = list()
+    log_files = []
     base_dir = os.path.dirname(self.base_filename)
     for fn in os.listdir(base_dir):
       fp = os.path.join(base_dir, fn)

openpilot/common/tests/test_params.py

@@ -112,14 +112,14 @@ class TestParams:
   def test_params_default_value(self):
     self.params.remove("LanguageSetting")
     self.params.remove("LongitudinalPersonality")
-    self.params.remove("LiveParameters")
+    self.params.remove("LiveParametersV2")
 
     assert self.params.get("LanguageSetting") is None
     assert self.params.get("LanguageSetting", return_default=False) is None
     assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
     assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("LiveParameters") is None
+    assert self.params.get("LiveParametersV2") is None
-    assert self.params.get("LiveParameters", return_default=True) is None
+    assert self.params.get("LiveParametersV2", return_default=True) is None
 
   def test_params_get_type(self):
     # json

openpilot/common/transformations/camera.py

@@ -52,7 +52,7 @@ _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fish
 _os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-DEVICE_CAMERAS = {
+DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
   # A "device camera" is defined by a device type and sensor
 
   # sensor type was never set on eon/neo/two
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
 
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
-

openpilot/selfdrive/assets/sounds/complete.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3027da9834adf9c71177bc3086f8de3018ce22e4725b694d635723c5b3c860cd
+size 97120

openpilot/selfdrive/assets/sounds/critical.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca29ff46fbd6d00cc02596de8c9abfbf1cacdc6a7b2f98b27a74d24c790da004
+size 52374

openpilot/selfdrive/assets/sounds/disengage.wav

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
+oid sha256:6f47633b5082b911e79dd13fc2d1f4c2a9d44d2fe0860f3d390ffc4e3d772f7d
-size 48044
+size 97120

openpilot/selfdrive/assets/sounds/dm_critical.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538271820d618046009bb456e930598f2736dd1a6174c11925ec3912581b05c1
+size 52374

openpilot/selfdrive/assets/sounds/dm_warning.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634fad6590295ef2e73d5f7e5aecbb5dd245a0f7692f1e300c2ebac95aabb8e3
+size 73026

openpilot/selfdrive/assets/sounds/engage.wav

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
+oid sha256:a380fe0a022856b302841a0dd19b71eab318c6b08ec851f128942758a7f1631a
-size 48044
+size 97120

openpilot/selfdrive/assets/sounds/pre_alert.wav

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c0af7f5fe57bb36ab96fae868e20feca763541c97a61b3a3a84a0e7fcb81163
+oid sha256:cc9e67cfaba77e8e4f4049f0add9238660e4cf8f886c6915600d8f47a30c98db
-size 83350
+size 97120

openpilot/selfdrive/assets/sounds/prompt.wav

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ad19268e4aaaeac8dd21f6b26c16a121e7b3f50bba867748e7226727643ae682
-size 144642

openpilot/selfdrive/assets/sounds/prompt_distracted.wav

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:412ef25d2fb103c1ebd55c667313a5921493305fb4e1f4e1dafc08d3b95d86ab
-size 73026

openpilot/selfdrive/assets/sounds/refuse.wav

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4af81cbf1d96a42cc351878b015298aee82874b46baaf1a615ca91ec36c0ced6
+oid sha256:081d64ca28a84a59ff5e6aea4732865b8687585938b8a287bc7e6a49d0646508
-size 83228
+size 97120

openpilot/selfdrive/assets/sounds/warning.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+size 73026

openpilot/selfdrive/assets/sounds/warning_immediate.wav

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a390831afca3bfc6ea3c2739b872ebf866e70df8ae30653f8587e5cd3993959
-size 68306

openpilot/selfdrive/assets/sounds/warning_soft.wav

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:67e636d072703e6b1233a12344c0a6304fd43d64dbb31c66b71c2c8870a339c1
-size 153764

openpilot/selfdrive/car/tests/test_models.py

@@ -3,7 +3,7 @@ import copy
 import os
 import pytest
 import random
-import unittest # noqa: TID251
+import unittest
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
@@ -22,6 +22,7 @@ from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
+from openpilot.tools.lib.file_sources import Source
 from openpilot.tools.lib.route import SegmentName
 
 SafetyModel = car.CarParams.SafetyModel
@@ -131,7 +132,7 @@ class TestCarModelBase(unittest.TestCase):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
+        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
         lr = LogReader(segment_range, sources=sources, sort_by_time=True)
         return cls.get_testing_data_from_logreader(lr)
       except (LogsUnavailable, AssertionError):
@@ -257,7 +258,7 @@ class TestCarModelBase(unittest.TestCase):
 
       # Don't check relay malfunction on disabled routes (relay closed),
       # or before fingerprinting is done (elm327 and noOutput)
-      if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
+      if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame:
         self.assertFalse(self.safety.get_relay_malfunction())
       else:
         self.safety.set_relay_malfunction(False)
@@ -451,7 +452,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
       if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.deprecated.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()

openpilot/selfdrive/controls/controlsd.py

@@ -147,6 +147,7 @@ class Controls(ControlsExt):
     lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
     actuators.curvature = self.desired_curvature
+    assert self.calibrated_pose is not None
     steer, lateral_output, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                      self.steer_limited_by_safety, self.desired_curvature,
                                                      self.calibrated_pose, curvature_limited, lat_delay)

openpilot/selfdrive/controls/lib/drive_helpers.py

@@ -15,6 +15,9 @@ MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
 
 
+def should_stop(v_ego: float, a_target: float) -> bool:
+  return bool(v_ego < 0.25 and a_target < 0.1)
+
 def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
@@ -40,7 +43,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
@@ -53,8 +56,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
     v_now = 0.0
     v_target = 0.0
     a_target = 0.0
-  should_stop = (v_now < vEgoStopping and a_target < 0.1)
+  return a_target, should_stop(v_now, a_target)
-  return a_target, should_stop
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
   vego = np.clip(vego, MIN_SPEED, np.inf)

openpilot/selfdrive/controls/lib/longcontrol.py

@@ -10,7 +10,7 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
+def long_control_state_trans(CP_SP, active, long_control_state,
                              should_stop, brake_pressed, cruise_standstill):
   # Gas Interceptor
   cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
@@ -26,22 +26,17 @@ def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
     if long_control_state == LongCtrlState.off:
       if not starting_condition:
         long_control_state = LongCtrlState.stopping
-      elif CP.startingState:
-        long_control_state = LongCtrlState.starting
       else:
         long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.stopping:
-      if starting_condition and CP.startingState:
+      if starting_condition:
-        long_control_state = LongCtrlState.starting
-      elif starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
+    elif long_control_state == LongCtrlState.pid:
       if should_stop:
         long_control_state = LongCtrlState.stopping
-      elif v_ego > CP.vEgoStarting:
+
-        long_control_state = LongCtrlState.pid
   return long_control_state
 
 class LongControl:
@@ -62,7 +57,7 @@ class LongControl:
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP_SP, active, self.long_control_state,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:
@@ -73,11 +68,8 @@ class LongControl:
       output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
-        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+        # TODO: can we just go straight to stopAccel?
-      self.reset()
+        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
-
-    elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
       self.reset()
 
     else:  # LongCtrlState.pid

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -137,7 +137,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+                                                                        action_t=action_t)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 

openpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -1,60 +1,43 @@
 from openpilot.cereal import custom
-from opendbc.car.structs import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
-
-
 class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
-    CP = car.CarParams.new_message()
     CP_SP = custom.CarParamsSP.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
 def test_engage():
-  CP = car.CarParams.new_message()
   CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP_SP, active, current_state,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.pid
-
-def test_starting():
-  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
-  CP_SP = custom.CarParamsSP.new_message()
-  active = True
-  current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid

openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -7,8 +7,6 @@ from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
 
