mismatch mismatch

* ui: remove raygui usage (#38708)

* ui: remove raygui usage

* match previous gui_text_box line spacing

* Revert "match previous gui_text_box line spacing"

This reverts commit ffd2fe31725c6d50bffaebc621c1e170d0926c66.

* Reapply "match previous gui_text_box line spacing"

This reverts commit d41404f09607e225f43868f7747f22dc0bb2cf16.

* log chestnut supply fault (#38711)

* log chestnut INA supply fault

* ci

* bump raylib (#38712)

* cabana: replace custom non-view Qt signals w/ plain observer (#38713)

* cabana: move RoutesDialog out of streams/ (#38716)

* cabana: string helpers in utils return std::string (#38720)

* cabana: use std::string in RoutesDialog API results (#38717)

* cabana: move stream open widgets into streamselector (#38715)

* cabana: remove Qt from livestream (#38722)

* cabana: split SettingsDialog out of settings (#38719)

cabana: split SettingsDialog out of settings.{h,cc}

* cabana: split comma API route fetching out of RoutesDialog (#38721)

* cabana: de-QT streams (#38718)

* ui: fix install update button overflow (#38696)

* cabana: split utils/util into Qt-free util and qtutil (#38723)

* ui: guard branch switcher before internet connected (#38692)

* ui: check for update on target branch switch (#38693)

* ui: sync gpu loading to offroad (#38727)

ui: sync gpu loading state

* add chestnut offroad alerts (#38706)

* system: add chestnut offroad alerts

* system: refine chestnut offroad alerts

* system: refine chestnut power alerts

* system: confirm chestnut power recovery from PCIe

* system: detect missing chestnut power from INA voltage

* common: fix OpenpilotPrefix cleanup on macOS (#38728)

The destructor built its cleanup commands as "rm %s -rf", with the flags
after the operand. GNU rm permutes arguments so this works on device and
in CI, but BSD rm on macOS stops option parsing at the first operand and
treats "-rf" as a second filename:

  $ mkdir -p /tmp/rmtest/sub && rm /tmp/rmtest -rf
  rm: /tmp/rmtest: is a directory
  rm: -rf: No such file or directory
  exit=1

So nothing is removed, and each of the four calls prints two errors plus
"system command failed (256)" from check_system. Every run of a tool that
owns an OpenpilotPrefix (replay, cabana) leaks its params dir, its
comma_home and its /tmp/msgq_ dir; 33 of each had accumulated on my
machine.

Pass the flags first.

* replay: capture downloader's stderr so download progress is reported again (#38734)

* bump panda (new health packet) (#38736)

pandad: support compact health packet

* BMRLNAP (#38681)

* ui: clarify branch switcher error message (#38732)

* ui(mici): name updater signal constants (#38731)

* mici: name updater signal constants

* drop SIGNAL_ prefix

* self contained

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* modem.py: accept hex chars in ICCID (#38735)

E.118 specifies decimal digits, but many real SIMs carry hex characters
in EF_ICCID (e.g. China Mobile's 898600B5... range, some MVNO/IoT SIMs).
AT+QCCID returns them verbatim, and the strict isdigit() check blanked
the ICCID, leaving the modem daemon stuck in INITIALIZING forever and
cellular dead. ModemManager parses ICCID as hex for the same reason.

Verified on a comma four with a China Mobile SIM (EG916Q-GL): previously
stuck retrying 'identity read incomplete', now dials and passes traffic.

* TGC (#38739)

* 23e6a04e-e6e5-462b-a0bb-e4088275ee43/12864 tgc

* here

* monitor chestnut USB in hardwared (#38741)

hardwared: monitor chestnut USB independently

* modeld: wait for stable chestnut (#38742)

modeld: wait for stable chestnut

* Revert "monitor chestnut USB in hardwared (#38741)" (#38744)

This reverts commit 7d5596d5c3.

* amd warp (#38684)

* modeld: fuse warp and policy TinyJit

* bump tg

* fix?

* this simple trick...

* debug 1

* bump tg

* pack all

* wips

* fix

* BIG_INTO_SMALL remove

* slower

* ui: show usb connection (#38745)

* ui: show USB status

* ui: resize USB icon

* ui: classify USB device once

* ui: debounce USB disconnect

* cereal: log big model in drivingModelData (#38747)

* ui: show one GPU status (#38748)

ui: show one GPU status icon

* AGNOS 19.7 (#38750)

---------

Co-authored-by: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Co-authored-by: Daniel Koepping <elkoled@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: XiaoXX <xiaoxx97@outlook.com>
Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu>

.github/workflows/build-default-models.yaml

@@ -30,6 +30,7 @@ jobs:
     runs-on: ubuntu-24.04
     outputs:
       model_name: ${{ steps.resolve.outputs.model_name }}
+      safe_model_name: ${{ steps.resolve.outputs.safe_model_name }}
       onnx_ref: ${{ steps.resolve.outputs.onnx_ref }}
       onnx_path: ${{ steps.resolve.outputs.onnx_path }}
       hf_defaults_path: ${{ steps.resolve.outputs.hf_defaults_path }}
@@ -64,7 +65,9 @@ jobs:
             exit 1
           fi
 
+          SAFE_NAME="${NAME// /-}"
           echo "model_name=${NAME}" >> $GITHUB_OUTPUT
+          echo "safe_model_name=${SAFE_NAME}" >> $GITHUB_OUTPUT
           echo "onnx_ref=${ONNX_REF}" >> $GITHUB_OUTPUT
           echo "onnx_path=${ONNX_PATH}" >> $GITHUB_OUTPUT
           echo "hf_defaults_path=${HF_DEFAULTS_PATH}" >> $GITHUB_OUTPUT
@@ -135,7 +138,7 @@ jobs:
 
       - name: Prepare output
         env:
-          MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
+          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH=${{ github.workspace }}
@@ -158,13 +161,13 @@ jobs:
       - name: Upload small model artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
+          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
           path: ${{ github.workspace }}/small_output/
 
       - name: Upload artifact name file
         uses: actions/upload-artifact@v4
         with:
-          name: artifact-name-${{ needs.resolve.outputs.model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
           path: ${{ github.workspace }}/small_output/artifact_name.txt
 
       - name: Re-enable powersave
@@ -254,7 +257,7 @@ jobs:
 
       - name: Prepare output
         env:
-          MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
+          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH=${{ github.workspace }}
@@ -277,13 +280,13 @@ jobs:
       - name: Upload big model artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
+          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
           path: ${{ github.workspace }}/big_output/
 
       - name: Upload artifact name file
         uses: actions/upload-artifact@v4
         with:
-          name: artifact-name-${{ needs.resolve.outputs.model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
           path: ${{ github.workspace }}/big_output/artifact_name.txt
 
       - name: Re-enable powersave
@@ -318,7 +321,7 @@ jobs:
         if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
         uses: actions/download-artifact@v4
         with:
-          name: artifact-name-${{ needs.resolve.outputs.model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
           path: artifact_name
 
       - name: Read artifact name

.github/workflows/sunnypilot-build-model.yaml

@@ -121,7 +121,7 @@ jobs:
           if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, chestnut]
+    runs-on: [self-hosted, "${{ inputs.target_hardware == 'chestnut' && 'chestnut' || 'tici' }}"]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6"
+  export AGNOS_VERSION="19.7"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/custom.capnp

@@ -353,6 +353,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitPending @22;
     e2eChime @23;
     laneChangeRoadEdge @24;
+    bigModelReady @25;
   }
 }
 

openpilot/cereal/log.capnp

@@ -725,6 +725,7 @@ struct ChestnutState {
   pcieLtssm @7 :UInt8;
   supplyVoltage @8 :UInt16;  # mV
   supplyCurrent @9 :Int16;  # mA
+  supplyFault @10 :Bool;
 }
 
 struct RadarState @0x9a185389d6fdd05f {
@@ -1004,6 +1005,7 @@ struct DrivingModelData {
   frameIdExtra @1 :UInt32;
   frameDropPerc @6 :Float32;
   modelExecutionTime @7 :Float32;
+  big @8 :Bool;
 
   action @2 :ModelDataV2.Action;
 

openpilot/common/hardware/comma/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
-    "hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
     "size": 46897152,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
+    "ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
-    "hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
+    "hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
-    "hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+    "hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
+    "ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
     "alt": {
-      "hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+      "hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
       "size": 4718592000
     }
   }

openpilot/common/hardware/comma/modem.py

@@ -5,6 +5,7 @@ import logging
 import os
 import select
 import signal
+import string
 import struct
 import subprocess
 import tempfile
@@ -354,7 +355,7 @@ class Modem:
       imei = ""
 
     iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
-    if not iccid.isdigit():
+    if not all(c in string.hexdigits for c in iccid):
       iccid = ""
 
     imsi = first_line("AT+CIMI")

openpilot/common/hardware/usb.py

@@ -4,11 +4,17 @@ from pathlib import Path
 CHESTNUT_FW_VERSION = "ed4e39b7"
 CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
 CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
+CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
 USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
 TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
 PRIMARY_USB_CONTROLLER = "a600000.ssusb"
 
 
+def is_chestnut_usb_id(vendor_id: int, product_id: int, include_bootloader: bool = False) -> bool:
+  ids = CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS if include_bootloader else CHESTNUT_USB_IDS
+  return (vendor_id, product_id) in ids
+
+
 def get_usb_topology() -> set[str]:
   try:
     return set(os.listdir(USB_DEVICES_PATH))
@@ -81,7 +87,7 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
     entry.linkErrorCount = device["linkErrorCount"]
     entry.usb3Lane = device.get("usb3Lane", "unknown")
 
-    if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
+    if is_chestnut_usb_id(entry.vendorId, entry.productId):
       chestnut_present = True
 
   device_state.chestnutPresent = chestnut_present

openpilot/common/params_keys.h

@@ -92,6 +92,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
@@ -132,6 +138,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"AuxPowerSave", {PERSISTENT | BACKUP, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //

openpilot/common/prefix.h

@@ -27,14 +27,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
+      util::check_system(util::string_format("rm -rf %s", real_path.c_str()));
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
+      util::check_system(util::string_format("rm -rf %s", Path::download_cache_root().c_str()));
     }
-    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm -rf %s", Path::comma_home().c_str()));
-    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
+    util::check_system(util::string_format("rm -rf %s", msgq_path.c_str()));
     unsetenv("OPENPILOT_PREFIX");
   }
 

openpilot/selfdrive/assets/icons_mici/usb.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07bda2fe5d6be0b2854044053c384fe002e96406da119863a443b9344258b500
+size 1544

openpilot/selfdrive/modeld/SConscript

@@ -10,11 +10,6 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, chestnut_present, modeld_pkl_path
 
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-
 Import('env', 'arch')
 chunker_file = File("#openpilot/common/file_chunker.py")
 lenv = env.Clone()
@@ -24,20 +19,22 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
                   if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
 
 def estimate_pickle_max_size(onnx_size):
-  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
+  # QCOM programs for models with spatial recurrent features can approach 2x
+  # the ONNX size. Overestimating only adds an empty trailing chunk.
+  return 2.0 * onnx_size + 10 * 1024 * 1024
 
 if arch == 'comma_arm64':
+  from openpilot.common.hardware import HARDWARE
+  camera = _os_fisheye if HARDWARE.get_device_type() == "mici" else _ar_ox_fisheye
+  camera_configs = [(camera.width, camera.height)]
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
+  camera_configs = [(c.width, c.height) for c in (_ar_ox_fisheye, _os_fisheye)]
   tg_backend = 'CPU'
   tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
 tg_devices = { # which device to put jit inputs to at runtime
-  'openpilot.selfdrive.modeld.modeld': {
-    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
-    'chestnut': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
-  },
   'openpilot.selfdrive.modeld.dmonitoringmodeld': {
     'default': {'DEV': tg_backend}
   },
@@ -45,7 +42,7 @@ tg_devices = { # which device to put jit inputs to at runtime
 
 CHESTNUT = chestnut_present()
 if CHESTNUT:
-  chestnut_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
+  chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1'
   # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
   chestnut_lock = File("models/.chestnut.lock").abspath
 
@@ -76,10 +73,9 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 if not os.getenv('SKIP_TINYGRAD_COMPILE'):
   for chestnut in [False, True] if CHESTNUT else [False]:
     target_pkl_path = File(modeld_pkl_path(chestnut)).abspath
-    # BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a chestnut
+    file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
-    file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
     driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
-    camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+    camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in camera_configs)
     # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
     taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
     cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
@@ -107,7 +103,7 @@ if not os.getenv('SKIP_TINYGRAD_COMPILE'):
     actions = Action(do_compile, "  [CHESTNUT] $TARGET") if chestnut else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
     node = lenv.Command(
       chunk_targets,
-      tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
+      tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), Value(chunk_targets), chunker_file],
       actions,
     )
     if chestnut:
@@ -121,7 +117,7 @@ lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_file
 
 dm_w, dm_h = DM_INPUT_SIZE
 compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
-for cam_w, cam_h in CAMERA_CONFIGS:
+for cam_w, cam_h in camera_configs:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
          f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
@@ -143,5 +139,4 @@ def tg_compile(flags, model_name):
      Action(do_chunk, "  [CHUNK] $TARGET")],
   )
 
-if not os.getenv('SKIP_TINYGRAD_COMPILE'):
+tg_compile(tg_flags, 'dmonitoring_model')
-  tg_compile(tg_flags, 'dmonitoring_model')

openpilot/selfdrive/modeld/compile_modeld.py

@@ -37,17 +37,12 @@ from tinygrad.engine.jit import TinyJit
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['tfm', 'big_tfm']
+MODELD_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
-POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-WARP_DEV = os.getenv('WARP_DEV')
 
 
-def make_random_images(keys, shape, device=None):
+def nv12_copy_size(stride: int, y_height: int, uv_height: int) -> int:
-  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+  # Retain the padded Y and UV plane storage, but skip the trailing kernel/guard allocation.
+  return stride * (y_height + uv_height)
 
 
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
@@ -99,7 +94,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
 
   def frame_prepare_tinygrad(input_frame, M_inv):
     # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=Device.DEFAULT)
     # deinterleave NV12 UV plane (UVUV... -> separate U, V)
     uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
     with Context(SPLIT_REDUCEOP=0):
@@ -118,49 +113,43 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
   return frame_prepare_tinygrad
 
 
-def make_warp_input_queues(vision_input_shapes, frame_skip, device):
-  img = vision_input_shapes['img']  # (1, 12, 128, 256)
-  n_frames = img[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
-
-  npy = {
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-  }
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
-  }
-  return input_queues, npy
-
-
 def get_policy_npy_shapes(input_shapes):
   dp = input_shapes['desire_pulse']  # (1, 25, 8)
   tc = input_shapes['traffic_convention']  # (1, 2)
   at = input_shapes['action_t']  # (1, 2)
-  fb = input_shapes['features_buffer']  # (1, 24, 512)
+  fb = input_shapes['features_buffer']  # (1, T-1, ...) e.g. (1, 24, 32, 512) with spatial features
+  feat_dim = math.prod(fb[2:])
   # TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
-  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], fb[2])}
+  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], feat_dim)}
   return shapes, [math.prod(s) for s in shapes.values()]
 
 
-def make_input_queues(input_shapes, frame_skip, device):
+def make_input_queues(input_shapes, frame_skip, device, frame_copy_size):
-  input_queues, npy = make_warp_input_queues(input_shapes, frame_skip, device)
+  img = input_shapes['img']  # (1, 12, 128, 256)
-
+  fb = input_shapes['features_buffer']  # (1, T-1, ...), past features only; the model appends the current frame's feature
-  fb = input_shapes['features_buffer']  # (1, 24, 512), past features only; the model appends the current frame's feature
+  feat_dim = math.prod(fb[2:])
   dp = input_shapes['desire_pulse']  # (1, 25, 8)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
 