-np.random.seed(0)
-
 LA_ERR_STD = 1.0
 INPUT_NOISE_STD = 0.08
 V_EGO = 30.0
@@ -58,16 +56,17 @@ def simulate_straight_road_msgs(est):
     for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
       est.handle_log(t, which, msg)
 
-def test_estimated_offset():
+class TestTorquedLatAccelOffset:
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  def test_estimated_offset(self):
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
+    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  msg = est.get_msg()
+    est = get_warmed_up_estimator(steer_torques, lat_accels)
-  # TODO add lataccelfactor and friction check when we have more accurate estimates
+    msg = est.get_msg()
-  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+    # TODO add lataccelfactor and friction check when we have more accurate estimates
+    assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
 
-def test_straight_road_roll_bias():
+  def test_straight_road_roll_bias(self):
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
+    est = get_warmed_up_estimator(steer_torques, lat_accels)
-  simulate_straight_road_msgs(est)
+    simulate_straight_road_msgs(est)
-  msg = est.get_msg()
+    msg = est.get_msg()
-  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
+    assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)

openpilot/selfdrive/locationd/helpers.py

@@ -1,4 +1,5 @@
 import numpy as np
+from collections.abc import Sequence
 from typing import Any
 from functools import cache
 
@@ -68,7 +69,8 @@ class NPQueue:
 
 
 class PointBuckets:
-  def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+  def __init__(self, x_bounds: list[tuple[float, float]], min_points: Sequence[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+    self._rng = np.random.default_rng()
     self.x_bounds = x_bounds
     self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
     self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
@@ -98,9 +100,9 @@ class PointBuckets:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points
-    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
+    return points[self._rng.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
 
-  def load_points(self, points: list[list[float]]) -> None:
+  def load_points(self, points: Sequence[Sequence[float]]) -> None:
     for point in points:
       self.add_point(*point)
 

openpilot/selfdrive/locationd/locationd.py

@@ -66,7 +66,7 @@ class LocationEstimator:
     self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
     self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
 
-  def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
+  def reset(self, t: float | None, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
     self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
 
   def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):

openpilot/selfdrive/locationd/paramsd.py

@@ -200,25 +200,6 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
   return current_valid
 
 
-# TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params: Params):
-  last_parameters_data_old = params.get("LiveParameters")
-  last_parameters_data = params.get("LiveParametersV2")
-  if last_parameters_data_old is None or last_parameters_data is not None:
-    return
-
-  try:
-    last_parameters_msg = messaging.new_message('liveParameters')
-    last_parameters_msg.liveParameters.valid = True
-    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
-    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
-    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
-  except Exception as e:
-    cloudlog.error(f"Failed to perform parameter migration: {e}")
-    params.remove("LiveParameters")
-
-
 def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
   last_parameters_data = params.get("LiveParametersV2")
   last_carparams_data = params.get("CarParamsPrevRoute")
@@ -273,8 +254,6 @@ def main():
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params)
-
   steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 

openpilot/selfdrive/locationd/test/test_lagd.py

@@ -81,6 +81,7 @@ class TestLagd:
         assert retrieve_initial_lag(params, CP) is None
 
   def test_ncc(self):
+    rng = np.random.default_rng()
     lag_frames = random.randint(1, 19)
 
     desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
@@ -91,15 +92,15 @@ class TestLagd:
     assert np.argmax(corr) == lag_frames
 
     # add some noise
-    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    desired_sig += rng.normal(0, 0.05, len(desired_sig))
-    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    actual_sig += rng.normal(0, 0.05, len(actual_sig))
     corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
     assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
     # mask out 40% of the values, and make them noise
-    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    mask = rng.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
-    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    desired_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
-    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
     corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
     assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 

openpilot/selfdrive/locationd/test/test_locationd_scenarios.py

@@ -37,9 +37,9 @@ def get_select_fields_data(logs):
   def sig_smooth(signal):
     return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
   def get_nested_keys(msg, keys):
-    val = None
+    val = msg
     for key in keys:
-      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+      val = getattr(val, key) if isinstance(key, str) else val[key]
     return val
   lp = [x.livePose for x in logs if x.which() == 'livePose']
   data = defaultdict(list)

openpilot/selfdrive/locationd/test/test_paramsd.py

@@ -2,7 +2,7 @@ import random
 import numpy as np
 
 from openpilot.cereal import messaging
-from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
+from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -30,38 +30,9 @@ class TestParamsd:
     params.put("LiveParametersV2", msg.to_bytes(), block=True)
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
-    migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
     sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
     np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
     np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
-
-  # TODO Remove this test after the support for old format is removed
-  def test_read_saved_params_old_format(self):
-    params = Params()
-
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
-
-    msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
-    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
-    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
-    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
-    assert params.get("LiveParametersV2") is not None
-
-  def test_read_saved_params_corrupted_old_format(self):
-    params = Params()
-    params.put("LiveParameters", {}, block=True)
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    assert params.get("LiveParameters") is None
-    assert params.get("LiveParametersV2") is None

openpilot/selfdrive/locationd/test/test_torqued.py

@@ -2,24 +2,25 @@ from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator
 
 
-def test_cal_percent():
+class TestTorqued:
-  est = TorqueEstimator(car.CarParams())
+  def test_cal_percent(self):
-  msg = est.get_msg()
+    est = TorqueEstimator(car.CarParams())
-  assert msg.liveTorqueParameters.calPerc == 0
+    msg = est.get_msg()
+    assert msg.liveTorqueParameters.calPerc == 0
 
-  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+    for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
-                                  est.filtered_points.buckets_min_points.values(), strict=True):
+                                    est.filtered_points.buckets_min_points.values(), strict=True):
-    for _ in range(int(min_pts)):
+      for _ in range(int(min_pts)):
-      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+        est.filtered_points.add_point((low + high) / 2.0, 0.0)
 
-  # enough bucket points, but not enough total points
+    # enough bucket points, but not enough total points
-  msg = est.get_msg()
+    msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+    assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
 
-  # add enough points to bucket with most capacity
+    # add enough points to bucket with most capacity
-  key = list(est.filtered_points.buckets)[0]
+    key = list(est.filtered_points.buckets)[0]
-  for _ in range(est.min_points_total - len(est.filtered_points)):
+    for _ in range(est.min_points_total - len(est.filtered_points)):
-    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+      est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
 
-  msg = est.get_msg()
+    msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == 100
+    assert msg.liveTorqueParameters.calPerc == 100

openpilot/selfdrive/locationd/torqued.py

@@ -62,14 +62,14 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
     self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
-      self.min_bucket_points = MIN_BUCKET_POINTS / 10
+      self.min_bucket_points: list[float] = (MIN_BUCKET_POINTS / 10).tolist()
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
       self.fit_points = FIT_POINTS_TOTAL_QLOG
       self.factor_sanity = FACTOR_SANITY_QLOG
       self.friction_sanity = FRICTION_SANITY_QLOG
 
     else:
-      self.min_bucket_points = MIN_BUCKET_POINTS
+      self.min_bucket_points = MIN_BUCKET_POINTS.tolist()
       self.min_points_total = MIN_POINTS_TOTAL
       self.fit_points = FIT_POINTS_TOTAL
       self.factor_sanity = FACTOR_SANITY
@@ -120,9 +120,10 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
               'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
               'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
             }
-          initial_params['points'] = cache_ltp.points
+          cached_points: list[list[float]] = [list(point) for point in cache_ltp.points]
+          initial_params['points'] = cached_points
           self.decay = cache_ltp.decay
-          self.filtered_points.load_points(initial_params['points'])
+          self.filtered_points.load_points(cached_points)
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")