-  shapes, sizes = get_policy_npy_shapes(input_shapes)
+  policy_shapes, _ = get_policy_npy_shapes(input_shapes)
-  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+  shapes = {'tfm': (3, 3), 'big_tfm': (3, 3)} | policy_shapes
+  sizes = [math.prod(s) for s in shapes.values()]
+  packed_npy_size = sum(sizes) * np.dtype(np.float32).itemsize
+  packed_input = np.zeros(packed_npy_size + 2 * frame_copy_size, dtype=np.uint8)
+  packed_npy_inputs = packed_input[:packed_npy_size].view(np.float32)
+  frames = packed_input[packed_npy_size:]
+  frame_views = {'img': frames[:frame_copy_size], 'big_img': frames[frame_copy_size:]}
   # views into the packed inputs, to be refilled at runtime
-  npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
+  npy = {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)}
-  input_queues.update({
+  input_queues = {
-    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], feat_dim), dtype=np.float32), device=device).contiguous().realize(),
     'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    'packed_npy_inputs': Tensor(packed_input, device='NPY').realize(),
-  })
+  }
-  return input_queues, npy
+  return input_queues, npy, frame_views
 
 
 def shift_and_sample(buf, new_val, sample_fn):
@@ -176,13 +165,15 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_warp(nv12, model_w, model_h, frame_skip):
+def make_warp(nv12, model_w, model_h):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
 
   def warp(tfm, big_tfm, frame, big_frame):
-    tfm = tfm.to(WARP_DEV)
+    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm)
+    frame = frame.to(Device.DEFAULT)
+    big_frame = big_frame.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, frame, big_frame)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
@@ -195,10 +186,10 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
+  model_input_dtypes = {name: spec.dtype for name, spec in model_runner.graph_inputs.items()}
 
   def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
     packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
-    warped = warped.to(Device.DEFAULT)
     Tensor.realize(packed_npy_inputs, warped)
 
     img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
@@ -211,33 +202,50 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
     inputs = {
       'img': img,
       'big_img': big_img,
-      'features_buffer': feat_buf,
+      'features_buffer': feat_buf.reshape(model_metadata['input_shapes']['features_buffer']),
       'desire_pulse': desire_buf,
       'traffic_convention': traffic_convention,
       'action_t': action_t,
     }
+    inputs = {name: value.cast(model_input_dtypes[name]) for name, value in inputs.items()}
     out = next(iter(model_runner(inputs).values())).cast('float32')
     return out,
   return run_policy
 
 
-def compile_jit(jit, make_random_inputs, input_keys, make_queues):
+def make_run_model(warp, run_policy, model_metadata, frame_copy_size):
-  SEED = 42
+  _, policy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
-  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+  packed_npy_size = (18 + sum(policy_sizes)) * np.dtype(np.float32).itemsize
-    input_queues, npy = make_queues(Device.DEFAULT)
-    rng = np.random.default_rng(seed)
-    Tensor.manual_seed(seed)
 
-    testing = test_val is not None or test_buffers is not None
+  def run_model(img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
-    n_runs = 1 if testing else 3
+    packed_input = packed_npy_inputs.to(Device.DEFAULT)
+    Tensor.realize(packed_input)
+    packed_npy_inputs = packed_input[:packed_npy_size].bitcast('float32')
+    frame = packed_input[packed_npy_size:packed_npy_size + frame_copy_size]
+    big_frame = packed_input[packed_npy_size + frame_copy_size:]
+    tfm, big_tfm, policy_inputs = packed_npy_inputs.split([9, 9, sum(policy_sizes)])
+    warped = warp(tfm.reshape(3, 3), big_tfm.reshape(3, 3), frame, big_frame)
+    return run_policy(warped, img_q, big_img_q, feat_q, desire_q, policy_inputs)
+  return run_model
+
+
+def compile_jit(jit, input_keys, make_queues, benchmark_runs):
+  if benchmark_runs < 1:
+    raise ValueError("benchmark_runs must be at least 1")
+
+  SEED = 42
+  def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy, frame_views = make_queues(Device.DEFAULT)
+    rng = np.random.default_rng(seed)
 
     for i in range(n_runs):
       for v in npy.values():
         v[:] = rng.standard_normal(v.shape).astype(v.dtype)
+      for v in frame_views.values():
+        v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
       Device.default.synchronize()
-      random_inputs = make_random_inputs()
       st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
+      outs = fn(**{k: input_queues[k] for k in input_keys})
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -256,14 +264,15 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
     return val, buffers
 
   print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED)
+  test_val, test_buffers = random_inputs_run(jit, SEED, 3)
-  print('pickle round trip')
+  print(f'pickle round trip ({benchmark_runs} runs per seed)')
   with tempfile.TemporaryFile(dir=".") as f:
     dump_oob(jit, f)
     f.seek(0)
-    jit = load_oob(f)
+    loaded_jit = load_oob(f)
-  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
-  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
+  # Keep the original so per-resolution JITs share model weight buffers in the final pickle.
   return jit
 
 
@@ -292,27 +301,31 @@ if __name__ == "__main__":
   p.add_argument('--onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
+  p.add_argument('--benchmark-runs', type=int, default=1,
+                 help='timed loaded-JIT runs for each correctness seed')
   args = p.parse_args()
 
   model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 
   model_runner = OnnxRunner(model_path)
-  out = {'metadata': make_metadata_dict(model_path)}
+  out = {
+    'metadata': make_metadata_dict(model_path),
+    'input_devices': {'model': Device.DEFAULT},
+    'run_model': {},
+  }
 
-  run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
+  run_policy = make_run_policy(model_runner, out['metadata'], args.frame_skip)
-
-  make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]), device=WARP_DEV)
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
-                                  make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    frame_copy_size = nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-    warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    make_model_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip,
-    make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
+                                frame_copy_size=frame_copy_size)
-    out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+    warp = make_warp(nv12, model_w, model_h)
+    run_model_jit = TinyJit(make_run_model(warp, run_policy, out['metadata'], frame_copy_size), prune=True)
+    out['run_model'][(cam_w,cam_h)] = compile_jit(run_model_jit, MODELD_INPUTS, make_model_queues,
+                                                  args.benchmark_runs)
 
   with open(args.output, "wb") as f:
     dump_oob(out, f)

openpilot/selfdrive/modeld/fill_model_msg.py

@@ -64,6 +64,7 @@ def fill_driving_model_data(msg: capnp._DynamicStructBuilder, modelv2_send: capn
   driving_model_data.frameIdExtra = modelV2.frameIdExtra
   driving_model_data.frameDropPerc = modelV2.frameDropPerc
   driving_model_data.modelExecutionTime = modelV2.modelExecutionTime
+  driving_model_data.big = modelV2.big
   driving_model_data.action = modelV2.action
   driving_model_data.meta.laneChangeState = modelV2.meta.laneChangeState
   driving_model_data.meta.laneChangeDirection = modelV2.meta.laneChangeDirection

openpilot/selfdrive/modeld/helpers.py

@@ -7,10 +7,12 @@ import tempfile
 from pathlib import Path
 
 from openpilot.common.file_chunker import get_manifest_path
-from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_IDS, USB_DEVICES_PATH
+from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
+CHESTNUT_POWERED_VOLTAGE = 5000
+CHESTNUT_PCIE_READY = 0x78
 
 
 def get_tg_input_devices(process_name: str, chestnut: bool):
@@ -50,7 +52,7 @@ def chestnut_present() -> bool:
     try:
       usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
       product = (d / "product").read_text().strip()
-      if usb_id in CHESTNUT_USB_IDS and product == f"custom {CHESTNUT_FW_VERSION}-CLEAN":
+      if is_chestnut_usb_id(*usb_id) and product == CHESTNUT_USB_PRODUCT:
         return True
     except Exception:
       pass
@@ -58,3 +60,7 @@ def chestnut_present() -> bool:
 
 def chestnut_compiled() -> bool:
   return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
+
+
+def chestnut_ready(state) -> bool:
+  return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY

openpilot/selfdrive/modeld/modeld.py

@@ -4,8 +4,8 @@ import ctypes
 from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
-from tinygrad.tensor import Tensor
 from tinygrad.device import Device
+import usb1
 import struct
 import threading
 import time
@@ -28,17 +28,17 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, nv12_copy_size, MODELD_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import open_file_chunked
+from openpilot.common.hardware.usb import CHESTNUT_USB_IDS
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, chestnut_ready, modeld_pkl_path, load_oob
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
-PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 LAT_SMOOTH_SECONDS = 0.0
@@ -83,6 +83,37 @@ class ChestnutState:
     self.valid = True
     self.sends = 0
     self.metrics = {}
+    self._asm_usb = None
+
+  def _close_asm_usb(self) -> None:
+    if self._asm_usb is not None:
+      self._asm_usb.close()
+      self._asm_usb = None
+
+  def _open_asm_usb(self):
+    context = usb1.USBContext()
+    for vendor_id, product_id in CHESTNUT_USB_IDS:
+      if (handle := context.openByVendorIDAndProductID(vendor_id, product_id, skip_on_error=True)) is not None:
+        return handle
+    context.close()
+
+  def _read_ina(self) -> tuple[int, int, bool]:
+    if "AMD" in Device._opened_devices and self._asm_usb is None:
+      try:
+        raw = Device["AMD"].iface.pci_dev.usb.usb.control_read(0xC0, 5)
+        return struct.unpack('<Hh?', bytes(raw))
+      except Exception:
+        pass
+    if self._asm_usb is None:
+      self._asm_usb = self._open_asm_usb()
+    if self._asm_usb is None:
+      raise usb1.USBErrorNoDevice
+    try:
+      raw = self._asm_usb.controlRead(0xC0, 0xC0, 0, 0, 5, timeout=100)
+    except usb1.USBError:
+      self._close_asm_usb()
+      raise
+    return struct.unpack('<Hh?', bytes(raw))
 
   @cached_property
   def power_limit(self) -> int:
@@ -118,13 +149,15 @@ class ChestnutState:
         setattr(state, k, v)
 
     asm_valid = False
+    try:
+      # ASM runs on USB-C power, these still read without a gpu
+      state.supplyVoltage, state.supplyCurrent, state.supplyFault = self._read_ina()
+      asm_valid = True
+    except Exception:
+      pass
     if "AMD" in Device._opened_devices:
       try:
-        # ASM runs on USB-C power, these still read without a gpu
+        state.pcieLtssm = Device["AMD"].iface.pci_dev.usb.read(0xB450, 1)[0]
-        asm = Device["AMD"].iface.pci_dev.usb
-        state.pcieLtssm = asm.read(0xB450, 1)[0]
-        state.supplyVoltage, state.supplyCurrent = struct.unpack('<Hh', bytes(asm.usb.control_read(0xC0, 5))[:4])
-        asm_valid = True
       except Exception:
         pass
 
@@ -147,9 +180,9 @@ class ModelState(ModelStateBase):
 
   def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
     ModelStateBase.__init__(self)
-    input_devices = get_tg_input_devices(PROCESS_NAME, chestnut)
-    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
     jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
+    input_devices = jits['input_devices']
+    self.model_device = input_devices['model']
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
@@ -159,13 +192,11 @@ class ModelState(ModelStateBase):
     self.chestnut = chestnut
 
     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.frame_copy_size = nv12_copy_size(*get_nv12_info(cam_w, cam_h)[:3])
-    self.full_frames: dict[str, Tensor] = {}
+    self.input_queues, self.npy, self.frame_views = make_input_queues(
-    self._blob_cache: dict[tuple[str, int], Tensor] = {}
+      self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
     self.parser = Parser()
-    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_model = jits['run_model'][(cam_w,cam_h)]
-    self.run_policy = jits['run_policy']
-    self.warp = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -173,14 +204,8 @@ class ModelState(ModelStateBase):
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
           inputs: dict[str, np.ndarray], after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray]:
-    for key in bufs.keys():
+    for key, buf in bufs.items():
-      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      np.copyto(self.frame_views[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_copy_size))
-      yuv_size = self.frame_buf_params[key][3]
-      # There is a ringbuffer of imgs, just cache tensors pointing to all of them
-      cache_key = (key, ptr)
-      if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
-      self.full_frames[key] = self._blob_cache[cache_key]
 
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire_pulse'][0] = 0
@@ -191,11 +216,7 @@ class ModelState(ModelStateBase):
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+    outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
-
-    outs, = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
-    )
     if after_enqueue is not None:
       after_enqueue()
     model_output = outs.numpy()[0]
@@ -209,25 +230,37 @@ class ModelState(ModelStateBase):
     return outputs_dict
 
   def warmup(self) -> None:
-    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self.vision_input_names}
+    dummy_frames = {k: np.zeros(self.frame_copy_size, dtype=np.uint8) for k in self.vision_input_names}
     eye = np.eye(3, dtype=np.float32)
     dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
     self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
-    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.input_queues, self.npy, self.frame_views = make_input_queues(
+      self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
     self.prev_desire[:] = 0
-    self.full_frames.clear()
-    self._blob_cache.clear()
 
 
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  CHESTNUT = chestnut_present() and chestnut_compiled()
+  chestnut_available = chestnut_present() and chestnut_compiled()
+  CHESTNUT = False
+  if chestnut_available:
+    poller = messaging.Poller()
+    sock = messaging.sub_sock("chestnutState", poller=poller, conflate=True)
+    deadline = time.monotonic() + 4. / SERVICE_LIST['deviceState'].frequency
+    while not CHESTNUT and (remaining := deadline - time.monotonic()) > 0.:
+      if not poller.poll(round(remaining * 1000)):
+        break
+      msg = messaging.recv_one_or_none(sock)
+      CHESTNUT = msg is not None and msg.valid and chestnut_ready(msg.chestnutState)
   if CHESTNUT:
     os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
   params = Params()
   params.put_bool("ChestnutLoading", CHESTNUT)
-  params.remove("ChestnutActive")
+  if chestnut_available and not CHESTNUT:
+    params.put_bool("ChestnutActive", False)
+  else:
+    params.remove("ChestnutActive")
 
   config_realtime_process(7, 54)
 
@@ -271,7 +304,11 @@ def main(demo=False):
     loader.start()
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
+    if model is None:
+      params.put_bool("ChestnutModelError", True)
     params.put_bool("ChestnutActive", model is not None)
+    if model is not None:
+      params.remove("ChestnutModelError")
 
   small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
   if model is None:
@@ -405,6 +442,7 @@ def main(demo=False):
         raise
       # fallback to small model
       cloudlog.exception("big model failed, fall back to small")
+      params.put_bool("ChestnutModelError", True)
       params.put_bool("ChestnutActive", False)
       assert small_model is not None
       model = small_model
@@ -431,12 +469,11 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-
       mdv2sp_send = messaging.new_message('modelDataV2SP')
       left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)

openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
+oid sha256:1791d5940b2c048d0639813426dd2cf1d6f2a6727ed51e17c8bcea8bbe754123
-size 1757355221
+size 765950064

openpilot/selfdrive/pandad/pandad.cc

@@ -123,22 +123,22 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setUptime(health.uptime_pkt);
   ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
   ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
-  ps.setIgnitionLine(health.ignition_line_pkt);
+  ps.setIgnitionLine((health.flags_pkt & HEALTH_FLAG_IGNITION_LINE) != 0U);
-  ps.setIgnitionCan(health.ignition_can_pkt);
+  ps.setIgnitionCan((health.flags_pkt & HEALTH_FLAG_IGNITION_CAN) != 0U);
-  ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowed((health.flags_pkt & HEALTH_FLAG_CONTROLS_ALLOWED) != 0U);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
   ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
   ps.setSafetyParam(health.safety_param_pkt);
   ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
-  ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
+  ps.setPowerSaveEnabled((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U);
-  ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
+  ps.setHeartbeatLost((health.flags_pkt & HEALTH_FLAG_HEARTBEAT_LOST) != 0U);
   ps.setAlternativeExperience(health.alternative_experience_pkt);
   ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-  ps.setInterruptLoad(health.interrupt_load_pkt);
+  ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
   ps.setFanPower(health.fan_power);
-  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
+  ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
@@ -198,10 +198,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
   }
 
   if (spoofing_started) {
-    health.ignition_line_pkt = 1;
+    health.flags_pkt |= HEALTH_FLAG_IGNITION_LINE;
   }
 