openpilot/selfdrive/modeld/compile_modeld.py

@@ -13,6 +13,7 @@ from collections import namedtuple
 import numpy as np
 
 from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
+from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 def _patch_tinygrad_fetch_fw():
   import hashlib
@@ -242,7 +243,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
   SEED = 42
   def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_queues(Device.DEFAULT)
-    np.random.seed(seed)
+    rng = np.random.default_rng(seed)
     Tensor.manual_seed(seed)
 
     testing = test_val is not None or test_buffers is not None
@@ -250,7 +251,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
 
     for i in range(n_runs):
       for v in npy.values():
-        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
       Device.default.synchronize()
       random_inputs = make_random_inputs()
       st = time.perf_counter()
@@ -311,6 +312,9 @@ if __name__ == "__main__":
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
+  if 'USB+AMD' in os.environ.get('DEV', ''):
+    wait_usbgpu_link()
+
   model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 

openpilot/selfdrive/modeld/modeld.py

@@ -25,6 +25,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_drivi
 from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -94,7 +95,7 @@ class ModelState(ModelStateBase):
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
     self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
     self.full_frames: dict[str, Tensor] = {}
-    self._blob_cache: dict[int, Tensor] = {}
+    self._blob_cache: dict[tuple[str, int], Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
@@ -173,6 +174,8 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  if USBGPU:
+    wait_usbgpu_link()
   st = time.monotonic()
   cloudlog.warning("loading model")
   model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)

openpilot/selfdrive/modeld/parse_model_outputs.py

@@ -41,7 +41,7 @@ class Parser:
     raw = outs[name]
     outs[name] = sigmoid(raw)
 
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=()):
     if self.check_missing(outs, name):
       return
     raw = outs[name]

openpilot/selfdrive/modeld/usbgpu_link.py

@@ -0,0 +1,34 @@
+import time
+from pathlib import Path
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware.usb import CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID, usb_devices, controller, read_int
+
+STABLE_SECONDS = 2.0
+STABLE_THRESHOLD = 5.0  # link errors per second
+
+
+def _chestnut_portli() -> Path | None:
+  for device in usb_devices():
+    if read_int(device / "idVendor", 16) == CHESTNUT_VENDOR_ID and \
+       read_int(device / "idProduct", 16) == CHESTNUT_PRODUCT_ID:
+      ctrl = controller(device)
+      if ctrl is not None and (ctrl / "portli").exists():
+        return ctrl / "portli"
+  return None
+
+
+def wait_usbgpu_link(timeout: float = 30.0) -> None:
+  portli = _chestnut_portli()
+  if portli is None:
+    return
+
+  t0 = time.monotonic()
+  while time.monotonic() - t0 < timeout:
+    start = read_int(portli, 0)
+    time.sleep(STABLE_SECONDS)
+    rate = (read_int(portli, 0) - start) / STABLE_SECONDS
+    if rate <= STABLE_THRESHOLD:
+      return
+    cloudlog.warning(f"usbgpu link not stable: {rate:.0f} errors/s")
+  cloudlog.error("usbgpu link never stabilized")

openpilot/selfdrive/monitoring/policy.py

@@ -41,7 +41,7 @@ class DRIVER_MONITOR_SETTINGS:
     # lockout specs
     self._MAX_ALERT_3 = 2
     self._MAX_NO_RESPONSE = 1
-    self._LOCKOUT_TIME = int(1800 / DT_DMON)
+    self._LOCKOUT_TIMES = [int(60 * n_min / DT_DMON) for n_min in [1, 5, 15, 30]]
 
     self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
     self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
@@ -152,7 +152,10 @@ class DriverMonitoring:
     self.cnt_since_alert_3 = 0
     self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
     self.no_response_cnt = 0
-    self.lockout_time = 0
+    self.lockout_active = Params().get_bool("DriverTooDistracted")
+    self.lockout_count = Params().get("DriverLockoutCount") or 0
+    self.lockout_duration = self.settings._LOCKOUT_TIMES[min(max(self.lockout_count - 1, 0), len(self.settings._LOCKOUT_TIMES) - 1)]
+    self.lockout_time_elapsed = 0
     self.step_change = 0.
     self.active_policy = MonitoringPolicy.vision
     self.driver_interacting = False
@@ -163,7 +166,6 @@ class DriverMonitoring:
     self.threshold_alert_2 = 0.
     self.dcam_uncertain_cnt = 0
     self.dcam_reset_cnt = 0
-    self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
     self._set_policy(MonitoringPolicy.vision)
@@ -310,16 +312,20 @@ class DriverMonitoring:
     self.driver_interacting = driver_engaged
 
     if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
-      self.too_distracted = True
+      if not self.lockout_active:
+        self.lockout_count += 1
+        self.lockout_duration = self.settings._LOCKOUT_TIMES[min(self.lockout_count - 1, len(self.settings._LOCKOUT_TIMES) - 1)]
+        Params().put("DriverLockoutCount", self.lockout_count)
+      self.lockout_active = True
 
-    if self.too_distracted:
+    if self.lockout_active:
-      self.lockout_time += 1
+      self.lockout_time_elapsed += 1
-      if self.lockout_time > self.settings._LOCKOUT_TIME:
+      if self.lockout_time_elapsed > self.lockout_duration:
-        self.too_distracted = False
+        self.lockout_active = False
         self.alert_3_cnt = 0
         self.cnt_since_alert_3 = 0
         self.no_response_cnt = 0
-        self.lockout_time = 0
+        self.lockout_time_elapsed = 0
 
     always_on_valid = self.always_on and not wrong_gear
     if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
@@ -379,8 +385,10 @@ class DriverMonitoring:
     dat = messaging.new_message('driverMonitoringState', valid=valid)
     dm = dat.driverMonitoringState
 
-    dm.lockout = self.too_distracted
+    dm.lockout = self.lockout_active
-    dm.lockoutRecoveryPercent = to_percent(self.lockout_time / self.settings._LOCKOUT_TIME)
+    dm.lockoutCount = self.lockout_count
+    if self.lockout_active:
+      dm.lockoutMinutesRemaining = max(1, round((self.lockout_duration - self.lockout_time_elapsed) * DT_DMON / 60.))
     dm.alert3Count = self.alert_3_cnt
     dm.noResponseCount = self.no_response_cnt
     dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout

openpilot/selfdrive/monitoring/test_monitoring.py

@@ -86,21 +86,17 @@ class TestMonitoring:
   # engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
   def test_distracted_lockout(self):
     alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    s = d_status.settings
     assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
-    assert d_status.alert_3_cnt == 1
+    assert d_status.lockout_active
-    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
+    assert d_status.lockout_time_elapsed > 0
-    assert d_status.too_distracted
+    assert d_status.lockout_count >= 1
-    assert d_status.lockout_time > 0
 
   # no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
   def test_invisible_lockout(self):
     _, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    s = d_status.settings
     assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
-    assert d_status.alert_3_cnt == 1
+    assert d_status.lockout_active
-    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
+    assert d_status.lockout_count >= 1
-    assert d_status.too_distracted
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
@@ -275,7 +271,7 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
     captured['op_engaged'] = op_engaged
     return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
 