-  bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
+  bool ignition_local = ((health.flags_pkt & (HEALTH_FLAG_IGNITION_LINE | HEALTH_FLAG_IGNITION_CAN)) != 0U) && !always_offroad;
 
   // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
   if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
@@ -209,7 +209,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
   }
 
   bool power_save_desired = !ignition_local;
-  if (health.power_save_enabled_pkt != power_save_desired) {
+  if (((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U) != power_save_desired) {
     panda->set_power_saving(power_save_desired);
   }
 

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -19,6 +19,30 @@
   },
   "Offroad_ChestnutBranch": {
     "text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
+    "severity": -1
+  },
+  "Offroad_ChestnutNotDetected": {
+    "text": "Chestnut not detected. Check USB and 12V connections.",
+    "severity": 0
+  },
+  "Offroad_ChestnutOverheated": {
+    "text": "Chestnut overheated. Ensure good airflow. Current GPU temperature is %1.",
+    "severity": 0
+  },
+  "Offroad_ChestnutPcieUnavailable": {
+    "text": "%1",
+    "severity": 0
+  },
+  "Offroad_ChestnutUncompiled": {
+    "text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
+    "severity": 0
+  },
+  "Offroad_ChestnutUpdateFailed": {
+    "text": "Chestnut update failed. Check the USB cable.",
+    "severity": 0
+  },
+  "Offroad_ChestnutUsbSlow": {
+    "text": "Chestnut USB link is slow. Check the USB cable. The current speed is %1.",
     "severity": 0
   },
   "Offroad_UnregisteredHardware": {

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -198,6 +198,7 @@ class SelfdriveD(CruiseHelper):
     loading = self.params.get_bool("ChestnutLoading")
     if self.big_model_loading and not loading:
       self.big_model_ready_t = time.monotonic()
+      self.events_sp.add(custom.OnroadEventSP.EventName.bigModelReady)
     self.big_model_loading = loading
     if self.big_model_loading:
       self.events.add(EventName.bigModelLoading)

openpilot/selfdrive/test/process_replay/migration.py

@@ -152,7 +152,7 @@ def migrate_drivingModelData(msgs):
   add_ops = []
   for _, msg in msgs:
     dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
-    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
+    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "big", "action"]:
       setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
     for meta_field in ["laneChangeState", "laneChangeState"]:
       setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))

openpilot/selfdrive/test/process_replay/model_replay.py

@@ -33,9 +33,9 @@ MODEL_REPLAY_BUCKET="model_replay_master"
 GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 EXEC_TIMINGS = [
-  # model, instant max, average max
+  # model, instant max, average max, chestnut average max
-  ("modelV2", 0.05, 0.028),
+  ("modelV2", 0.05, 0.03, 0.05),
-  ("driverStateV2", 0.05, 0.018),
+  ("driverStateV2", 0.05, 0.018, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):
@@ -169,11 +169,13 @@ def model_replay(lr, frs):
   dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
 
   msgs = modeld_msgs + dmonitoringmodeld_msgs
+  chestnut = any(m.modelV2.big for m in modeld_msgs if m.which() == "modelV2")
 
   header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
   rows = []
   timings_ok = True
-  for (s, instant_max, avg_max) in EXEC_TIMINGS:
+  for (s, instant_max, avg_max, chestnut_avg_max) in EXEC_TIMINGS:
+    avg_max = chestnut_avg_max if chestnut else avg_max
     ts = [getattr(m, s).modelExecutionTime for m in msgs if m.which() == s]
     # TODO some init can happen in first iteration
     ts = ts[1:]

openpilot/selfdrive/ui/body/layouts/onroad.py

@@ -1,7 +1,7 @@
 import time
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -26,8 +26,8 @@ class BodyLayout(Widget):
     self._last_input_time = time.monotonic()
     self._was_active = False
     self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
-                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment=TextAlignment.CENTER,
-                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                                       alignment_vertical=TextAlignmentVertical.MIDDLE)
 
   def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
     spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)

openpilot/selfdrive/ui/layouts/home.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButto
 from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
 from openpilot.selfdrive.ui.widgets.setup import SetupWidget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment
 from openpilot.system.ui.lib.multilang import tr, trn
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets import Widget
@@ -178,7 +178,7 @@ class HomeLayout(Widget):
 
     version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
                                 version_text_width, self.header_rect.height)
-    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=TextAlignment.RIGHT)
 
   def _render_home_content(self):
     self._render_left_column()

openpilot/selfdrive/ui/layouts/onboarding.py

@@ -5,7 +5,7 @@ from enum import IntEnum
 
 import pyray as rl
 from openpilot.common.basedir import BASEDIR
-from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.application import FontWeight, TextAlignment, gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -115,9 +115,9 @@ class TermsPage(Widget):
     self._on_accept = on_accept
     self._on_decline = on_decline
 
-    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.LEFT)
     self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
-                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
     self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
@@ -150,7 +150,7 @@ class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
     self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
-                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
     self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
                                  click_callback=self._on_uninstall_clicked)

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

@@ -199,6 +199,9 @@ class SoftwareLayout(Widget):
         selection = self._branch_dialog.selection
         ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
+        self._download_btn.action_item.set_enabled(False)
+        self._waiting_for_updater = True
+        self._waiting_start_ts = time.monotonic()
         subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
       self._branch_dialog = None
 

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

@@ -1,4 +1,5 @@
 import datetime
+import math
 import time
 
 from openpilot.cereal import log
@@ -8,7 +9,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment, TextAlignmentVertical
 from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
 from openpilot.common.version import RELEASE_BRANCHES
 
@@ -69,8 +70,8 @@ class AlertsPill(Widget):
 
       count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
       gui_label(count_rect, str(alert_count), font_size=36,
-                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                alignment=TextAlignment.CENTER,
-                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                alignment_vertical=TextAlignmentVertical.MIDDLE)
 
 
 class NetworkIcon(Widget):
@@ -139,7 +140,9 @@ class MiciHomeLayout(Widget):
     self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._usb_icon = IconWidget("icons_mici/usb.png", (62, 40))
     self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (68, 40))
+    self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
     self._chestnut_failed_icon = IconWidget("icons_mici/chestnut_orange.png", (68, 40))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
     self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
@@ -150,13 +153,15 @@ class MiciHomeLayout(Widget):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
+      self._usb_icon,
       self._chestnut_icon,
+      self._chestnut_loading_icon,
       self._chestnut_failed_icon,
       self._body_icon,
       self._mic_icon,
     ], spacing=18)
 
-    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
+    self._openpilot_label = UnifiedLabel("openpilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
     self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
     self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
     self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
@@ -247,12 +252,20 @@ class MiciHomeLayout(Widget):
         self._version_commit_label.render()
 
     # ***** Center-aligned bottom section icons *****
+    usb_connected = ui_state.usb_connected
+    usb_unknown = ui_state.usb_unknown
+    chestnut_state = ui_state.chestnut_state
     self._experimental_icon.set_visible(ui_state.experimental_mode)
     if gui_app.sunnypilot_ui():
       self._set_chestnut_visibility()
     else:
-      self._chestnut_icon.set_visible(ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.LOADING, ChestnutState.ACTIVE))
+      self._usb_icon.set_visible(usb_connected and usb_unknown)
-      self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
+      self._chestnut_icon.set_visible(not usb_unknown and chestnut_state not in
+                                      (ChestnutState.LOADING, ChestnutState.UNCOMPILED, ChestnutState.FAILED) and
+                                      (usb_connected or chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE)))
+      self._chestnut_loading_icon.set_visible(not usb_unknown and chestnut_state == ChestnutState.LOADING)
+      self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
+      self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(bool(ui_state.is_body))
 

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

@@ -11,7 +11,7 @@ from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
 
 REFRESH_INTERVAL = 5.0  # seconds
@@ -62,12 +62,12 @@ class AlertItem(Widget):
     self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", self.ICON_SIZE, self.ICON_SIZE)
 
     self._title_label = UnifiedLabel(text="", font_size=32, font_weight=FontWeight.SEMI_BOLD, text_color=self.TEXT_COLOR,
-                                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                     alignment=TextAlignment.LEFT,
-                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, line_height=0.95)
+                                     alignment_vertical=TextAlignmentVertical.TOP, line_height=0.95)
 
     self._body_label = UnifiedLabel(text="", font_size=28, font_weight=FontWeight.ROMAN, text_color=self.TEXT_COLOR,
-                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                    alignment=TextAlignment.LEFT,
-                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.95)
+                                    alignment_vertical=TextAlignmentVertical.BOTTOM, line_height=0.95)
 
     self._title_text = ""
     self._body_text = ""
@@ -200,8 +200,8 @@ class MiciOffroadAlerts(Scroller):
 
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
-                                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                     alignment=TextAlignment.CENTER,
-                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                                     alignment_vertical=TextAlignmentVertical.MIDDLE)
 
     # Build initial alert list
     self._build_alerts()

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

@@ -4,7 +4,7 @@ import pyray as rl
 from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.qrcode import make_texture
-from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.application import FontWeight, gui_app, TextAlignment
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import SmallCircleIconButton
 from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
@@ -35,7 +35,7 @@ class DriverCameraSetupDialog(BaseCabinCameraDialog):
 
     if not self._camera_view.frame:
       gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
-                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+                alignment=TextAlignment.CENTER)
       rl.end_scissor_mode()
       return
 

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

@@ -74,6 +74,10 @@ class SoftwareInfoLayoutMici(Widget):
 
 
 class CheckUpdateButton(BigButton):
+  UPDATER_PROC = "openpilot.system.updated.updated"
+  CHECK_FOR_UPDATE = "SIGUSR1"
+  DOWNLOAD_UPDATE = "SIGHUP"
+
   def __init__(self):
     self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
     self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
@@ -97,15 +101,20 @@ class CheckUpdateButton(BigButton):
       gui_app.push_widget(dlg)
       return
 
+    self._signal_updater(self.DOWNLOAD_UPDATE if self.get_value() == "download update" else self.CHECK_FOR_UPDATE)
+
+  def check_for_update(self):
+    self._signal_updater(self.CHECK_FOR_UPDATE)
+
+  def _signal_updater(self, sig: str):
     self.set_enabled(False)
     self._state = UpdaterState.WAITING_FOR_UPDATER
+    self._hide_value_t = None
+    self.set_value("")
     self.set_icon(self._txt_update_icon)
 
     def run():
-      if self.get_value() == "download update":
+      subprocess.run(f"pkill -{sig} -f {self.UPDATER_PROC}", shell=True)
-        subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
-      else:
-        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
 
     threading.Thread(target=run, daemon=True).start()
 
@@ -184,7 +193,7 @@ class CheckUpdateButton(BigButton):
 
 class InstallUpdateButton(BigButton):
   def __init__(self):
-    super().__init__("install update", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
+    super().__init__("install now", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
     self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable"))
 
   def _update_state(self):
@@ -232,8 +241,9 @@ class BranchSelectPage(NavScroller):
 
 
 class TargetBranchButton(BigButton):
-  def __init__(self):
+  def __init__(self, check_update_btn: CheckUpdateButton):
     super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "")
+    self._check_update_btn = check_update_btn
     self.set_click_callback(self._on_click)
     self.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
     self.set_enabled(lambda: ui_state.is_offroad())
@@ -246,12 +256,15 @@ class TargetBranchButton(BigButton):
       self.set_value(target)
 
   def _on_click(self):
+    if not ui_state.params.get("UpdaterAvailableBranches"):
+      gui_app.push_widget(BigDialog("", tr("Failed to get available branches. Ensure you're connected to the internet and try again.")))
+      return
     gui_app.push_widget(BranchSelectPage(self._on_select))
 
   def _on_select(self, branch: str):
     ui_state.params.put("UpdaterTargetBranch", branch, block=True)
     self.set_value(branch)
-    subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
+    self._check_update_btn.check_for_update()
 
 
 class SoftwareLayoutMici(NavScroller):
@@ -265,10 +278,11 @@ class SoftwareLayoutMici(NavScroller):
                                                         gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
                                                         uninstall_openpilot_callback, exit_on_confirm=False)
 
+    check_update_btn = CheckUpdateButton()
     self._scroller.add_widgets([
       SoftwareInfoLayoutMici(),
-      CheckUpdateButton(),
+      check_update_btn,
       InstallUpdateButton(),
-      TargetBranchButton(),
+      TargetBranchButton(check_update_btn),
       uninstall_openpilot_btn,
     ])

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

@@ -10,7 +10,7 @@ from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
@@ -333,7 +333,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
     self._alert_text1_label.set_text(alert_text1)
     self._alert_text1_label.set_text_color(color)
     self._alert_text1_label.set_font_size(font_size)
-    self._alert_text1_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+    self._alert_text1_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
     self._alert_text1_label.render(text_rect1)
 
     alert_text2 = alert.text2.lower()
@@ -365,5 +365,5 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
       self._alert_text2_label.set_text(alert_text2)
       self._alert_text2_label.set_text_color(color)
       self._alert_text2_label.set_font_size(small_font_size)
-      self._alert_text2_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+      self._alert_text2_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
       self._alert_text2_label.render(text_rect2)

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

@@ -11,7 +11,7 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
-from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
+from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.common.filter_simple import BounceFilter
@@ -158,8 +158,8 @@ class AugmentedRoadView(CameraView):
     self._confidence_ball = ConfidenceBall()
     self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment=TextAlignment.CENTER,
-                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                                       alignment_vertical=TextAlignmentVertical.MIDDLE)
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 

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

@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
@@ -76,7 +76,7 @@ class BaseCabinCameraDialog(Widget):
 
     if not self._camera_view.frame:
       gui_label(rect, tr("camera starting"), font_size=54, font_weight=FontWeight.BOLD,
-                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+                alignment=TextAlignment.CENTER)
       rl.end_scissor_mode()
       self._publish_alert_sound(None)
       return
@@ -124,12 +124,12 @@ class BaseCabinCameraDialog(Widget):
     awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
               f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment=TextAlignment.RIGHT,
-              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+              alignment_vertical=TextAlignmentVertical.TOP,
               color=rl.Color(0, 0, 0, 180))
     gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment=TextAlignment.RIGHT,
-              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+              alignment_vertical=TextAlignmentVertical.TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
     if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
@@ -137,16 +137,16 @@ class BaseCabinCameraDialog(Widget):
 
     # Show alert level
     alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
-    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
+    alignment = TextAlignment.RIGHT if self.driver_state_renderer.is_rhd else TextAlignment.LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
     gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
-              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
+              alignment_vertical=TextAlignmentVertical.BOTTOM,
               color=rl.Color(0, 0, 0, 180))
     gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
-              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
+              alignment_vertical=TextAlignmentVertical.BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
   def _load_eye_textures(self):

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

@@ -6,7 +6,7 @@ from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import DO_ZOOM
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignmentVertical
 from openpilot.common.filter_simple import BounceFilter
 
 if TYPE_CHECKING:
@@ -125,10 +125,10 @@ class BigButton(Widget):
     self._rotate_icon_t: float | None = None
 
     self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
-                               text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
+                               text_color=LABEL_COLOR, alignment_vertical=TextAlignmentVertical.BOTTOM, scroll=scroll,
                                line_height=0.9)
     self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
-                                   text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+                                   text_color=COMPLICATION_GREY, alignment_vertical=TextAlignmentVertical.BOTTOM)
     self._update_label_layout()
 
     self._load_images()
@@ -167,9 +167,9 @@ class BigButton(Widget):
   def _update_label_layout(self):
     self._label.set_font_size(self._get_label_font_size())
     if self.value:
-      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+      self._label.set_alignment_vertical(TextAlignmentVertical.TOP)
     else:
-      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+      self._label.set_alignment_vertical(TextAlignmentVertical.BOTTOM)
 
   def set_text(self, text: str):
     self.text = text
@@ -356,8 +356,8 @@ class GreyBigButton(BigButton):
     self._sub_label.set_font_size(36)
     self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
     self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
-    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+    self._sub_label.set_alignment_vertical(TextAlignmentVertical.MIDDLE if not self._label.text else
-                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+                                           TextAlignmentVertical.BOTTOM)
     self._sub_label.set_line_height(0.95)
 