-  dm._update_events = spy
+  object.__setattr__(dm, '_update_events', spy)
   dm.run_step(sm, demo=False)
   assert captured['op_engaged'] == expected_op_engaged
   assert captured['driver_engaged'] == expected_driver_engaged

openpilot/selfdrive/pandad/tests/test_pandad.py

@@ -60,7 +60,7 @@ class TestPandad:
 
   def test_in_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_RST_N, True)
     assert not Panda.list()
     self._run_test()
 

openpilot/selfdrive/pandad/tests/test_pandad_spi.py

@@ -38,10 +38,10 @@ class TestBoarddSpi:
 
     total_recv_count = 0
     total_sent_count = 0
-    sent_msgs = {bus: list() for bus in range(3)}
+    sent_msgs = {bus: [] for bus in range(3)}
 
     st = time.monotonic()
-    ts = {s: list() for s in socks.keys()}
+    ts = {s: [] for s in socks.keys()}
     for _ in range(int(os.getenv("TEST_TIME", "20"))):
       # send some CAN messages
       if not JUNGLE_SPAM:

openpilot/selfdrive/selfdrived/events.py

@@ -7,9 +7,8 @@ from opendbc.car.structs import car
 import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL, DT_DMON
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.selfdrive.monitoring.policy import DRIVER_MONITOR_SETTINGS
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
@@ -25,7 +24,6 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
-DMON_LOCKOUT_TIME = DRIVER_MONITOR_SETTINGS()._LOCKOUT_TIME
 
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -101,7 +99,7 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   if sm['driverMonitoringState'].lockout:
-    mins_left = max(1, round((100 - sm['driverMonitoringState'].lockoutRecoveryPercent) / 100 * DMON_LOCKOUT_TIME * DT_DMON / 60.))
+    mins_left = sm['driverMonitoringState'].lockoutMinutesRemaining
     return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
   return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
 

openpilot/selfdrive/selfdrived/tests/test_state_machine.py

@@ -13,11 +13,11 @@ ALL_STATES = tuple(State.schema.enumerants.values())
 ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
 
 
-def make_event(event_types):
+def make_event(event_types: list[str | None]):
-  event = {}
+  EVENTS[0] = {}
   for ev in event_types:
-    event[ev] = NormalPermanentAlert("alert")
+    if ev is not None:
-  EVENTS[0] = event
+      EVENTS[0][ev] = NormalPermanentAlert("alert")
   return 0
 
 

openpilot/selfdrive/test/mem_usage.py

@@ -7,7 +7,7 @@ from openpilot.common.utils import tabulate
 
 DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 MB = 1024 * 1024
-TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
+TABULATE_OPTS = {"tablefmt": "simple_grid", "stralign": "center", "numalign": "center"}
 
 
 def _get_procs():

openpilot/selfdrive/test/process_replay/migration.py

@@ -297,7 +297,7 @@ def migrate_carOutput(msgs):
     co = messaging.new_message('carOutput')
     co.valid = msg.valid
     co.logMonoTime = msg.logMonoTime
-    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+    co.carOutput.actuatorsOutput = msg.carControl.deprecated.actuatorsOutput
     add_ops.append(as_reader(co))
   return [], add_ops, []
 
@@ -323,10 +323,10 @@ def migrate_pandaStates(msgs):
     safety_param = safety_param_migration[fingerprint].value
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
-    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
+    if CP.safetyConfigs[0].deprecated.safetyParam != 0:
-      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+      safety_param = CP.safetyConfigs[0].deprecated.safetyParam
   else:
-    safety_param = CP.safetyParamDEPRECATED
+    safety_param = CP.deprecated.safetyParam
 
   ops = []
   for index, msg in msgs:

openpilot/selfdrive/test/process_replay/process_replay.py

@@ -216,8 +216,7 @@ class ProcessContainer:
 
   def _start_process(self):
     if self.capture is not None:
-      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)
+      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)  # ty: ignore[invalid-assignment]  # intentional wrapper
-    self.process.prepare()
     self.process.start()
 
   def start(
@@ -635,10 +634,10 @@ def replay_process(
   fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
   captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
-  if isinstance(cfg, Iterable):
+  if isinstance(cfg, ProcessConfig):
-    cfgs = list(cfg)
-  else:
     cfgs = [cfg]
+  else:
+    cfgs = list(cfg)
 
   all_msgs = migrate_all(lr,
                          manager_states=True,

openpilot/selfdrive/ui/body/animations.py

@@ -204,7 +204,10 @@ class FaceAnimator:
       frames_back = round(rewind_elapsed / self._animation.frame_duration)
       frame_index = self._rewind_from - frames_back
       if frame_index <= 0:
-        return self._switch_to_next(now)
+        if self._next is None:
+          self._rewinding = False
+          return self._animation.frames[0]
+        return self._switch_to_next(now, self._next)
       return self._animation.frames[frame_index]
 
     # Play starting frames first (once)
@@ -223,7 +226,7 @@ class FaceAnimator:
 
     if self._next is not None:
       if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
-        return self._switch_to_next(now)
+        return self._switch_to_next(now, self._next)
       # No natural return to frame 0 — start rewinding
       if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
         self._rewinding = True
@@ -232,8 +235,8 @@ class FaceAnimator:
 
     return self._animation.frames[frame_index]
 
-  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
+  def _switch_to_next(self, now: float, animation: Animation) -> list[tuple[int, int]]:
-    self._animation = self._next
+    self._animation = animation
     self._next = None
     self._rewinding = False
     self._seen_nonzero = False

openpilot/selfdrive/ui/layouts/main.py

@@ -34,7 +34,11 @@ class MainLayout(Widget):
     # Initialize layouts
     self._home_layout = HomeLayout()
     self._home_body_layout = BodyLayout()
-    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._layouts: dict[MainState, Widget] = {
+      MainState.HOME: self._home_layout,
+      MainState.SETTINGS: SettingsLayout(),
+      MainState.ONROAD: AugmentedRoadView(),
+    }
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)

openpilot/selfdrive/ui/layouts/settings/device.py

@@ -105,7 +105,6 @@ class DeviceLayout(Widget):
 
       self._params.remove("CalibrationParams")
       self._params.remove("LiveTorqueParameters")
-      self._params.remove("LiveParameters")
       self._params.remove("LiveParametersV2")
       self._params.remove("LiveDelay")
       self._params.put_bool("OnroadCycleRequested", True, block=True)

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

@@ -1,5 +1,5 @@
 import pyray as rl
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import IntEnum
 from collections.abc import Callable
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
@@ -43,7 +43,7 @@ class PanelType(IntEnum):
 class PanelInfo:
   name: str
   instance: Widget
-  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+  button_rect: rl.Rectangle = field(default_factory=lambda: rl.Rectangle(0, 0, 0, 0))
 
 
 class SettingsLayout(Widget):

openpilot/selfdrive/ui/layouts/sidebar.py

@@ -68,7 +68,7 @@ class Sidebar(Widget, SidebarSP):
   def __init__(self):
     Widget.__init__(self)
     SidebarSP.__init__(self)
-    self._net_type = NETWORK_TYPES.get(NetworkType.none)
+    self._net_type = NETWORK_TYPES[NetworkType.none]
     self._net_strength = 0
 
     self._temp_status = MetricData(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)

openpilot/selfdrive/ui/mici/layouts/home.py

@@ -251,7 +251,7 @@ class MiciHomeLayout(Widget):
     self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
     self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
-    self._body_icon.set_visible(ui_state.is_body)
+    self._body_icon.set_visible(bool(ui_state.is_body))
 
     footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
     self._status_bar_layout.render(footer_rect)

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -148,4 +148,4 @@ class MiciMainLayout(Scroller):
 
   def _on_body_changed(self):
     self._car_onroad_layout.set_visible(not ui_state.is_body)
-    self._body_onroad_layout.set_visible(ui_state.is_body)
+    self._body_onroad_layout.set_visible(bool(ui_state.is_body))

openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py

@@ -250,12 +250,12 @@ class MiciOffroadAlerts(Scroller):
                               {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
       time.sleep(REFRESH_INTERVAL)
 
-  def _refresh(self) -> int:
+  def _refresh(self, pending_params: dict) -> int:
     """Refresh alerts from params and return active count."""
     active_count = 0
 
     # Handle UpdateAvailable alert specially
-    update_available = self._pending_params["UpdateAvailable"]
+    update_available = pending_params["UpdateAvailable"]
     update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
 
     if update_alert_data:
@@ -263,7 +263,7 @@ class MiciOffroadAlerts(Scroller):
         version_string = ""
 
         # Get new version description and parse version and date
-        new_desc = self._pending_params["UpdaterNewDescription"] or ""
+        new_desc = pending_params["UpdaterNewDescription"] or ""
         if new_desc:
           # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
@@ -284,7 +284,7 @@ class MiciOffroadAlerts(Scroller):
         continue  # Skip, already handled above
 
       text = ""
-      alert_json = self._pending_params[alert_data.key]
+      alert_json = pending_params[alert_data.key]
 
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
@@ -311,8 +311,9 @@ class MiciOffroadAlerts(Scroller):
   def _update_state(self):
     """Periodically refresh alerts."""
     # Refresh alerts when thread updates params
-    if self._pending_params is not None:
+    pending_params = self._pending_params
-      self._refresh()
+    if pending_params is not None:
+      self._refresh(pending_params)
       self._pending_params = None
 
   def _render(self, rect: rl.Rectangle):

openpilot/selfdrive/ui/mici/layouts/settings/device.py

@@ -16,7 +16,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
+from openpilot.system.ui.widgets.html_render import HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 
@@ -160,7 +160,7 @@ class DeviceLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
 
-    self._fcc_dialog: HtmlModal | None = None
+    self._fcc_dialog: MiciFccModal | None = None
 
     def power_off_callback():
       ui_state.params.put_bool("DoShutdown", True, block=True)
@@ -172,7 +172,6 @@ class DeviceLayoutMici(NavScroller):
       params = ui_state.params
       params.remove("CalibrationParams")
       params.remove("LiveTorqueParameters")
-      params.remove("LiveParameters")
       params.remove("LiveParametersV2")
       params.remove("LiveDelay")
       params.put_bool("OnroadCycleRequested", True, block=True)

openpilot/selfdrive/ui/mici/onroad/cameraview.py

@@ -219,7 +219,7 @@ class CameraView(Widget):
       [0.0, 0.0, 1.0]
     ])
 
-  def _render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle, /):
     if self._switching:
       self._handle_switch()
 

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -47,8 +47,8 @@ class ModelPoints:
 
 @dataclass
 class LeadVehicle:
-  glow: list[float] = field(default_factory=list)
+  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[float] = field(default_factory=list)
+  chevron: list[tuple[float, float]] = field(default_factory=list)
   fill_alpha: int = 0
 
 

openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py

@@ -41,80 +41,81 @@ def get_child_widgets(widget) -> list:
   return children
 
 
-@pytest.mark.skip(reason="segfaults")
+class TestWidgetLeaks:
-def test_dialogs_do_not_leak():
+  @pytest.mark.skip(reason="segfaults")
-  import pyray as rl
+  def test_dialogs_do_not_leak(self):
-  rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    import pyray as rl
-  from openpilot.system.ui.lib.application import gui_app
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    from openpilot.system.ui.lib.application import gui_app
 
-  # mici dialogs
+    # mici dialogs
-  from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+    from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
-  from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+    from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
-  from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+    from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
-  from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
+    from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
-  from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+    from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
 
-  # tici dialogs
+    # tici dialogs
-  from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+    from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
-  from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+    from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
-  from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+    from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
-  from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+    from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-  from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+    from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
-  from openpilot.system.ui.widgets.html_render import HtmlModal
+    from openpilot.system.ui.widgets.html_render import HtmlModal
-  from openpilot.system.ui.widgets.keyboard import Keyboard
+    from openpilot.system.ui.widgets.keyboard import Keyboard
 
-  gui_app.init_window("ref-test")
+    gui_app.init_window("ref-test")
 
-  leaked_widgets = set()
+    leaked_widgets = set()
 
-  for ctor in (
+    for ctor in (
-    # mici
+      # mici
-    MiciDriverCameraDialog, MiciPairingDialog,
+      MiciDriverCameraDialog, MiciPairingDialog,
-    lambda: MiciTrainingGuide(lambda: None),
+      lambda: MiciTrainingGuide(lambda: None),
-    lambda: MiciOnboardingWindow(lambda: None),
+      lambda: MiciOnboardingWindow(lambda: None),
-    lambda: BigDialog("test", "test"),
+      lambda: BigDialog("test", "test"),
-    lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
+      lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
-    lambda: BigInputDialog("test"),
+      lambda: BigInputDialog("test"),
-    lambda: MiciFccModal(text="test"),
+      lambda: MiciFccModal(text="test"),
-    # tici
+      # tici
-    TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+      TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
-    lambda: ConfirmDialog("test", "ok"),
+      lambda: ConfirmDialog("test", "ok"),
-    lambda: MultiOptionDialog("test", ["a", "b"]),
+      lambda: MultiOptionDialog("test", ["a", "b"]),
-    lambda: HtmlModal(text="test"),
+      lambda: HtmlModal(text="test"),
-  ):
+    ):
-    widget = ctor()
+      widget = ctor()
-    all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
+      all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
 
-    del widget
+      del widget
 
-    for ref in all_refs:
+      for ref in all_refs:
-      if ref() is not None:
+        if ref() is not None:
-        obj = ref()
+          obj = ref()
-        name = f"{type(obj).__module__}.{type(obj).__qualname__}"
+          name = f"{type(obj).__module__}.{type(obj).__qualname__}"
-        leaked_widgets.add(name)
+          leaked_widgets.add(name)
 
-        print(f"\n===  Widget {name} alive after del")
+          print(f"\n===  Widget {name} alive after del")
-        print("  Referrers:")
+          print("  Referrers:")
-        for r in gc.get_referrers(obj):
+          for r in gc.get_referrers(obj):
-          if r is obj:
+            if r is obj:
-            continue
+              continue
 
-          if hasattr(r, '__self__') and r.__self__ is not obj:
+            if hasattr(r, '__self__') and r.__self__ is not obj:
-            print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
+              print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
-          elif hasattr(r, '__func__'):
+            elif hasattr(r, '__func__'):
-            print(f"    method: {r.__name__}")
+              print(f"    method: {r.__name__}")
-          else:
+            else:
-            print(f"    {type(r).__module__}.{type(r).__qualname__}")
+              print(f"    {type(r).__module__}.{type(r).__qualname__}")
-        del obj
+          del obj
 
-  gui_app.close()
+    gui_app.close()
 
-  unexpected = leaked_widgets - KNOWN_LEAKS
+    unexpected = leaked_widgets - KNOWN_LEAKS
-  assert not unexpected, f"New leaked widgets: {unexpected}"
+    assert not unexpected, f"New leaked widgets: {unexpected}"
 
-  fixed = KNOWN_LEAKS - leaked_widgets
+    fixed = KNOWN_LEAKS - leaked_widgets
-  assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
+    assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
 
 
 if __name__ == "__main__":
-  test_dialogs_do_not_leak()
+  TestWidgetLeaks().test_dialogs_do_not_leak()