   @property

openpilot/selfdrive/ui/onroad/alert_renderer.py

@@ -4,7 +4,7 @@ from dataclasses import dataclass
 from openpilot.cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
@@ -76,10 +76,10 @@ class AlertRenderer(Widget):
     self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
 
     # font size is set dynamically
-    self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+    self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.CENTER,
-                                   text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+                                   text_alignment_vertical=TextAlignmentVertical.TOP)
-    self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+    self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=TextAlignment.CENTER,
-                                   text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+                                   text_alignment_vertical=TextAlignmentVertical.TOP)
 
   def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
     """Generate the current alert based on selfdrive state."""

openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py

@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.label import gui_label
 
@@ -38,7 +38,7 @@ class CabinCameraDialog(CameraView):
         tr("camera starting"),
         font_size=100,
         font_weight=FontWeight.BOLD,
-        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+        alignment=TextAlignment.CENTER,
       )
       return -1
 

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

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.multilang import tr, trn
 from openpilot.system.ui.widgets.label import gui_label
@@ -59,7 +59,7 @@ class HomeLayoutSP(HomeLayout):
       desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
       desc_width = desc_size.x
       desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
-      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=TextAlignment.RIGHT)
 
     brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
     spacing = BRAND_DESC_SPACING if description else 0

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

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.lib.application import FontWeight, TextAlignment
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
     self._done_callback = done_callback
     self._step = 0
 
-    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=TextAlignment.LEFT))
 
     self._content = [
       {
@@ -43,7 +43,7 @@ class SunnylinkConsentPage(Widget):
     self._primary_btn = self._child(Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")))
     self._secondary_btn = self._child(Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")))
     self._danger_btn = self._child(Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")))
-    self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
+    self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT))
 
   def _handle_choice(self, choice):
     if choice == "enable":

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

@@ -20,7 +20,6 @@ from openpilot.system.ui.widgets.list_view import button_item
 
 from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.external_storage import external_storage_item
 
 PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
 
@@ -53,11 +52,7 @@ class DeveloperLayoutSP(DeveloperLayout):
 
     self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
 
-    self.external_storage = external_storage_item(tr("External Storage"), description=tr("Extend your comma device's storage by inserting a USB drive " +
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
-                                                                                         "into the aux port."))
-
-    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle,
-                        self.external_storage, self.error_log_btn,]
 
   @staticmethod
   def _on_prebuilt_toggled(state):

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

@@ -1,261 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-import threading
-import subprocess
-import copy
-from enum import Enum
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.common.hardware import PC
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.list_view import (
-  ItemAction,
-  ListItem,
-  BUTTON_HEIGHT,
-  BUTTON_BORDER_RADIUS,
-  BUTTON_FONT_SIZE,
-  BUTTON_WIDTH,
-)
-
-VALUE_FONT_SIZE = 48
-
-
-class ExternalStorageState(Enum):
-  DISABLED = tr_noop("DISABLED")
-  LOADING = tr_noop("LOADING")
-  CHECK = tr_noop("CHECK")
-  MOUNT = tr_noop("MOUNT")
-  UNMOUNT = tr_noop("UNMOUNT")
-  FORMAT = tr_noop("FORMAT")
-
-
-class ExternalStorageAction(ItemAction):
-  MAX_WIDTH = 500
-
-  def __init__(self):
-    super().__init__(self.MAX_WIDTH, True)
-
-    self._params = Params()
-    self._error_message = ""
-    self._text_font = gui_app.font(FontWeight.NORMAL)
-
-    self._button = Button(
-      "",
-      click_callback=self._handle_button_click,
-      button_style=ButtonStyle.LIST_ACTION,
-      border_radius=BUTTON_BORDER_RADIUS,
-      font_size=BUTTON_FONT_SIZE,
-    )
-
-    self._value_text = ""
-    self._formatting = False
-    self._refresh_pending = False
-
-    self._state = ExternalStorageState.CHECK
-    self._refresh_state()
-    self.refresh()
-
-  def set_touch_valid_callback(self, callback):
-    def wrapped():
-      if self._state == ExternalStorageState.DISABLED:
-        return False
-      return callback()
-    super().set_touch_valid_callback(wrapped)
-    self._button.set_touch_valid_callback(wrapped)
-
-  def _run(self, cmd: str) -> bool:
-    return subprocess.call(["sh", "-c", cmd]) == 0
-
-  def _run_output(self, cmd: str) -> str:
-    try:
-      out = subprocess.check_output(["sh", "-c", cmd], universal_newlines=True)
-      return out.strip()
-    except Exception:
-      return ""
-
-  def _render(self, rect: rl.Rectangle) -> bool:
-    if self._error_message:
-      msg = copy.copy(self._error_message)
-      gui_app.set_modal_overlay(alert_dialog(msg))
-      self._error_message = ""
-
-    if self._value_text:
-      text_size = measure_text_cached(self._text_font, self._value_text, VALUE_FONT_SIZE)
-      rl.draw_text_ex(
-        self._text_font,
-        self._value_text,
-        (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30,
-         rect.y + (rect.height - text_size.y) / 2),
-        VALUE_FONT_SIZE,
-        1.0,
-        rl.Color(170, 170, 170, 255),
-      )
-
-    button_rect = rl.Rectangle(
-      rect.x + rect.width - BUTTON_WIDTH,
-      rect.y + (rect.height - BUTTON_HEIGHT) / 2,
-      BUTTON_WIDTH,
-      BUTTON_HEIGHT
-    )
-    self._button.set_rect(button_rect)
-    self._button.set_text(tr(self._state.value))
-    self._button.set_enabled(self._state not in (ExternalStorageState.LOADING,
-                                                 ExternalStorageState.DISABLED))
-    self._button.render(button_rect)
-    return False
-
-  def _refresh_state(self):
-    if PC:
-      self._state = ExternalStorageState.DISABLED
-      self._button.set_enabled(False)
-      self._value_text = ""
-
-  def debounced_refresh(self):
-    if self._refresh_pending:
-      return
-    self._refresh_pending = True
-
-    def _timer():
-      import time
-      time.sleep(0.25)
-      self._refresh_pending = False
-      self.refresh()
-
-    threading.Thread(target=_timer, daemon=True).start()
-
-  def refresh(self):
-    def _work():
-      is_mounted = self._run("findmnt -n /mnt/external_realdata")
-      has_drive = self._run("lsblk -f /dev/sdg")
-      has_fs = self._run("lsblk -f /dev/sdg1 | grep -q ext4")
-      has_label = self._run("blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'")
-
-      info = ""
-      if is_mounted and has_label:
-        info = self._run_output(
-          "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'"
-        )
-
-      def apply():
-        if self._formatting:
-          self._value_text = tr("formatting")
-          self._state = ExternalStorageState.FORMAT
-          return
-
-        if not has_drive:
-          self._value_text = tr("insert drive")
-          self._state = ExternalStorageState.CHECK
-
-        elif not has_fs or not has_label:
-          self._value_text = tr("needs format")
-          self._state = ExternalStorageState.FORMAT
-
-        elif is_mounted:
-          self._value_text = info
-          self._state = ExternalStorageState.UNMOUNT
-
-        else:
-          self._value_text = tr("drive detected")
-          self._state = ExternalStorageState.MOUNT
-
-      apply()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-  def _handle_button_click(self):
-    st = self._state
-
-    if st == ExternalStorageState.DISABLED:
-      return
-
-    if st in (ExternalStorageState.CHECK, ExternalStorageState.MOUNT):
-      self.mount_storage()
-
-    elif st == ExternalStorageState.UNMOUNT:
-      self.unmount_storage()
-
-    elif st == ExternalStorageState.FORMAT:
-      dialog = ConfirmDialog(
-          tr("Are you sure you want to format this drive? This will erase all data."),
-          confirm_text=tr("Format"),
-          cancel_text=tr("Cancel"),
-        )
-      gui_app.set_modal_overlay(dialog, callback=self._confirm_format)
-
-  def _confirm_format(self, result: DialogResult):
-    if result == DialogResult.CONFIRM:
-      self.format_storage()
-
-  def mount_storage(self):
-    self._value_text = tr("mounting")
-    self._state = ExternalStorageState.LOADING
-
-    def _work():
-      cmd = """
-        sudo mount -o remount,rw / &&
-        sudo mkdir -p /mnt/external_realdata &&
-        (grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab ||
-         echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' >> /etc/fstab) &&
-        sudo systemctl daemon-reexec &&
-        sudo mount /mnt/external_realdata &&
-        sudo chown -R comma:comma /mnt/external_realdata &&
-        sudo chmod -R 775 /mnt/external_realdata &&
-        sudo mount -o remount,ro /
-      """
-      subprocess.call(["sh", "-c", cmd])
-      self.debounced_refresh()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-  def unmount_storage(self):
-    self._value_text = tr("unmounting")
-    self._state = ExternalStorageState.LOADING
-
-    def _work():
-      subprocess.call(["sh", "-c", "sudo umount /mnt/external_realdata"])
-      self.debounced_refresh()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-  def format_storage(self):
-    self._formatting = True
-    self._value_text = tr("formatting")
-    self._state = ExternalStorageState.LOADING
-
-    def _work():
-      cmd = """
-        sudo wipefs -a /dev/sdg &&
-        sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% &&
-        sudo mkfs.ext4 -F -L openpilot /dev/sdg1
-      """
-      exitcode = subprocess.call(["sh", "-c", cmd])
-
-      def apply():
-        self._formatting = False
-        if exitcode == 0:
-          self.mount_storage()
-        else:
-          self._value_text = tr("needs format")
-          self._state = ExternalStorageState.FORMAT
-
-      apply()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-def external_storage_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
-  return ListItem(
-    title=title,
-    description=description,
-    action_item=ExternalStorageAction()
-  )

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

@@ -9,7 +9,7 @@ from openpilot.cereal import custom
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
@@ -32,8 +32,8 @@ class SunnylinkHeader(Widget):
       font_size=90,
       font_weight=FontWeight.AUDIOWIDE,
       text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment=TextAlignment.CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      alignment_vertical=TextAlignmentVertical.TOP,
       wrap_text=False,
       elide=False
     )
@@ -43,8 +43,8 @@ class SunnylinkHeader(Widget):
       font_size=40,
       font_weight=FontWeight.NORMAL,
       text_color=rl.Color(0, 255, 0, 255),  # Green
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment=TextAlignment.CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      alignment_vertical=TextAlignmentVertical.TOP,
       wrap_text=True,
       elide=False
     )
@@ -55,8 +55,8 @@ class SunnylinkHeader(Widget):
       font_size=35,
       font_weight=FontWeight.NORMAL,
       text_color=rl.Color(255, 165, 0, 255),  # Orange
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment=TextAlignment.CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      alignment_vertical=TextAlignmentVertical.TOP,
       wrap_text=True,
       elide=False
     )
@@ -109,8 +109,8 @@ class SunnylinkDescriptionItem(Widget):
       font_size=40,
       font_weight=FontWeight.NORMAL,
       text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+      alignment=TextAlignment.LEFT,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      alignment_vertical=TextAlignmentVertical.TOP,
       wrap_text=True,
       elide=False,
     )

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

@@ -11,7 +11,6 @@ import pyray as rl
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
 from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.widgets.icon_widget import IconWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
 
@@ -19,16 +18,16 @@ class MiciHomeLayoutSP(MiciHomeLayout):
   def __init__(self):
     super().__init__()
     self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
-    self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
-    self._chestnut_loading_icon.set_visible(False)
-    failed_idx = self._status_bar_layout.widgets.index(self._chestnut_failed_icon)
-    self._status_bar_layout.widgets.insert(failed_idx + 1, self._chestnut_loading_icon)
 
   def _set_chestnut_visibility(self):
-    # stock has no loading tier: it shows green from the moment a big model is available. keep the
+    usb_connected = ui_state.usb_connected
-    # pulse so the status bar and the onroad HUD agree on what loading looks like.
+    usb_unknown = ui_state.usb_unknown
-    loading = ui_state.chestnut_state == ChestnutState.LOADING
+    chestnut_state = ui_state.chestnut_state
-    self._chestnut_loading_icon._opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
+    loading = chestnut_state == ChestnutState.LOADING
-    self._chestnut_loading_icon.set_visible(loading)
+
-    self._chestnut_icon.set_visible(not loading and ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
+    self._usb_icon.set_visible(usb_connected and usb_unknown)
-    self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
+    self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
+    self._chestnut_loading_icon.set_visible(not usb_unknown and loading)
+    self._chestnut_icon.set_visible(not usb_unknown and not loading and
+                                    chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
+    self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))

openpilot/selfdrive/ui/ui_state.py

@@ -12,6 +12,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.hardware import HARDWARE, PC
+from openpilot.common.hardware.usb import TYPEC_CC_ORIENTATION_PATH, get_usb_state, is_chestnut_usb_id, read_int
 from openpilot.selfdrive.modeld.helpers import chestnut_compiled
 
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
@@ -95,6 +96,10 @@ class UIState(UIStateSP):
     self.chestnut_compiled: bool = chestnut_compiled()
     self.chestnut_active: bool | None = None
     self.chestnut_loading: bool = False
+    self.usb_connected: bool = False
+    self.usb_connected_ts: float | None = None
+    self.usb_disconnected_ts: float | None = None
+    self.usb_unknown: bool = False
     self.chestnut_state = ChestnutState.DISCONNECTED
     self.started: bool = False
     self.ignition: bool = False
@@ -220,6 +225,7 @@ class UIState(UIStateSP):
                              ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
       return
 
+    self.chestnut_present = self.chestnut_present or detected
     model_seen = self.sm.recv_frame["modelV2"] > self.started_frame
     if not self.chestnut_present:
       self.chestnut_state = ChestnutState.DISCONNECTED
@@ -254,6 +260,23 @@ class UIState(UIStateSP):
       self.chestnut_compiled = chestnut_compiled()
     self.chestnut_active = self.params.get("ChestnutActive")
     self.chestnut_loading = self.params.get_bool("ChestnutLoading")
+    now = time.monotonic()
+    if read_int(TYPEC_CC_ORIENTATION_PATH) != 0:
+      self.usb_disconnected_ts = None
+      if not self.usb_connected:
+        self.usb_connected = True
+        self.usb_connected_ts = now
+        self.usb_unknown = False
+      elif self.usb_connected_ts is not None and now - self.usb_connected_ts > 10.:
+        self.usb_unknown = not any(is_chestnut_usb_id(d["vendorId"], d["productId"], True) for d in get_usb_state())
+        self.usb_connected_ts = None
+    elif self.usb_connected:
+      if self.usb_disconnected_ts is None:
+        self.usb_disconnected_ts = now
+      elif now - self.usb_disconnected_ts > PARAM_UPDATE_TIME:
+        self.usb_connected = False
+        self.usb_connected_ts = None
+        self.usb_unknown = False
 
     UIStateSP.update_params(self)
 

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -8,22 +8,22 @@ See the LICENSE.md file in the root directory for more details.
 
 import os
 os.environ['GMMU'] = '0'
+import numpy as np
+import threading
+import time
+from setproctitle import setproctitle
+from tinygrad.tensor import Tensor
+
+import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
-import time
-import numpy as np
-import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
-from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
 from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
-
-from tinygrad.tensor import Tensor
-
 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
@@ -42,13 +42,13 @@ from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
-
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
+BIG_MODEL_TIMEOUT = 60
 
 
 def _pkl_exists(path):
@@ -68,6 +68,7 @@ def _find_driving_pkl(bundle):
   pkl_path = os.path.join(model_root, pkl_name)
   if _pkl_exists(pkl_path):
     return pkl_path
+  return None
 
 
 class FrameMeta:
@@ -102,7 +103,7 @@ class ModelState(ModelStateBase):
     self.chestnut = chestnut
 
     pkl_path = _find_driving_pkl(model_bundle)
-    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
+    assert pkl_path is not None, f"No driving pkl found for {'chestnut' if chestnut else 'small model'} — all models must be compiled with compile_modeld.py"
     self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
 
   def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
@@ -185,9 +186,6 @@ class ModelState(ModelStateBase):
     else:
       self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
 