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

@@ -375,6 +375,7 @@ class GreyBigButton(BigButton):
 class BigMultiParamToggle(BigMultiToggle):
   def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
                select_callback: Callable | None = None):
+    assert Params is not None
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -392,6 +393,7 @@ class BigMultiParamToggle(BigMultiToggle):
 
 class BigParamControl(BigToggle):
   def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
+    assert Params is not None
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -409,6 +411,7 @@ class BigParamControl(BigToggle):
 class BigCircleParamControl(BigCircleToggle):
   def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | None = None,
                icon_offset: tuple[int, int] = (0, 0)):
+    assert Params is not None
     super().__init__(icon, toggle_callback, icon_offset=icon_offset)
     self._param = param
     self.params = Params()

openpilot/selfdrive/ui/onroad/model_renderer.py

@@ -39,8 +39,8 @@ class ModelPoints:
 
 @dataclass
 class LeadVehicle:
-  glow: list[float] = field(default_factory=list)
+  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[float] = field(default_factory=list)
+  chevron: list[tuple[float, float]] = field(default_factory=list)
   fill_alpha: int = 0
 
 

openpilot/selfdrive/ui/soundd.py

@@ -24,7 +24,7 @@ ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 26 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
@@ -48,14 +48,15 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
   AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
+  AudibleAlert.prompt: ("warning.wav", 1, MAX_VOLUME),
-  AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
+  AudibleAlert.promptRepeat: ("warning.wav", None, MAX_VOLUME),
-  AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
+  AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
+  AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
+  AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
-  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+  AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 
   **sound_list_sp,
 }
@@ -89,6 +90,7 @@ class Soundd(QuietMode):
     self.ramp_start_time = 0.
 
     self.selfdrive_timeout_alert = False
+    self.pending_stop = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -127,6 +129,10 @@ class Soundd(QuietMode):
         self.current_sound_frame += frames_to_write
         current_sound_frame = self.current_sound_frame % len(sound_data)
         loops = self.current_sound_frame // len(sound_data)
+        if self.pending_stop and current_sound_frame == 0:
+          self.current_alert = AudibleAlert.none
+          self.pending_stop = False
+          break
 
     return ret * self.current_volume
 
@@ -137,6 +143,15 @@ class Soundd(QuietMode):
 
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    # let looping sounds finish the current loop instead of cutting off mid tone
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      if current_alert_played_once:
+        self.pending_stop = True
+      else:
+        self.current_alert = AudibleAlert.none
+        self.current_sound_frame = 0
+      return
+    self.pending_stop = False
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
       if new_alert == AudibleAlert.warningImmediate:
         self.ramp_start_volume = self.current_volume

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

@@ -238,7 +238,7 @@ class ModelsLayout(Widget):
     self.lagd_toggle.action_item.set_state(live_delay)
     self.delay_control.set_visible(not live_delay and advanced_controls)
     new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
-    if self.lane_turn_value_control.action_item.value_change_step != new_step:
+    if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:
       self.lane_turn_value_control.action_item.value_change_step = new_step
 
     self._update_lagd_description(live_delay)

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

@@ -38,8 +38,8 @@ class NetworkUISP(NetworkUI):
       self.scan_button.set_text(tr("Scan"))
       self.scan_button.set_enabled(True)
 
-  def _render(self, rect: rl.Rectangle):
+  def _render(self, _):
-    super()._render(rect)
+    super()._render(_)
 
     if self._current_panel == PanelType.WIFI:
       self.scan_button.set_position(self._rect.x, self._rect.y + 20)

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

@@ -37,7 +37,7 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(
+OP.PanelType = IntEnum(  # type: ignore[assignment] # ty: ignore[invalid-assignment]
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",
@@ -180,20 +180,18 @@ class SettingsLayoutSP(OP.SettingsLayout):
       self._sidebar_scroller.render(nav_rect)
       return
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return True
+      return
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
         self.set_current_panel(panel_type)
-        return True
+        return
-
-    return False
 
   def show_event(self):
     super().show_event()

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

@@ -138,7 +138,7 @@ class ModelsLayoutMici(NavScroller):
     self._show_selection_view(btns, self._show_folders)
 
   def _reset_main_view(self):
-    self._scroller._items = self.main_items
+    self._scroller._items = self.main_items  # type: ignore[assignment] # ty: ignore[invalid-assignment]
     self.set_back_callback(self.original_back_callback)
     self._scroller.scroll_panel.set_offset(0)
     self._scroller.scroll_to(0)

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

@@ -16,6 +16,9 @@ class SunnylinkConsentPage(NavScroller):
   def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None):
     super().__init__()
 
+    assert on_accept is not None and callable(on_accept)
+    assert on_decline is not None and callable(on_decline)
+
     self._accept_button = BigConfirmationCircleButton("enable\nsunnylink", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
                                                       on_accept,  exit_on_confirm=False)
 

openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py

@@ -198,7 +198,7 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
         self._draw_ahead_info(sign_rect)
 
   def _draw_sign_main(self, rect, alpha=1.0):
-    speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning
+    speed_limit_warning_enabled = ui_state.speed_limit_mode is not None and ui_state.speed_limit_mode >= SpeedLimitMode.warning
     has_limit = self.speed_limit_valid or self.speed_limit_last_valid
     is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed)
 

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -224,8 +224,7 @@ class UIStateSP:
 
 
 class DeviceSP:
-  @staticmethod
+  def _set_awake(self, on: bool, _ui_state=None):
-  def _set_awake(on: bool, _ui_state):
     if _ui_state.boot_offroad_mode == 1 and not on:
       _ui_state.params.put_bool("OffroadMode", True)
 

openpilot/selfdrive/ui/tests/diff/replay_script.py

@@ -357,7 +357,7 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
     params = Params()
     main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
                                                   {alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
-    main_layout._alerts_layout._refresh()
+    main_layout._alerts_layout._update_state()
 
   swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
   script.setup(setup_offroad_alerts_and_refresh)  # show alerts

openpilot/selfdrive/ui/tests/profile_onroad.py

@@ -49,7 +49,7 @@ def patch_submaster(message_chunks):
         sm.recv_frame[service] = sm.frame
         sm.valid[service] = True
     sm.frame += 1
-  ui_state.sm.update = mock_update
+  ui_state.sm.update = mock_update  # ty: ignore[invalid-assignment]  # profiling hook
 
 
 if __name__ == "__main__":
@@ -92,7 +92,7 @@ if __name__ == "__main__":
   vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
-  yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
+  yuv_data = np.random.default_rng().integers(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
   with cProfile.Profile() as pr:
     for _ in gui_app.render():
       if ui_state.sm.frame >= len(message_chunks):

openpilot/selfdrive/ui/tests/test_raylib_ui.py

@@ -2,7 +2,8 @@ import time
 from openpilot.selfdrive.test.helpers import with_processes
 
 
-@with_processes(["ui"])
+class TestRaylibUi:
-def test_raylib_ui():
+  @with_processes(["ui"])
-  """Test initialization of the UI widgets is successful."""
+  def test_raylib_ui(self):
-  time.sleep(1)
+    """Test initialization of the UI widgets is successful."""
+    time.sleep(1)

openpilot/selfdrive/ui/tests/test_translations.py

@@ -46,61 +46,59 @@ def load_po_text(po_path: Path) -> str:
   return po_path.read_text(encoding='utf-8')
 
 
-@pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
+class TestTranslations:
-def test_translation_file_exists(language_code: str):
+  @pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
-  po_path = PO_DIR / f"app_{language_code}.po"
+  def test_translation_file_exists(self, language_code: str):
-  assert po_path.exists(), f"missing translation file: {po_path}"
+    po_path = PO_DIR / f"app_{language_code}.po"
+    assert po_path.exists(), f"missing translation file: {po_path}"
 
+  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_placeholders_are_preserved(self, po_path: Path):
+    _, entries = parse_po(po_path)
+    language = po_path.stem.removeprefix("app_")
 
-@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+    for entry in entries:
-def test_translation_placeholders_are_preserved(po_path: Path):
+      source_placeholders = extract_placeholders(entry.msgid)
-  _, entries = parse_po(po_path)
-  language = po_path.stem.removeprefix("app_")
 
-  for entry in entries:
+      if entry.is_plural:
-    source_placeholders = extract_placeholders(entry.msgid)
+        plural_placeholders = extract_placeholders(entry.msgid_plural)
+        message = (
+          f"{language}: source plural placeholders do not match singular for "
+          + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
+        )
+        assert plural_placeholders == source_placeholders, message
 
-    if entry.is_plural:
+        for idx, msgstr in sorted(entry.msgstr_plural.items()):
-      plural_placeholders = extract_placeholders(entry.msgid_plural)
+          if not msgstr:
-      message = (
+            continue
-        f"{language}: source plural placeholders do not match singular for "
-        + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
-      )
-      assert plural_placeholders == source_placeholders, message
 
-      for idx, msgstr in sorted(entry.msgstr_plural.items()):
+          translated_placeholders = extract_placeholders(msgstr)
-        if not msgstr:
+          message = (
+            f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+            + f"expected {source_placeholders}, got {translated_placeholders}"
+          )
+          assert translated_placeholders == source_placeholders, message
+      else:
+        if not entry.msgstr:
           continue
 
-        translated_placeholders = extract_placeholders(msgstr)
+        translated_placeholders = extract_placeholders(entry.msgstr)
         message = (
-          f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+          f"{language}: translation changes placeholders for {entry.msgid!r}: "
           + f"expected {source_placeholders}, got {translated_placeholders}"
         )
         assert translated_placeholders == source_placeholders, message
-    else:
-      if not entry.msgstr:
-        continue
 
-      translated_placeholders = extract_placeholders(entry.msgstr)
+  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
-      message = (
+  def test_translation_refs_do_not_include_line_numbers(self, po_path: Path):
-        f"{language}: translation changes placeholders for {entry.msgid!r}: "
+    for line in load_po_text(po_path).splitlines():
-        + f"expected {source_placeholders}, got {translated_placeholders}"
+      assert not LINE_NUMBER_REF_RE.match(line), (
+        f"{po_path.name}: line-number source reference found: {line}"
       )
-      assert translated_placeholders == source_placeholders, message
 
-
+  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
-@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_entities_are_valid(self, po_path: Path):
-def test_translation_refs_do_not_include_line_numbers(po_path: Path):
+    matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
-  for line in load_po_text(po_path).splitlines():
+    assert not matches, (
-    assert not LINE_NUMBER_REF_RE.match(line), (
+      f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
-      f"{po_path.name}: line-number source reference found: {line}"
     )
-
-
-@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
-def test_translation_entities_are_valid(po_path: Path):
-  matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
-  assert not matches, (
-    f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
-  )

openpilot/selfdrive/ui/translations/potools.py

@@ -67,22 +67,22 @@ def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
   cur_field: str | None = None
   plural_idx = 0
 
-  def finish():
+  def finish(entry: POEntry | None):
-    nonlocal cur, header
+    nonlocal header
-    if cur is None:
+    if entry is None:
       return
-    if cur.msgid == "" and cur.msgstr:
+    if entry.msgid == "" and entry.msgstr:
-      header = cur
+      header = entry
-    elif cur.msgid != "" or cur.is_plural:
+    elif entry.msgid != "" or entry.is_plural:
-      entries.append(cur)
+      entries.append(entry)
-    cur = None
 
   for raw in lines:
     line = raw.rstrip('\n')
     stripped = line.strip()
 
     if not stripped:
-      finish()
+      finish(cur)
+      cur = None
       cur_field = None
       continue
 
@@ -123,6 +123,8 @@ def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
       continue
 
     if stripped.startswith('msgstr '):
+      if cur is None:
+        cur = POEntry()
       cur.msgstr = _parse_quoted(stripped[len('msgstr '):])
       cur_field = 'msgstr'
       continue
@@ -138,7 +140,7 @@ def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
       elif cur_field == 'msgstr_plural':
         cur.msgstr_plural[plural_idx] += val
 
-  finish()
+  finish(cur)
   return header, entries
 
 

openpilot/selfdrive/ui/translations/update_translations.py

@@ -12,9 +12,9 @@ POT_FILE = os.path.join(str(TRANSLATIONS_DIR), "app.pot")
 def update_translations():
   files = []
   for root, _, filenames in chain(os.walk(SYSTEM_UI_DIR),
-                                  os.walk(os.path.join(UI_DIR, "widgets")),
+                                  os.walk(os.path.join(str(UI_DIR), "widgets")),
-                                  os.walk(os.path.join(UI_DIR, "layouts")),
+                                  os.walk(os.path.join(str(UI_DIR), "layouts")),
-                                  os.walk(os.path.join(UI_DIR, "onroad"))):
+                                  os.walk(os.path.join(str(UI_DIR), "onroad"))):
     for filename in filenames:
       if filename.endswith(".py"):
         files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
@@ -25,7 +25,7 @@ def update_translations():
 
   # Generate/update translation files for each language
   for name in multilang.languages.values():
-    po_file = os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")
+    po_file = os.path.join(str(TRANSLATIONS_DIR), f"app_{name}.po")
     if os.path.exists(po_file):
       merge_po(po_file, POT_FILE)
     else:

openpilot/selfdrive/ui/ui_state.py

@@ -314,9 +314,9 @@ class Device(DeviceSP):
       brightness = 0
 
     if brightness != self._last_brightness:
-      self._brightness_target = brightness
+      self._brightness_target = int(brightness)
       self._brightness_event.set()
-      self._last_brightness = brightness
+      self._last_brightness = int(brightness)
 
   def _update_wakefulness(self):
     # Handle interactive timeout
@@ -337,9 +337,9 @@ class Device(DeviceSP):
 
     self._set_awake(ui_state.ignition or not interaction_timeout or PC)
 
-  def _set_awake(self, on: bool):
+  def _set_awake(self, on: bool, _ui_state=None):
     if on != self._awake:
-      DeviceSP._set_awake(on, ui_state)
+      super()._set_awake(on, _ui_state or ui_state)
       self._awake = on
       cloudlog.debug(f"setting display power {int(on)}")
       HARDWARE.set_display_power(on)

openpilot/sunnypilot/mads/tests/test_mads_state_machine.py

@@ -29,7 +29,7 @@ def make_event(event_types):
   event = {}
   for ev in event_types:
     event[ev] = NormalPermanentAlert("alert")
-  EVENTS_SP[0] = event
+  EVENTS_SP[0] = event  # type: ignore[assignment] # ty: ignore[invalid-assignment]
   return 0
 
 

openpilot/sunnypilot/mapd/mapd_manager.py

@@ -128,7 +128,7 @@ def main_thread():
     cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}")
 
   while True:
-    show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal")
+    show_alert = bool(get_files_for_cleanup() and params.get_bool("OsmLocal"))
     set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.")
 
     update_osm_db()

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -129,7 +129,7 @@ def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_
 