-    if self.chestnut:
-      self.warmup()
-
   def warmup(self) -> None:
     dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
     transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
@@ -288,8 +286,7 @@ class ModelState(ModelStateBase):
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
     if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
-      cloudlog.error("model output not finite, dropping frame")
+      raise RuntimeError("model output not finite")
-      return None
 
     return outputs
 
@@ -363,21 +360,26 @@ def main(demo=False):
 
   model = None
   if CHESTNUT:
-    import threading
+    big_model = None
-    def load():
+    def load_big():
-      nonlocal model
+      nonlocal big_model
-      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=True)
+      try:
-    t = threading.Thread(target=load, daemon=True)
+        m = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=True)
-    t.start()
+        m.warmup()
-    t.join(60)
+        big_model = m
-    if model is None:
+      except Exception:
-      params.put_bool("ChestnutActive", False)
+        cloudlog.exception("chestnut load failed")
-      raise RuntimeError("chestnut model load failed or timed out (60s)")
+    loader = threading.Thread(target=load_big, daemon=True)
-    params.put_bool("ChestnutActive", True)
+    loader.start()
-  else:
+    loader.join(BIG_MODEL_TIMEOUT)
-    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False)
+    model = big_model
+    params.put_bool("ChestnutActive", model is not None)
 
+  small_model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False) if model is None or CHESTNUT else None
+  if model is None:
+    model = small_model
   params.put_bool("ChestnutLoading", False)
+  assert model is not None
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
@@ -386,7 +388,7 @@ def main(demo=False):
   sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
-  chestnut_state = ChestnutState(pm, CHESTNUT) if CHESTNUT else None
+  chestnut_state = ChestnutState(pm, model.chestnut) if CHESTNUT else None
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -509,7 +511,19 @@ def main(demo=False):
       inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
 
     mt1 = time.perf_counter()
-    model_output = model.run(bufs, transforms, inputs, prepare_only)
+    try:
+      model_output = model.run(bufs, transforms, inputs, prepare_only)
+    except Exception:
+      if not params.get_bool("ChestnutActive"):
+        raise
+      cloudlog.exception("chestnut failed, falling back to small")
+      params.put_bool("ChestnutActive", False)
+      assert small_model is not None
+      model = small_model
+      if chestnut_state is not None:
+        chestnut_state.big = False
+      run_count = 0
+      model_output = None
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 

openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py

@@ -75,11 +75,11 @@ class TestStockEquivalence(OpenpilotTestCase):
 
     frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
     stock_shapes = {**SPLIT_VISION_INPUT_SHAPES, **SPLIT_POLICY_INPUT_SHAPES, 'action_t': (1, 2)}
-    stock_queues, stock_npy = make_input_queues(stock_shapes, frame_skip, device='NPY')
+    stock_queues, stock_npy, _frame_views = make_input_queues(stock_shapes, frame_skip, device='NPY', frame_copy_size=49152)
 
-    assert set(state.input_queues.keys()) == set(stock_queues.keys())
+    # sunnypilot split pipeline has tfm/big_tfm as queues (stock has them in npy only)
+    assert set(stock_queues.keys()) <= set(state.input_queues.keys())
     assert {'desire', 'traffic_convention'} <= set(state.numpy_inputs.keys())
-    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - {'action_t', 'prev_feat'}
 
   def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
     from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues

openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 import os
 import tempfile
+import unittest
 from pathlib import Path
 
 import numpy as np
@@ -248,23 +249,27 @@ class TestStockCompileModeldEquivalence(OpenpilotTestCase):
     input_shapes = {
       'img': (1, 12, 128, 256),
       'desire_pulse': (1, 25, 8),
-      'features_buffer': (1, 24, 512),  # when https://github.com/commaai/openpilot/pull/38681 merges, update to 1,24,32,512
+      'features_buffer': (1, 24, 32, 512),
       'traffic_convention': (1, 2),
       'action_t': (1, 2),
     }
     frame_skip = 4
 
-    stock_queues, stock_npy = stock_make_input_queues(input_shapes, frame_skip, device='NPY')
+    stock_queues, stock_npy, _frame_views = stock_make_input_queues(input_shapes, frame_skip, device='NPY', frame_copy_size=49152)
     sunny_queues, sunny_npy = sunny_make_supercombo_input_queues(input_shapes, frame_skip, device='NPY')
-    assert set(sunny_queues.keys()) == set(stock_queues.keys())
+    # sunnypilot split pipeline has tfm/big_tfm as queues; packed_npy_inputs size differs (different frame packing)
+    assert set(stock_queues.keys()) <= set(sunny_queues.keys())
     for key in stock_queues:
+      if key == 'packed_npy_inputs':
+        continue
       assert sunny_queues[key].shape == stock_queues[key].shape, \
         f"Queue shape mismatch for {key}: sunny {sunny_queues[key].shape} != stock {stock_queues[key].shape}"
-    assert set(sunny_npy.keys()) == set(stock_npy.keys())
+    assert set(stock_npy.keys()) <= set(sunny_npy.keys())
     for key in stock_npy:
       assert sunny_npy[key].shape == stock_npy[key].shape, \
         f"Numpy array shape mismatch for {key}: sunny {sunny_npy[key].shape} != stock {stock_npy[key].shape}"
 
+  @unittest.skip("upstream removed make_warp_input_queues — warp merged into run_model")
   def test_make_warp_queues_stock_equivalence(self):
     from openpilot.selfdrive.modeld.compile_modeld import make_warp_input_queues as stock_make_warp_queues
     from openpilot.sunnypilot.modeld_v2.compile_modeld import make_warp_queues as sunny_make_warp_queues

openpilot/sunnypilot/modeld_v2/tests/test_fallback.py

@@ -0,0 +1,62 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import io
+import requests
+
+from openpilot.common.file_chunker import get_chunk_name
+from openpilot.common.hardware import hw
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.modeld.helpers import dump_oob
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.tests import helpers as tests_helpers
+from openpilot.sunnypilot.modeld_v2.tests.helpers import DummyModel, DummyBundle, CAM_W, CAM_H
+from openpilot.sunnypilot.models.fetcher import ModelParser, ModelFetcher
+
+tmp_path = tests_helpers.tmp_path
+
+
+class TestFallback(OpenpilotTestCase):
+  def test_find_dual_model_in_bundle(self, tmp_path, monkeypatch):
+    lebowski_file = 'driving_lebowski.pkl'
+    tsfdo_file = 'driving_tsfdo.pkl'
+    (tmp_path / lebowski_file).write_bytes(b'fkasdjfkljf')
+    (tmp_path / tsfdo_file).write_bytes(b'dskfajklsdjlsfka')
+
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+    big_bundle = DummyBundle(models=[DummyModel('supercombo', lebowski_file)])
+    small_bundle = DummyBundle(models=[DummyModel('supercombo', tsfdo_file)])
+    big_pkl = modeld_module._find_driving_pkl(big_bundle)
+    small_pkl = modeld_module._find_driving_pkl(small_bundle)
+
+    assert big_pkl is not None and lebowski_file in big_pkl
+    assert small_pkl is not None and tsfdo_file in small_pkl
+
+  def test_download_models_and_init_modelstate_fallback(self, tmp_path, monkeypatch):
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+    big_json = requests.get(ModelFetcher.MODEL_URL_CHESTNUT).json()
+    big_bundle = ModelParser.parse_models(big_json)[-1]
+    small_json = requests.get(ModelFetcher.MODEL_URL).json()
+    small_bundle = ModelParser.parse_models(small_json)[-1]
+
+    buf = io.BytesIO()
+    dump_oob(tests_helpers.make_pkl_data(tests_helpers.ARCHETYPES['supercombo_non20hz']), buf)
+    oob_bytes = buf.getvalue()
+
+    for bundle in (big_bundle, small_bundle):
+      artifact = bundle.models[0].artifact
+      for i in range(len(artifact.chunks)):
+        (tmp_path / get_chunk_name(artifact.fileName, i, len(artifact.chunks))).write_bytes(oob_bytes if i == 0 else b"")
+
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: small_bundle)
+    assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=False).chestnut is False
+
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: big_bundle)
+    try:
+      assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=True).chestnut is True
+    except Exception as e:
+      assert "AMD" in str(e) or "device" in str(e).lower()

openpilot/sunnypilot/models/default_model.py

@@ -1,11 +1,14 @@
 import argparse
 import os
 import hashlib
+import requests
+import re
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
+from openpilot.sunnypilot.models.fetcher import ModelFetcher
 
 
 def get_default_model() -> str:
@@ -17,27 +20,70 @@ def get_default_model() -> str:
 
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
+BIG_MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "big_model_hash")
 SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "driving_supercombo.onnx")
+BIG_SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "big_driving_supercombo.onnx")
+
+
+def _read_model_name_fields():
+  with open(DEFAULT_MODEL_NAME_PATH) as f:
+    content = f.read()
+  fields = {}
+  for line in content.splitlines():
+    if "=" in line:
+      key, val = line.split("=", 1)
+      fields[key.strip()] = val.strip().strip('"')
+  return fields
 
 
 def update_model_hash():
+  fields = _read_model_name_fields()
   supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
-  combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
+  fingerprint = f"{supercombo_hash}:{fields.get('DEFAULT_MODEL', '')}:{fields.get('DEFAULT_MODEL_REF', '')}"
+  combined_hash = hashlib.sha256(fingerprint.encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
     f.write(combined_hash)
 
   print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
+  if os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
+    import subprocess
+    rel = os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd())
+    pointer = subprocess.check_output(["git", "show", f"HEAD:{rel}"], text=True)
+    oid = next(l.split(":", 1)[1] for l in pointer.splitlines() if l.startswith("oid sha256:"))
+    big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
+    big_combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
+
+    with open(BIG_MODEL_HASH_PATH, "w") as f:
+      f.write(big_combined_hash)
+
+    print(f"Generated and updated new big model hash to {BIG_MODEL_HASH_PATH}")
+
+
+def get_ref_for_name(url: str, name: str) -> str:
+  response = requests.get(url, timeout=10)
+  if response.status_code == 200:
+    bundles = response.json()["bundles"]
+    matching = [b for b in bundles if re.search(name, f"{b['short_name']} {b['display_name']}", re.IGNORECASE)]
+    if matching:
+      return max(matching, key=lambda b: int(b["index"]))["ref"]
+  return ""
+
 
 def update_default_model_names(default_model_name: str, default_big_model_name: str):
   print("[CHANGE DEFAULT MODEL NAMES]")
+  small_ref = get_ref_for_name(ModelFetcher.MODEL_URL, default_model_name)
+  big_ref = get_ref_for_name(ModelFetcher.MODEL_URL_CHESTNUT, default_big_model_name)
+
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
     f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
+    f.write(f'DEFAULT_MODEL_REF = "{small_ref}"\n')
     f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
+    f.write(f'DEFAULT_BIG_MODEL_REF = "{big_ref}"\n')
 
-  print(f'New default small model name: "{default_model_name}"')
+  print(f'New default small model name: "{default_model_name}" (ref: {small_ref})')
-  print(f'New default big model name: "{default_big_model_name}"')
+  print(f'New default big model name: "{default_big_model_name}" (ref: {big_ref})')
   print("[DONE]")
 
 

openpilot/sunnypilot/models/fetcher.py

@@ -138,8 +138,8 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v21.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v22.json"
-  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v22.json"
+  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v23.json"
 
   MODEL_SOURCES = {
     "qcom": (MODEL_URL, ""),

openpilot/sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.common.hardware.hw import Paths
 from openpilot.selfdrive.modeld.helpers import chestnut_present
 
 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 18
+REQUIRED_JSON_VERSION = 19
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'

openpilot/sunnypilot/models/manager.py

@@ -328,6 +328,12 @@ class ModelManagerSP:
         validate_active_bundles(self.params, self.source_models)
         self.active_bundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
 
+        if get_selected_bundle(self.params, "chestnut") is not None and get_selected_bundle(self.params, "qcom") is None:
+          if self.params.get("ModelManager_DownloadRef") is None:
+            from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL_REF
+            if DEFAULT_MODEL_REF:
+              self.params.put("ModelManager_DownloadRef", DEFAULT_MODEL_REF)
+
         self._process_download_requests()
 
         if self.params.get("ModelManager_ClearCache"):

openpilot/sunnypilot/models/model_name.py

@@ -1,2 +1,4 @@
 DEFAULT_MODEL = "CD210"
-DEFAULT_BIG_MODEL = "Lebowski"
+DEFAULT_MODEL_REF = "5b6436a90cf6902b8aaa71c2b6f3d7164d8ae391"
+DEFAULT_BIG_MODEL = "BMRLNAP Model v4"
+DEFAULT_BIG_MODEL_REF = "f877d7a0ccc3cce943c76e285214c020cd65c899"

openpilot/sunnypilot/models/tests/big_model_hash

@@ -0,0 +1 @@
+2c814f08a2c51323b87839fbf8d2c2a9853a2b5536271b3d67f7b7a2de7f9374

openpilot/sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-49133798d9cd9cacf47085c7ef8122bfee88cd9c6192a8314c81bfb1b37f5809
+c5be11d2fb1115be953c541f30c50f7c71a00bc4a0e128e19aa11b60689317fc

openpilot/sunnypilot/models/tests/test_default_model.py

@@ -5,19 +5,47 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+import os
+import subprocess
+
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, SUPERCOMBO_ONNX_PATH
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, SUPERCOMBO_ONNX_PATH, BIG_MODEL_HASH_PATH, \
+                                                      BIG_SUPERCOMBO_ONNX_PATH, _read_model_name_fields
 import hashlib
 from openpilot.common.test import OpenpilotTestCase
 
 
+def _get_lfs_oid(path: str) -> str:
+  """Extract the LFS OID (SHA256 of actual content) from git, works whether the file is smudged or not."""
+  pointer = subprocess.check_output(["git", "show", f"HEAD:{path}"], text=True)
+  for line in pointer.splitlines():
+    if line.startswith("oid sha256:"):
+      return line.split(":", 1)[1]
+  raise ValueError(f"No LFS OID found for {path}")
+
+
 class TestDefaultModel(OpenpilotTestCase):
   def test_compare_onnx_hashes(self):
+    fields = _read_model_name_fields()
     supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
-
+    fingerprint = f"{supercombo_hash}:{fields.get('DEFAULT_MODEL', '')}:{fields.get('DEFAULT_MODEL_REF', '')}"
-    combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
+    combined_hash = hashlib.sha256(fingerprint.encode()).hexdigest()
 
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()
 
     assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"
+
+  def test_compare_big_onnx_hashes(self):
+    if not os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
+      self.skipTest("big_driving_supercombo.onnx not present")
+
+    fields = _read_model_name_fields()
+    oid = _get_lfs_oid(os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd()))
+    big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
+    combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
+
+    with open(BIG_MODEL_HASH_PATH) as f:
+      current_hash = f.read().strip()
+
+    assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"

openpilot/sunnypilot/models/tests/test_manager_download.py

@@ -386,7 +386,7 @@ class TestManagerDownload(ManagerDownloadTestBase):
     def body():
       artifact = self.make_artifact(chunked=True)
       self._bundle.ref = "test-ref"
-      self._bundle.minimumSelectorVersion = 18
+      self._bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
       params, store = self._make_params_with_store()
       self.manager.params = params
       asyncio.run(self.manager._download_bundle(self._bundle, self.dest, "qcom"))
@@ -406,7 +406,7 @@ class TestManagerDownload(ManagerDownloadTestBase):
     def body():
       self.make_artifact(chunked=True)
       self._bundle.ref = "big-ref"
-      self._bundle.minimumSelectorVersion = 18
+      self._bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
       params, store = self._make_params_with_store()
       self.manager.params = params
       asyncio.run(self.manager._download_bundle(self._bundle, self.dest, "chestnut"))
@@ -469,7 +469,7 @@ def manifest_bundle(short_name: str, ref: str, index: int = 0, is_big: bool = Fa
     "environment": "release",
     "runner": "tinygrad",
     "is_big": is_big,
-    "minimum_selector_version": "18",
+    "minimum_selector_version": str(helpers.REQUIRED_JSON_VERSION),
     "ref": ref,
     "models": [{
       "type": "supercombo",
@@ -655,7 +655,7 @@ class TestActiveBundleValidation(OpenpilotTestCase):
   def _raw_bundle(ref: str, runner: int | None = None) -> dict:
     bundle = custom.ModelManagerSP.ModelBundle.new_message()
     bundle.ref = ref
-    bundle.minimumSelectorVersion = 18
+    bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
     if runner is not None:
       bundle.runner = runner
     return bundle.to_dict()
@@ -697,7 +697,7 @@ class TestActiveBundleSelection(OpenpilotTestCase):
   def _raw_bundle(ref: str) -> dict:
     bundle = custom.ModelManagerSP.ModelBundle.new_message()
     bundle.ref = ref
-    bundle.minimumSelectorVersion = 18
+    bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
     return bundle.to_dict()
 
   def _params(self, qcom=None, chestnut=None):
@@ -744,7 +744,7 @@ class TestEffectiveSource(OpenpilotTestCase):
   def _raw_bundle(ref: str) -> dict:
     bundle = custom.ModelManagerSP.ModelBundle.new_message()
     bundle.ref = ref
-    bundle.minimumSelectorVersion = 18
+    bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
     return bundle.to_dict()
 
   def test_runtime_no_gpu(self):

openpilot/sunnypilot/selfdrive/selfdrived/events.py

@@ -252,4 +252,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
   },
+
+  EventNameSP.bigModelReady: {
+    ET.PERMANENT: Alert(
+      "Big Model Ready",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 2.),
+  },
 }

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -1675,6 +1675,12 @@
               "widget": "toggle",
               "title": "Onroad Uploads"
             },
+            {
+              "key": "AuxPowerSave",
+              "widget": "toggle",
+              "title": "Disable Aux Port When Offroad",
+              "description": "Power off the aux USB-C port while offroad to save power. It powers back on automatically when you go onroad."
+            },
             {
               "key": "MaxTimeOffroad",
               "widget": "option",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml

@@ -30,6 +30,10 @@ sections:
   - key: OnroadUploads
     widget: toggle
     title: Onroad Uploads
+  - key: AuxPowerSave
+    widget: toggle
+    title: Disable Aux Port When Offroad
+    description: Power off the aux USB-C port while offroad to save power. It powers back on automatically when you go onroad.
   - key: MaxTimeOffroad
     widget: option
     title: Max Time Offroad

openpilot/system/hardware/chestnut/status.py

@@ -0,0 +1,101 @@
+import time
+
+from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, is_chestnut_usb_id
+from openpilot.common.version import get_build_metadata, CHESTNUT_BRANCHES
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_compiled
+
+
+CHESTNUT_RELEASE_BRANCHES = ("release-chestnut", "release-chestnut-staging")
+CHESTNUT_POWERED_VOLTAGE = 5000
+GPU_TEMP_LIMIT = 100.
+MEMORY_TEMP_LIMIT = 95.
+TEMP_HYSTERESIS = 5.
+
+
+class ChestnutStatus:
+  def __init__(self):
+    self.started = time.monotonic()
+    self.offroad = True
+    self.pcie_failed = False
+    self.power_seen = False
+    self.power_unavailable = False
+    self.power_lost = False
+    self.power_restored = False
+    self.link_failures = 0
+    self.model_loading_seen = False
+    self.model_attempted = False
+    self.overheated = False
+    self.usb_seen = False
+    self.usb_failed = False
+
+  def update(self, offroad: bool, branch: str, usb_state: list[dict], firmware_failed: bool,
+             model_loading: bool, model_active: bool | None, state, set_alert) -> None:
+    detected = [d for d in usb_state if is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True)]
+    devices = [d for d in detected if is_chestnut_usb_id(d["vendorId"], d["productId"])]
+    firmware_ok = len(devices) == 1 and devices[0]["product"] == CHESTNUT_USB_PRODUCT
+
+    if self.offroad and not offroad:
+      self.pcie_failed = False
+      self.power_seen = False
+      self.power_unavailable = False
+      self.power_lost = False
+      self.power_restored = False
+      self.link_failures = 0
+      self.model_loading_seen = False
+      self.model_attempted = False
+      self.usb_seen = firmware_ok
+      self.usb_failed = False
+
+    self.model_loading_seen |= model_loading
+    self.model_attempted |= self.model_loading_seen and not model_loading and model_active is not None
+
+    if not offroad and self.usb_seen and not firmware_ok:
+      self.usb_failed = True
+
+    if not offroad and state is not None:
+      powered = state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
+      power_lost = state.supplyFault or not powered
+      if self.model_attempted and power_lost and not self.power_lost:
+        self.power_unavailable = not self.power_seen
+      self.power_seen |= powered
+
+    if not offroad and self.model_attempted and state is not None:
+      self.link_failures = self.link_failures + 1 if state.pcieLtssm != 0x78 else 0
+      self.pcie_failed |= self.link_failures >= 2 or power_lost
+      self.power_lost |= power_lost
+
+    if self.pcie_failed and self.power_lost and state is not None:
+      self.power_restored |= not state.supplyFault and state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
+    if self.usb_failed:
+      self.pcie_failed = False
+      self.power_seen = False
+      self.power_unavailable = False
+      self.power_lost = False
+      self.power_restored = False
+
+    if state is not None:
+      gpu_limit = GPU_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)
+      memory_limit = MEMORY_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)
+      self.overheated = state.tempC >= gpu_limit or state.memoryTempC >= memory_limit
+
+    release = branch in CHESTNUT_RELEASE_BRANCHES
+    missing = self.usb_failed or (offroad and release and time.monotonic() - self.started > 10. and len(detected) != 1)
+    slow_usb = offroad and len(devices) == 1 and devices[0]["speedMbps"] < 5000
+    big_model_available = (MODELS_DIR / 'big_driving_supercombo.onnx').is_file() or chestnut_compiled()
+    current_channel = get_build_metadata().channel
+    chestnut_target = CHESTNUT_BRANCHES.get(current_channel)
+    chestnut_needs_switch = len(devices) == 1 and not big_model_available and chestnut_target is not None
+    set_alert("Offroad_ChestnutBranch", chestnut_needs_switch, chestnut_target if chestnut_needs_switch else None)
+    set_alert("Offroad_ChestnutNotDetected", missing)
+    set_alert("Offroad_ChestnutOverheated", self.overheated, f"{state.tempC:.0f} °C" if state is not None else None)
+    set_alert("Offroad_ChestnutUsbSlow", slow_usb, f"{devices[0]['speedMbps']} Mbps" if slow_usb else None)
+    if self.power_lost:
+      pcie_alert = ("Chestnut power restored. 12V is stable again, cycle ignition." if self.power_restored else
+                    "Chestnut power disconnected. Check 12V connection, then cycle ignition." if self.power_unavailable else
+                    "Chestnut power lost. Possibly caused by an engine-crank voltage drop. Check 12V connection, then cycle ignition.")
+    else:
+      pcie_alert = "Chestnut GPU unavailable. PCIe link is not up. Check the GPU is securely seated."
+    set_alert("Offroad_ChestnutPcieUnavailable", self.pcie_failed, pcie_alert)
+    set_alert("Offroad_ChestnutUncompiled", offroad and firmware_ok and not chestnut_compiled())
+    set_alert("Offroad_ChestnutUpdateFailed", offroad and firmware_failed)
+    self.offroad = offroad

openpilot/system/hardware/hardwared.py

@@ -16,19 +16,20 @@ from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_compiled
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_ROM_USB_IDS, CHESTNUT_USB_IDS, get_usb_state, get_usb_topology, set_usb_state
+from openpilot.common.git import get_short_branch
+from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_PRODUCT, get_usb_state, get_usb_topology, is_chestnut_usb_id, set_usb_state
+from openpilot.system.hardware.chestnut.flash import VBUS_PATH
 from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.system.statsd import statlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import FanController
-from openpilot.common.version import terms_version, training_version, get_build_metadata, terms_version_sp, CHESTNUT_BRANCHES
+from openpilot.system.hardware.chestnut.status import ChestnutStatus
-
+from openpilot.common.version import terms_version, training_version, get_build_metadata, terms_version_sp
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -49,6 +50,15 @@ class Chestnut:
     self.attempts = 0
     self.last_attempt = 0.
     self.flashed = False
+    self.mismatch = False
+    self.vbus_on = None
+    self.params = Params()
+    self.powersave = False
+    self.last_offroad = None
+
+  @property
+  def failed(self) -> bool:
+    return self.mismatch and self.attempts >= self.MAX_ATTEMPTS and self.thread is not None and not self.thread.is_alive() and not self.flashed
 
   def flash(self) -> None:
     ret = subprocess.run(["sudo", sys.executable, os.path.join(BASEDIR, "openpilot/system/hardware/chestnut/flash.py"), CHESTNUT_FW_VERSION],
@@ -56,10 +66,20 @@ class Chestnut:
     cloudlog.event("chestnut flash done", returncode=ret.returncode, output=ret.stdout[-1000:], error=ret.returncode != 0)
     self.flashed = ret.returncode == 0
 
+  def set_vbus(self, on: bool) -> None:
+    if on == self.vbus_on:
+      return
+    subprocess.run(["sudo", "tee", VBUS_PATH], input=b"1" if on else b"0", stdout=subprocess.DEVNULL, check=False)
+    self.vbus_on = on
+
   def update(self, offroad: bool, usb_state: list[dict]) -> None:
-    mismatch = any((d["vendorId"], d["productId"]) in CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS and
+    self.mismatch = any(is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True) and
-                   d["product"] != f"custom {CHESTNUT_FW_VERSION}-CLEAN" for d in usb_state)
+                        d["product"] != CHESTNUT_USB_PRODUCT for d in usb_state)
-    if not mismatch:
+    if offroad != self.last_offroad:
+      self.powersave = self.params.get_bool("AuxPowerSave")
+      self.last_offroad = offroad
+    self.set_vbus((not offroad or self.mismatch) or not self.powersave)
+    if not self.mismatch:
       self.flashed = False
       return
 
@@ -191,7 +211,7 @@ def hw_state_thread(end_event, hw_queue):
 def hardware_thread(end_event, hw_queue) -> None:
   system_stats = LinuxSystemStats()
   pm = messaging.PubMaster(['deviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates", "chestnutState"], poll="pandaStates")
 
   count = 0
 
@@ -239,7 +259,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = FanController(int(1./DT_HW))
   chestnut = Chestnut()
-  big_model_available = (MODELS_DIR / 'big_driving_supercombo.onnx').is_file() or chestnut_compiled()
+  chestnut_status = ChestnutStatus()
+  branch = get_short_branch()
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -301,12 +322,11 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     set_usb_state(msg.deviceState, last_hw_state.usb_state)
     chestnut.update(started_ts is None, last_hw_state.usb_state)
-    current_channel = get_build_metadata().channel
+    chestnut_state = sm["chestnutState"]
-    chestnut_target = CHESTNUT_BRANCHES.get(current_channel)
+    chestnut_valid = sm.alive["chestnutState"] and sm.valid["chestnutState"]
-    chestnut_needs_switch = msg.deviceState.chestnutPresent and not big_model_available and chestnut_target is not None
+    chestnut_status.update(started_ts is None, branch, last_hw_state.usb_state, chestnut.failed,
-    set_offroad_alert_if_changed("Offroad_ChestnutBranch", chestnut_needs_switch,
+                           params.get_bool("ChestnutLoading"), params.get("ChestnutActive"),
-                                 extra_text=chestnut_target if chestnut_needs_switch else None)
+                           chestnut_state if chestnut_valid else None, set_offroad_alert_if_changed)
-
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,

openpilot/system/ui/lib/application.py

@@ -13,7 +13,7 @@ import subprocess
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
-from enum import StrEnum
+from enum import IntEnum, StrEnum
 from pathlib import Path
 from typing import NamedTuple
 from importlib.resources import as_file, files
@@ -118,6 +118,18 @@ class FontWeight(StrEnum):
   DISPLAY = "Inter-Bold.ttf"
 
 
+class TextAlignment(IntEnum):
+  LEFT = 0
+  CENTER = 1
+  RIGHT = 2
+
+
+class TextAlignmentVertical(IntEnum):
+  TOP = 0
+  MIDDLE = 1
+  BOTTOM = 2
+
+
 def font_fallback(font: rl.Font) -> rl.Font:
   """Use a Noto fallback for languages not covered by Inter."""
   if multilang.requires_font_fallback():
@@ -335,7 +347,6 @@ class GuiApplication(GuiApplicationExt):
       rl.set_target_fps(0 if OFFSCREEN or vblank_control else fps)
 
       self._target_fps = fps
-      self._set_styles()
       self._load_fonts()
       self._patch_text_functions()
       self._patch_scissor_mode()
@@ -739,14 +750,6 @@ class GuiApplication(GuiApplicationExt):
         self._fonts[font_weight_file] = font
     if multilang.requires_font_fallback():
       self.fallback_font()
-    rl.gui_set_font(self._fonts[FontWeight.NORMAL])
-
-  def _set_styles(self):
-    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0)
-    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE)
-    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK))
-    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
-    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
 
   def _patch_text_functions(self):
     # Wrap pyray text APIs to apply a global text size scale so our px sizes match Qt

openpilot/system/ui/lib/utils.py

@@ -1,19 +0,0 @@
-import pyray as rl
-from collections.abc import Sequence
-
-
-class GuiStyleContext:
-  def __init__(self, styles: Sequence[tuple[int, int, int]]):
-    """styles is a list of tuples (control, prop, new_value)"""
-    self.styles = styles
-    self.prev_styles: list[tuple[int, int, int]] = []
-
-  def __enter__(self):
-    for control, prop, new_value in self.styles:
-      prev_value = rl.gui_get_style(control, prop)
-      self.prev_styles.append((control, prop, prev_value))
-      rl.gui_set_style(control, prop, new_value)
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    for control, prop, prev_value in self.prev_styles:
-      rl.gui_set_style(control, prop, prev_value)

openpilot/system/ui/mici_setup.py

@@ -18,7 +18,7 @@ from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.utils import run_cmd
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
@@ -105,8 +105,8 @@ class StartPage(Widget):
     super().__init__()
 
     self._title = UnifiedLabel("start", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                               font_weight=FontWeight.DISPLAY, alignment=TextAlignment.CENTER,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                               alignment_vertical=TextAlignmentVertical.MIDDLE)
 
     self._start_bg_txt = gui_app.texture("icons_mici/setup/start_button.png", 500, 224, keep_aspect_ratio=False)
     self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/start_button_pressed.png", 500, 224, keep_aspect_ratio=False)
@@ -197,7 +197,7 @@ class DownloadingPage(NavWidget):
     self._title_label = UnifiedLabel("downloading...", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                      font_weight=FontWeight.DISPLAY)
     self._progress_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
-                                        font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+                                        font_weight=FontWeight.ROMAN, alignment_vertical=TextAlignmentVertical.BOTTOM)
     self._progress = 0
 
   def _back_enabled(self) -> bool:
@@ -261,8 +261,8 @@ class BigPillButton(BigButton):
     super().__init__(*args, **kwargs)
 
     self._label.set_font_size(48)
-    self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._label.set_alignment(TextAlignment.CENTER)
-    self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    self._label.set_alignment_vertical(TextAlignmentVertical.MIDDLE)
 
   def _load_images(self):
     if self._green:

openpilot/system/ui/mici_updater.py

@@ -7,7 +7,7 @@ import pyray as rl
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignmentVertical
 from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -30,7 +30,7 @@ class ProgressPage(NavWidget):
                                               font_weight=FontWeight.DISPLAY, line_height=0.8)
     self._progress_percent_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                                 font_weight=FontWeight.ROMAN,
-                                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+                                                alignment_vertical=TextAlignmentVertical.BOTTOM)
 
   def _back_enabled(self) -> bool:
     return False

openpilot/system/ui/sunnypilot/lib/utils.py

@@ -8,7 +8,7 @@ from collections.abc import Callable
 
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignmentVertical
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
 from openpilot.system.ui.widgets.label import ScrollState, UnifiedLabel
@@ -40,7 +40,7 @@ class ScrollingButtonAction(ButtonActionSP):
     super().__init__(text=text, width=width, enabled=enabled)
     self._value_label = UnifiedLabelSP("", font_size=style.ITEM_TEXT_FONT_SIZE, font_weight=FontWeight.NORMAL,
                                        text_color=self._value_color, scroll=True,
-                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                                       alignment_vertical=TextAlignmentVertical.MIDDLE)
 
   def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
     if self.value != _resolve_value(value, ""):

openpilot/system/ui/sunnypilot/widgets/download_status.py

@@ -9,6 +9,8 @@ import math
 import numpy as np
 import pyray as rl
 
+from openpilot.system.ui.lib.application import TextAlignment, TextAlignmentVertical
+
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
@@ -61,11 +63,11 @@ class DownloadStatusAction(ItemAction):
     self._sweep = 0.0
 
     self._name_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
-                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                    alignment=TextAlignment.LEFT,
-                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                                    alignment_vertical=TextAlignmentVertical.MIDDLE)
     self._percent_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
-                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                                       alignment=TextAlignment.RIGHT,
-                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                                       alignment_vertical=TextAlignmentVertical.MIDDLE)
 
   def update(self, name, downloading=False, progress=0.0, status_text="", text_color=rl.GRAY, icon=None, icon_color=None, segments=None):
     self.segments = segments

openpilot/system/ui/sunnypilot/widgets/list_view.py

@@ -8,7 +8,7 @@ from collections.abc import Callable, Sequence
 
 import pyray as rl
 from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
 from openpilot.system.ui.widgets import Widget
@@ -90,8 +90,8 @@ class ButtonActionSP(ButtonAction):
     if value_text:
       value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height)
       gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._value_color,
-                font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                font_weight=FontWeight.NORMAL, alignment=TextAlignment.LEFT,
-                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                alignment_vertical=TextAlignmentVertical.MIDDLE)
 
     pressed = self._pressed
     self._pressed = False
@@ -319,7 +319,7 @@ class ListItemSP(ListItem):
         )
         if value_rect.width > 0:
           gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._right_value_color, font_weight=FontWeight.NORMAL,
-                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                    alignment=TextAlignment.RIGHT, alignment_vertical=TextAlignmentVertical.MIDDLE)
 
       # Render toggle and handle callback
       if self.action_item.render(left_rect) and self.action_item.enabled:

openpilot/system/ui/sunnypilot/widgets/tree_dialog.py

@@ -8,6 +8,7 @@ from dataclasses import dataclass, field
 
 import pyray as rl
 from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import TextAlignment
 from openpilot.system.ui.lib.application import FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
@@ -35,7 +36,7 @@ class TreeFolder:
 
 class TreeItemWidget(Button):
   def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=None, favorite_callback=None, is_favorite=False, is_expanded=False):
-    super().__init__(text, click_callback, button_style=ButtonStyle.NORMAL, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+    super().__init__(text, click_callback, button_style=ButtonStyle.NORMAL, text_alignment=TextAlignment.LEFT,
                      text_padding=20 + indent_level * 30, elide_right=True)
     self.text = text
     self.ref = ref

openpilot/system/ui/tici_reset.py

@@ -11,7 +11,7 @@ from openpilot.common.hardware import PC
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
@@ -38,6 +38,7 @@ class Reset(Widget):
     self._cancel_button = Button("Cancel", gui_app.request_close)
     self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
     self._reboot_button = Button("Reboot", self._reboot)
+    self._body_label = UnifiedLabel(self._get_body_text, 90, line_height=1 / 0.9)
 
   @staticmethod
   def _reboot() -> None:
@@ -75,7 +76,7 @@ class Reset(Widget):
     gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
 
     text_rect = rl.Rectangle(content_rect.x + 140, content_rect.y + 140, content_rect.width - 280, content_rect.height - 90 - 100 * FONT_SCALE)
-    gui_text_box(text_rect, self._get_body_text(), 90)
+    self._body_label.render(text_rect)
 
     button_height = 160
     button_spacing = 50

openpilot/system/ui/tici_setup.py

@@ -13,7 +13,7 @@ import pyray as rl
 from openpilot.cereal import log
 from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
 from openpilot.system.ui.widgets.keyboard import Keyboard
@@ -67,17 +67,17 @@ class Setup(Widget):
     self.warning = gui_app.texture("icons/warning.png", 150, 150)
     self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
 
-    self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+    self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, TextAlignment.LEFT,
                                           text_color=rl.Color(255, 89, 79, 255), text_padding=20)
     self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE,
-                                         text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+                                         text_alignment=TextAlignment.LEFT, text_padding=20)
     self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
     self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
 
     self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
-    self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT, text_padding=20)
     self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.",
-                                             BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+                                             BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT, text_padding=20)
 
     self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
     self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
@@ -85,32 +85,32 @@ class Setup(Widget):
                                                       button_style=ButtonStyle.PRIMARY)
     self._software_selection_continue_button.set_enabled(False)
     self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
-    self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+    self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT,
                                                  text_padding=20)
 
     self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
     self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
-    self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT, text_padding=20)
-    self._download_failed_url_label = Label("", 52, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_url_label = Label("", 52, FontWeight.NORMAL, TextAlignment.LEFT, text_padding=20)
-    self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT, text_padding=20)
 
     self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
     self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
                                                  button_style=ButtonStyle.PRIMARY)
     self._network_setup_continue_button.set_enabled(False)
-    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT, text_padding=20)
 
     self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
                                                            button_style=ButtonStyle.PRIMARY)
     self._custom_software_warning_continue_button.set_enabled(False)
     self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
-    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, TextAlignment.LEFT,
                                                       text_color=rl.Color(255, 89, 79, 255),
                                                       text_padding=60)
     self._yellow_warning_icon = gui_app.texture("icons/yellow_warning.png", int(68 * FONT_SCALE), int(68 * FONT_SCALE))
     self._custom_software_warning_body_labels = [
-      Label(text, 68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+      Label(text, 68, text_alignment=TextAlignment.LEFT,
-            text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+            text_alignment_vertical=TextAlignmentVertical.TOP,
             text_padding=60, icon=self._yellow_warning_icon if has_icon else None)
       for text, has_icon in [
         ("Use caution when installing third-party software.", False),

openpilot/system/ui/tici_updater.py

@@ -10,7 +10,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_text_box, gui_label
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.widgets.network import WifiManagerUI
 
 # Constants
@@ -50,6 +50,8 @@ class Updater(Widget):
     self._install_button = Button("Install", click_callback=self.install_update, button_style=ButtonStyle.PRIMARY)
     self._back_button = Button("Back", click_callback=lambda: self.set_current_screen(Screen.PROMPT))
     self._reboot_button = Button("Reboot", click_callback=lambda: HARDWARE.reboot())
+    self._desc_label = UnifiedLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " +
+                                    "The download size is approximately 1GB.", BODY_FONT_SIZE, line_height=1 / 0.9)
 
   def set_current_screen(self, screen: Screen):
     self.current_screen = screen
@@ -99,11 +101,8 @@ class Updater(Widget):
     gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
 
     # Description
-    desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " +
-                 "The download size is approximately 1GB.")
-
     desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE * FONT_SCALE + 75, rect.width - MARGIN * 2 - 100, BODY_FONT_SIZE * FONT_SCALE * 4)
-    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+    self._desc_label.render(desc_rect)
 
     # Buttons at the bottom
     button_y = rect.height - MARGIN - BUTTON_HEIGHT

openpilot/system/ui/widgets/button.py

@@ -3,7 +3,7 @@ from enum import IntEnum
 
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import Label
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -86,7 +86,7 @@ class Button(Widget):
                font_weight: FontWeight = FontWeight.MEDIUM,
                button_style: ButtonStyle = ButtonStyle.NORMAL,
                border_radius: int = 10,
-               text_alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+               text_alignment: int = TextAlignment.CENTER,
                text_padding: int = 20,
                icon=None,
                elide_right: bool = False,
@@ -139,7 +139,7 @@ class ButtonRadio(Button):
                icon,
                click_callback: Callable[[], None] | None = None,
                font_size: int = DEFAULT_BUTTON_FONT_SIZE,
-               text_alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               text_alignment: int = TextAlignment.LEFT,
                border_radius: int = 10,
                text_padding: int = 20,
                ):

openpilot/system/ui/widgets/icon_widget.py

@@ -14,3 +14,6 @@ class IconWidget(Widget):
   def _render(self, _) -> None:
     color = rl.Color(255, 255, 255, int(self._opacity * 255))
     rl.draw_texture_ex(self._texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, color)
+
+  def set_opacity(self, opacity: float) -> None:
+    self._opacity = opacity

openpilot/system/ui/widgets/keyboard.py

@@ -5,7 +5,7 @@ from collections.abc import Callable
 
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
@@ -65,8 +65,8 @@ class Keyboard(Widget):
     self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase"
     self._caps_lock = False
     self._last_shift_press_time = 0
-    self._title = Label("", 90, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._title = Label("", 90, FontWeight.BOLD, TextAlignment.LEFT, text_padding=20)
-    self._sub_title = Label("", 55, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._sub_title = Label("", 55, FontWeight.NORMAL, TextAlignment.LEFT, text_padding=20)
 
     self._max_text_size = max_text_size
     self._min_text_size = min_text_size

openpilot/system/ui/widgets/label.py

@@ -4,10 +4,9 @@ from collections.abc import Callable
 from typing import Union
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR, FONT_SCALE
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR, FONT_SCALE, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.utils import GuiStyleContext
 from openpilot.system.ui.lib.wrap_text import wrap_text
 
 ICON_PADDING = 15
@@ -32,8 +31,8 @@ def gui_label(
   font_size: int = DEFAULT_TEXT_SIZE,
   color: rl.Color = DEFAULT_TEXT_COLOR,
   font_weight: FontWeight = FontWeight.NORMAL,
-  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+  alignment: int = TextAlignment.LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+  alignment_vertical: int = TextAlignmentVertical.MIDDLE,
   elide_right: bool = True
 ):
   font = gui_app.font(font_weight)
@@ -57,16 +56,16 @@ def gui_label(
 
   # Calculate horizontal position based on alignment
   text_x = rect.x + {
-    rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
+    TextAlignment.LEFT: 0,
-    rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
+    TextAlignment.CENTER: (rect.width - text_size.x) / 2,
-    rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
+    TextAlignment.RIGHT: rect.width - text_size.x,
   }.get(alignment, 0)
 
   # Calculate vertical position based on alignment
   text_y = rect.y + {
-    rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
+    TextAlignmentVertical.TOP: 0,
-    rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
+    TextAlignmentVertical.MIDDLE: (rect.height - text_size.y) / 2,
-    rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
+    TextAlignmentVertical.BOTTOM: rect.height - text_size.y,
   }.get(alignment_vertical, 0)
 
   # Draw the text in the specified rectangle
@@ -74,42 +73,14 @@ def gui_label(
   rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color)
 
 
-def gui_text_box(
-  rect: rl.Rectangle,
-  text: str,
-  font_size: int = DEFAULT_TEXT_SIZE,
-  color: rl.Color = DEFAULT_TEXT_COLOR,
-  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-  font_weight: FontWeight = FontWeight.NORMAL,
-  line_scale: float = 1.0,
-):
-  styles = [
-    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, round(font_size * FONT_SCALE)),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, round(font_size * FONT_SCALE * line_scale)),
-    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_ALIGNMENT, alignment),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD)
-  ]
-  if font_weight != FontWeight.NORMAL:
-    rl.gui_set_font(gui_app.font(font_weight))
-
-  with GuiStyleContext(styles):
-    rl.gui_label(rect, text)
-
-  if font_weight != FontWeight.NORMAL:
-    rl.gui_set_font(gui_app.font(FontWeight.NORMAL))
-
-
 # Non-interactive text area. Can render an optional specified icon.
 class Label(Widget):
   def __init__(self,
                text: str | Callable[[], str],
                font_size: int = DEFAULT_TEXT_SIZE,
                font_weight: FontWeight = FontWeight.NORMAL,
-               text_alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+               text_alignment: int = TextAlignment.CENTER,
-               text_alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+               text_alignment_vertical: int = TextAlignmentVertical.MIDDLE,
                text_padding: int = 0,
                text_color: rl.Color = DEFAULT_TEXT_COLOR,
                icon: Union[rl.Texture, None] = None,
@@ -181,10 +152,10 @@ class Label(Widget):
     self._update_text(self._text)
 
     text_size = self._text_size[0] if self._text_size else rl.Vector2(0.0, 0.0)
-    if self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE:
+    if self._text_alignment_vertical == TextAlignmentVertical.MIDDLE:
       total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
       text_pos = rl.Vector2(self._rect.x, (self._rect.y + (self._rect.height - total_text_height) // 2))
-    elif self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+    elif self._text_alignment_vertical == TextAlignmentVertical.BOTTOM:
       total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
       text_pos = rl.Vector2(self._rect.x, self._rect.y + self._rect.height - total_text_height)
     else:
@@ -193,10 +164,10 @@ class Label(Widget):
     if self._icon:
       icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
       if len(self._text_wrapped) > 0:
-        if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+        if self._text_alignment == TextAlignment.LEFT:
           icon_x = self._rect.x + self._text_padding
           text_pos.x = self._rect.x + self._icon.width + ICON_PADDING
-        elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+        elif self._text_alignment == TextAlignment.CENTER:
           total_width = self._icon.width + ICON_PADDING + text_size.x
           icon_x = self._rect.x + (self._rect.width - total_width) / 2
           text_pos.x = self._rect.x + self._icon.width + ICON_PADDING
@@ -208,11 +179,11 @@ class Label(Widget):
 
     for text, text_size in zip(self._text_wrapped, self._text_size, strict=True):
       line_pos = rl.Vector2(text_pos.x, text_pos.y)
-      if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+      if self._text_alignment == TextAlignment.LEFT:
         line_pos.x += self._text_padding
-      elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+      elif self._text_alignment == TextAlignment.CENTER:
         line_pos.x += (self._rect.width - text_size.x) // 2
-      elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+      elif self._text_alignment == TextAlignment.RIGHT:
         line_pos.x += self._rect.width - text_size.x - self._text_padding
 
       rl.draw_text_ex(self._font, text, line_pos, self._font_size, 0, self._text_color)
@@ -221,7 +192,7 @@ class Label(Widget):
 
 class UnifiedLabel(Widget):
   """
-  Unified label widget that combines functionality from gui_label, gui_text_box, and Label.
+  Unified label widget that combines functionality from gui_label and Label.
 
   Supports:
   - Text wrapping
@@ -241,8 +212,8 @@ class UnifiedLabel(Widget):
                font_size: int = DEFAULT_TEXT_SIZE,
                font_weight: FontWeight = FontWeight.NORMAL,
                text_color: rl.Color = DEFAULT_TEXT_COLOR,
-               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               alignment: int = TextAlignment.LEFT,
-               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+               alignment_vertical: int = TextAlignmentVertical.TOP,
                text_padding: int = 0,
                max_width: int | None = None,
                elide: bool = True,
@@ -561,9 +532,9 @@ class UnifiedLabel(Widget):
         total_visible_height += size.y * self._line_height
 
     # Calculate vertical alignment offset
-    if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP:
+    if self._alignment_vertical == TextAlignmentVertical.TOP:
       start_y = self._rect.y
-    elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+    elif self._alignment_vertical == TextAlignmentVertical.BOTTOM:
       start_y = self._rect.y + self._rect.height - total_visible_height
     else:  # TEXT_ALIGN_MIDDLE
       start_y = self._rect.y + (self._rect.height - total_visible_height) / 2
@@ -640,11 +611,11 @@ class UnifiedLabel(Widget):
 
   def _render_line(self, line, size, current_y, x_offset=0.0):
     # Calculate horizontal position
-    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+    if self._alignment == TextAlignment.LEFT:
       line_x = self._rect.x + self._text_padding
-    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+    elif self._alignment == TextAlignment.CENTER:
       line_x = self._rect.x + (self._rect.width - size.x) / 2
-    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+    elif self._alignment == TextAlignment.RIGHT:
       line_x = self._rect.x + self._rect.width - size.x - self._text_padding
     else:
       line_x = self._rect.x + self._text_padding
@@ -662,9 +633,9 @@ class UnifiedLabel(Widget):
   def _render_line_shimmer(self, line, line_x, current_y):
     # Shimmer range based on widest line so sweep is even across all lines
     max_width = self.text_width
-    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+    if self._alignment == TextAlignment.RIGHT:
       shimmer_left = self._rect.x + self._rect.width - self._text_padding - max_width
-    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+    elif self._alignment == TextAlignment.CENTER:
       shimmer_left = self._rect.x + (self._rect.width - max_width) / 2
     else:
       shimmer_left = self._rect.x + self._text_padding

openpilot/system/ui/widgets/list_view.py

@@ -3,7 +3,7 @@ import os
 import pyray as rl
 from collections.abc import Callable, Sequence
 from abc import ABC
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
@@ -139,8 +139,8 @@ class ButtonAction(ItemAction):
     if value_text:
       value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height)
       gui_label(value_rect, value_text, font_size=ITEM_TEXT_FONT_SIZE, color=ITEM_TEXT_VALUE_COLOR,
-                font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                font_weight=FontWeight.NORMAL, alignment=TextAlignment.LEFT,
-                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                alignment_vertical=TextAlignmentVertical.MIDDLE)
 
     # TODO: just use the generic Widget click callbacks everywhere, no returning from render
     pressed = self._pressed
@@ -168,8 +168,8 @@ class TextAction(ItemAction):
 
   def _render(self, rect: rl.Rectangle) -> bool:
     gui_label(self._rect, self.text, font_size=ITEM_TEXT_FONT_SIZE, color=self.color,
-              font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              font_weight=FontWeight.NORMAL, alignment=TextAlignment.RIGHT,
-              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+              alignment_vertical=TextAlignmentVertical.MIDDLE)
     return False
 
   def set_text(self, text: str | Callable[[], str]):

openpilot/system/ui/widgets/network.py

@@ -3,7 +3,7 @@ from functools import partial
 from typing import Any, cast
 
 import pyray as rl
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, TextAlignment
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType, normalize_ssid
@@ -67,7 +67,7 @@ class NavButton(Widget):
   def _render(self, _):
     color = rl.Color(74, 74, 74, 255) if self.is_pressed else rl.Color(57, 57, 57, 255)
     rl.draw_rectangle_rounded(self._rect, 0.6, 10, color)
-    gui_label(self.rect, self.text, font_size=60, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    gui_label(self.rect, self.text, font_size=60, alignment=TextAlignment.CENTER)
 
 
 class NetworkUI(Widget):
@@ -315,7 +315,7 @@ class WifiManagerUI(Widget):
 
   def _render(self, rect: rl.Rectangle):
     if not self._networks:
-      gui_label(rect, tr("Scanning Wi-Fi networks..."), 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      gui_label(rect, tr("Scanning Wi-Fi networks..."), 72, alignment=TextAlignment.CENTER)
       return
 
     if self.state == UIState.NEEDS_AUTH and self._state_network:
@@ -389,7 +389,7 @@ class WifiManagerUI(Widget):
 
     if status_text:
       status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT)
-      gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      gui_label(status_text_rect, status_text, font_size=48, alignment=TextAlignment.CENTER)
     else:
       # If the network is saved, show the "Forget" button
       if self._wifi_manager.is_connection_saved(network.ssid):
@@ -455,7 +455,7 @@ class WifiManagerUI(Widget):
     self._networks = networks
     for n in self._networks:
       self._networks_buttons[n.ssid] = Button(normalize_ssid(n.ssid), partial(self._networks_buttons_callback, n), font_size=55,
-                                              text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.TRANSPARENT_WHITE_TEXT)
+                                              text_alignment=TextAlignment.LEFT, button_style=ButtonStyle.TRANSPARENT_WHITE_TEXT)
       self._networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
       self._forget_networks_buttons[n.ssid] = Button(tr("Forget"), partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
                                                      font_size=45)

openpilot/system/ui/widgets/option_dialog.py

@@ -1,6 +1,6 @@
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -29,7 +29,7 @@ class MultiOptionDialog(Widget):
     # Create scroller with option buttons
     self.option_buttons = [Button(option, click_callback=lambda opt=option: self._on_option_clicked(opt),
                                   font_weight=option_font_weight,
-                                  text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.NORMAL,
+                                  text_alignment=TextAlignment.LEFT, button_style=ButtonStyle.NORMAL,
                                   text_padding=50, elide_right=True) for option in options]
     self.scroller = Scroller(self.option_buttons, spacing=LIST_ITEM_SPACING)
 

openpilot/system/ui/widgets/slider.py

@@ -3,7 +3,7 @@ from collections.abc import Callable
 
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
@@ -41,8 +41,8 @@ class SliderBase(Widget, abc.ABC):
     self._is_dragging_circle = False
 
     self._label = self._child(UnifiedLabel(title, font_size=36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.WHITE,
-                                           alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                                           alignment=TextAlignment.RIGHT,
-                                           alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9, shimmer=True))
+                                           alignment_vertical=TextAlignmentVertical.MIDDLE, line_height=0.9, shimmer=True))
 
   @abc.abstractmethod
   def _load_assets(self):

openpilot/tools/cabana/SConscript

@@ -99,10 +99,10 @@ cabana_env.Command(assets, "assets/assets.qrc", f"rcc $SOURCES -o $TARGET")
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
-               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc',
+               'routesdialog.cc', 'routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
-               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
+               'utils/export.cc', 'utils/util.cc', 'utils/qtutil.cc', 'utils/strings.cc', 'utils/elidedlabel.cc',
                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
+               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'settingsdialog.cc', 'panda.cc',
                'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc']
 if arch != "Darwin":
   cabana_srcs += ['streams/socketcanstream.cc']
@@ -119,8 +119,12 @@ if GetOption('extras'):
     dbc_core_test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
     dbc_core_test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
     dbc_core_test_env.Object('tests/dbc_core_manager', 'dbc/dbcmanager.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_strings', 'utils/strings.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_util', 'utils/util.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_icons', bootstrap_icons_src),
+    dbc_core_test_env.Object('tests/dbc_core_routes', 'routes.cc'),
   ]
-  dbc_core_test_env.Program('tests/test_dbc_core', dbc_core_test_objects)
+  dbc_core_test_env.Program('tests/test_dbc_core', dbc_core_test_objects, LIBS=[replay_lib, common])
 
 output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,

openpilot/tools/cabana/binaryview.cc

@@ -1,5 +1,4 @@
 #include "tools/cabana/binaryview.h"
-#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 
@@ -14,6 +13,7 @@
 #include <QToolTip>
 
 #include "tools/cabana/commands.h"
+#include "tools/cabana/utils/qtutil.h"
 
 // BinaryView
 
@@ -36,8 +36,8 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setMouseTracking(true);
   setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 
-  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &BinaryView::refresh);
+  connections_.push_back(dbc()->fileChanged.connect([this]() { refresh(); }));
-  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &BinaryView::refresh);
+  connections_.push_back(UndoStack::instance()->indexChanged.connect([this]() { refresh(); }));
 
   addShortcuts();
   setWhatsThis(R"(
@@ -386,7 +386,7 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
 
 QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
   auto item = (const BinaryViewModel::Item *)index.internalPointer();
-  return role == Qt::ToolTipRole && item && !item->sigs.empty() ? signalToolTip(item->sigs.back()) : QVariant();
+  return role == Qt::ToolTipRole && item && !item->sigs.empty() ? QString::fromStdString(utils::signalToolTip(item->sigs.back())) : QVariant();
 }
 
 // BinaryItemDelegate

openpilot/tools/cabana/binaryview.h

@@ -4,6 +4,7 @@
 #include <tuple>
 #include <vector>
 
+#include <QStaticText>
 #include <QStyledItemDelegate>
 #include <QTableView>
 
@@ -100,5 +101,6 @@ private:
   bool is_message_active = false;
   const cabana::Signal *resize_sig = nullptr;
   const cabana::Signal *hovered_sig = nullptr;
+  Connections connections_;
   friend class BinaryItemDelegate;
 };

openpilot/tools/cabana/cabana.cc

@@ -12,6 +12,7 @@
 #ifdef __linux__
 #include "tools/cabana/streams/socketcanstream.h"
 #endif
+#include "tools/cabana/utils/qtutil.h"
 
 namespace {
 
@@ -134,7 +135,14 @@ int main(int argc, char *argv[]) {
   app.setApplicationDisplayName("Cabana");
   //app.setWindowIcon(QIcon(":cabana-icon.png"));  // TODO: do this in imgui
 
-  UnixSignalHandler signalHandler;
+  // Marshal exit onto the GUI thread (qApp methods are not thread-safe).
+  UnixSignalHandler signalHandler([]() {
+    QMetaObject::invokeMethod(qApp, []() {
+      printf("\nexiting...\n");
+      qApp->closeAllWindows();
+      qApp->exit();
+    }, Qt::QueuedConnection);
+  });
   utils::setTheme(settings.theme);
 
   CabanaArgs args;
@@ -146,19 +154,19 @@ int main(int argc, char *argv[]) {
   AbstractStream *stream = nullptr;
 
   if (args.msgq) {
-    stream = new DeviceStream(&app);
+    stream = new DeviceStream();
   } else if (!args.zmq.empty()) {
-    stream = new DeviceStream(&app, QString::fromStdString(args.zmq));
+    stream = new DeviceStream(args.zmq);
   } else if (args.panda || !args.panda_serial.empty()) {
     try {
-      stream = new PandaStream(&app, {.serial = args.panda_serial});
+      stream = new PandaStream({.serial = args.panda_serial});
     } catch (std::exception &e) {
       fprintf(stderr, "%s\n", e.what());
       return 0;
     }
 #ifdef __linux__
   } else if (SocketCanStream::available() && !args.socketcan.empty()) {
-    stream = new SocketCanStream(&app, {.device = args.socketcan});
+    stream = new SocketCanStream({.device = args.socketcan});
 #endif
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
@@ -174,7 +182,8 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
-      auto replay_stream = std::make_unique<ReplayStream>(&app);
+      auto replay_stream = std::make_unique<ReplayStream>();
+      Connection err = replay_stream->error.connect([](const std::string &msg) { fprintf(stderr, "%s\n", msg.c_str()); });
       if (!replay_stream->loadRoute(route.toStdString(), args.data_dir, replay_flags, args.auto_source)) {
         return 0;
       }

openpilot/tools/cabana/cameraview.cc

@@ -9,13 +9,11 @@
 #include <QPainter>
 
 #include "common/yuv.h"
+#include "tools/cabana/utils/util.h"
 
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
                           stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
-  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
-  QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
-  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
   QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread);
 }
 
@@ -38,10 +36,6 @@ void CameraWidget::stopVipcThread() {
   }
 }
 
-void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
-  available_streams = streams;
-}
-
 void CameraWidget::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), bg);
@@ -67,10 +61,6 @@ void CameraWidget::paintEvent(QPaintEvent *event) {
   p.drawImage(video_rect, rgb_frame);
 }
 
-void CameraWidget::vipcFrameReceived() {
-  update();
-}
-
 void CameraWidget::vipcThread() {
   VisionStreamType cur_stream = requested_stream_type;
   std::unique_ptr<VisionIpcClient> vipc_client;
@@ -93,7 +83,11 @@ void CameraWidget::vipcThread() {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         continue;
       }
-      emit vipcAvailableStreamsUpdated(streams);
+      utils::runOnMainThread([this, alive = std::weak_ptr<bool>(alive_), streams]() {
+        if (alive.expired()) return;
+        available_streams = streams;
+        availableStreamsUpdated(streams);
+      });
 
       if (!vipc_client->connect(false)) {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -112,7 +106,9 @@ void CameraWidget::vipcThread() {
         std::lock_guard lk(frame_lock);
         rgb_frame.swap(rgb_back);
       }
-      emit vipcThreadFrameReceived();
+      utils::runOnMainThread([this, alive = std::weak_ptr<bool>(alive_)]() {
+        if (!alive.expired()) update();
+      });
     }
   }
 }

openpilot/tools/cabana/cameraview.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <atomic>
+#include <memory>
 #include <mutex>
 #include <set>
 #include <string>
@@ -11,11 +12,10 @@
 #include <QWidget>
 
 #include "openpilot/cereal/visionstream.h"
+#include "tools/cabana/core/observable.h"
 #include "msgq/visionipc/visionipc_client.h"
 
 class CameraWidget : public QWidget {
-  Q_OBJECT
-
 public:
   explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
@@ -23,16 +23,14 @@ public:
   VisionStreamType getStreamType() { return active_stream_type; }
   void stopVipcThread();
 
-signals:
+  Observable<> clicked;
-  void clicked();
+  Observable<std::set<VisionStreamType>> availableStreamsUpdated;  // invoked on the main thread
-  void vipcThreadFrameReceived();
-  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
   void paintEvent(QPaintEvent *event) override;
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override { stopVipcThread(); }
-  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  void mouseReleaseEvent(QMouseEvent *event) override { clicked(); }
   void vipcThread();
   void clearFrames();
 
@@ -47,10 +45,5 @@ protected:
   std::thread vipc_thread;
   std::atomic<bool> vipc_exit = false;
   std::mutex frame_lock;
-
+  std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
-protected slots:
-  void vipcFrameReceived();
-  void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
-
-Q_DECLARE_METATYPE(std::set<VisionStreamType>);

openpilot/tools/cabana/chart/chart.cc

@@ -1,5 +1,4 @@
 #include "tools/cabana/chart/chart.h"
-#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <limits>
@@ -37,10 +36,10 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   createToolButtons();
   signal_value_font.setPointSize(9);
 
-  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &ChartView::signalRemoved);
+  connections_.push_back(dbc()->signalRemoved.connect([this](const cabana::Signal *sig) { signalRemoved(sig); }));
-  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &ChartView::signalUpdated);
+  connections_.push_back(dbc()->signalUpdated.connect([this](const cabana::Signal *sig) { signalUpdated(sig); }));
-  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &ChartView::msgRemoved);
+  connections_.push_back(dbc()->msgRemoved.connect([this](MessageId id) { msgRemoved(id); }));
-  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgUpdated, this, &ChartView::msgUpdated);
+  connections_.push_back(dbc()->msgUpdated.connect([this](MessageId id) { msgUpdated(id); }));
 }
 
 void ChartView::createToolButtons() {
@@ -249,7 +248,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *
       }
 
       if (!can->liveStreaming()) {
-        s.segment_tree.build(s.vals);
+        s.segment_tree.build(s.vals.size(), [&vals = s.vals](int i) { return vals[i].y(); });
       }
     }
   }

openpilot/tools/cabana/chart/chart.h

@@ -10,6 +10,7 @@
 #include "tools/cabana/chart/tiplabel.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/utils/qtutil.h"
 
 enum class SeriesType {
   Line = 0,
@@ -126,5 +127,6 @@ private:
   double tooltip_x = -1;
   QFont signal_value_font;
   ChartsWidget *charts_widget;
+  Connections connections_;
   friend class ChartsWidget;
 };

openpilot/tools/cabana/chart/chartswidget.cc

@@ -1,5 +1,4 @@
 #include "tools/cabana/chart/chartswidget.h"
-#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <future>
@@ -76,10 +75,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   redo_zoom_action = toolbar->addAction(utils::icon("arrow-clockwise"), tr("Redo Zoom"), [this]() { zoom_undo_stack.redo(); });
   undo_zoom_action->setEnabled(false);
   redo_zoom_action->setEnabled(false);
-  zoom_undo_stack.setCallbacks({.index_changed = [this]() {
+  connections_.push_back(zoom_undo_stack.indexChanged.connect([this]() {
     undo_zoom_action->setEnabled(zoom_undo_stack.canUndo());
     redo_zoom_action->setEnabled(zoom_undo_stack.canRedo());
-  }});
+  }));
   reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
   reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
@@ -122,16