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
-    np.random.seed(seed)
+    rng = np.random.default_rng(seed)
     Tensor.manual_seed(seed)
 
     testing = test_val is not None or test_buffers is not None
@@ -139,7 +139,7 @@ def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_
       frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
-        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
       Device.default.synchronize()
       st = time.perf_counter()
       outs = fn(**input_queues, frame=frame, big_frame=big_frame)
@@ -319,11 +319,11 @@ def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame,
 
 def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
   for i in range(3):
-    np.random.seed(42 + i)
+    rng = np.random.default_rng(42 + i)
     frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
     big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
     for v in npy.values():
-      v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      v[:] = rng.standard_normal(v.shape).astype(v.dtype)
     Device.default.synchronize()
     st = time.perf_counter()
     run_jit(**input_queues, frame=frame, big_frame=big_frame)

openpilot/sunnypilot/modeld_v2/parse_model_outputs.py

@@ -61,6 +61,7 @@ class Parser:
           weights[fidx] = weights[fidx][idxs]
           pred_mu[fidx] = pred_mu[fidx][idxs]
           pred_std[fidx] = pred_std[fidx][idxs]
+      assert out_shape is not None
       full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
       outs[name + '_weights'] = weights
       outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
@@ -78,8 +79,10 @@ class Parser:
       pred_std_final = pred_std
 
     if out_N > 1:
+      assert out_shape is not None
       final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
     else:
+      assert out_shape is not None
       final_shape = tuple([raw.shape[0],] + list(out_shape))
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)

openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -65,6 +65,7 @@ class Parser:
           weights[fidx] = weights[fidx][idxs]
           pred_mu[fidx] = pred_mu[fidx][idxs]
           pred_std[fidx] = pred_std[fidx][idxs]
+      assert out_shape is not None
       full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
       outs[name + '_weights'] = weights
       outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
@@ -82,8 +83,10 @@ class Parser:
       pred_std_final = pred_std
 
     if out_N > 1:
+      assert out_shape is not None
       final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
     else:
+      assert out_shape is not None
       final_shape = tuple([raw.shape[0],] + list(out_shape))
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)

openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py

@@ -61,7 +61,7 @@ class TestFrameSkipBufferLengthEquivalence:
 
 class TestTemporalSamplingEquivalence:
   def test_non20hz_desire_sampling_identity(self):
-    buf = np.random.randn(100, 1, 8).astype(np.float32)
+    buf = np.random.default_rng(0).standard_normal((100, 1, 8)).astype(np.float32)
     frame_skip = 1
     sampled = buf[::frame_skip].reshape(-1, 8)
     assert sampled.shape == (100, 8)
@@ -150,7 +150,7 @@ class TestOutputSlicePreservation:
   def test_vision_hidden_state_slice_used_for_features(self):
     mock_slices = {'hidden_state': slice(0, 512), 'plan': slice(512, 1024)}
     features_slice = mock_slices['hidden_state']
-    fake_output = np.random.randn(1, 1024).astype(np.float32)
+    fake_output = np.random.default_rng(0).standard_normal((1, 1024)).astype(np.float32)
     features = fake_output[:, features_slice]
     assert features.shape == (1, 512)
 

openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py

@@ -1,3 +1,5 @@
+from typing import Any
+
 import numpy as np
 
 from openpilot.cereal import log
@@ -14,7 +16,7 @@ class MockStruct:
 
 
 def test_recovery_power_scaling():
-  state = MockStruct(
+  state: Any = MockStruct(
     PLANPLUS_CONTROL=0.75,
     LONG_SMOOTH_SECONDS=0.3,
     LAT_SMOOTH_SECONDS=0.1,
@@ -35,10 +37,10 @@ def test_recovery_power_scaling():
     recorded_curv_plans.append(plan.copy())
     return 0.0
 
-  modeld.get_accel_from_plan = mock_accel
+  modeld.get_accel_from_plan = mock_accel  # ty: ignore[invalid-assignment]
-  modeld.get_curvature_from_output = mock_curvature
+  modeld.get_curvature_from_output = mock_curvature  # ty: ignore[invalid-assignment]
-  plan = np.random.rand(1, 100, 15).astype(np.float32)
+  plan = np.random.default_rng(0).random((1, 100, 15)).astype(np.float32)
-  planplus = np.random.rand(1, 100, 15).astype(np.float32)
+  planplus = np.random.default_rng(1).random((1, 100, 15)).astype(np.float32)
   merged_plan = plan + planplus
 
   model_output: dict = {
@@ -60,7 +62,7 @@ def test_recovery_power_scaling():
     state.PLANPLUS_CONTROL = control
     recorded_vel.clear()
     recorded_curv_plans.clear()
-    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)
+    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)  # type: ignore[arg-type]
 
     expected_accel_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + planplus[0, :, Plan.VELOCITY][:, 0]
     np.testing.assert_allclose(recorded_vel[0], expected_accel_plan_vel, rtol=1e-5, atol=1e-6)

openpilot/sunnypilot/modeld_v2/warp.py

@@ -66,8 +66,8 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
 
   full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
   big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  new_frame_np = np.random.default_rng(0).integers(0, 256, yuv_size, dtype=np.uint8)
-  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  new_big_frame_np = np.random.default_rng(1).integers(0, 256, yuv_size, dtype=np.uint8)
   for i in range(10):
     img_inputs = [full_buffer,
                   Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
@@ -91,8 +91,8 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
   print(f"  Saved to {pkl_path}")
 
   jit = pickle.load(open(pkl_path, "rb"))
-  verify_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  verify_frame = np.random.default_rng(0).integers(0, 256, yuv_size, dtype=np.uint8)
-  verify_big_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  verify_big_frame = np.random.default_rng(1).integers(0, 256, yuv_size, dtype=np.uint8)
   fresh_inputs = [
     Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
     Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),

openpilot/sunnypilot/models/helpers.py

@@ -126,7 +126,7 @@ def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | byte
   params = params or Params()
   try:
     active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
-    if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
+    if isinstance(active_bundle_dict, dict) and active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
       return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
   except Exception:
     pass

openpilot/sunnypilot/models/manager.py

@@ -69,7 +69,7 @@ class ModelManagerSP:
         total_size = int(response.headers.get("content-length", 0))
         bytes_downloaded = 0
 
-        with open(path, 'wb') as f:
+        with open(path, 'wb') as f:  # noqa: ASYNC230
           async for chunk in response.content.iter_chunked(self._chunk_size):  # type: bytes
             f.write(chunk)
             bytes_downloaded += len(chunk)
@@ -110,7 +110,7 @@ class ModelManagerSP:
         async with session.get(chunk_url) as response:
           response.raise_for_status()
           chunk_size = int(response.headers.get("content-length", 0))
-          with open(chunk_path, 'wb') as f:
+          with open(chunk_path, 'wb') as f:  # noqa: ASYNC230
             async for data in response.content.iter_chunked(self._chunk_size):
               f.write(data)
               chunk_downloaded += len(data)
@@ -124,9 +124,9 @@ class ModelManagerSP:
               self._sync_artifact_progress(artifact)
               self._report_status()
 
-    with open(manifest_path, 'w') as f:
+    with open(manifest_path, 'w') as f:  # noqa: ASYNC230
       f.write(str(num_chunks))
-    if os.path.isfile(base_path):
+    if os.path.isfile(base_path):  # noqa: ASYNC240
       os.remove(base_path)
     del self._download_start_times[artifact.fileName]
 
@@ -165,7 +165,7 @@ class ModelManagerSP:
     except Exception as e:
       cloudlog.error(f"Error downloading {filename}: {str(e)}")
       for f in [full_path] + [p for p in (os.path.join(destination_path, f) for f in os.listdir(destination_path)) if filename in p]:
-        if os.path.isfile(f):
+        if os.path.isfile(f):  # noqa: ASYNC240
           os.remove(f)
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
       artifact.downloadProgress.eta = 0
@@ -222,7 +222,8 @@ class ModelManagerSP:
       self.selected_bundle = None
 
     except Exception:
-      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      if self.selected_bundle is not None:
+        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       raise
 
     finally:

openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py

@@ -84,7 +84,7 @@ def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
   controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
 
   # Force conditions to simulate slowdown
-  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
+  controller._slow_down_filter = FakeKalman(value=1.0)  # ty: ignore[invalid-assignment]
   controller._v_ego_kph = 35.0
   default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory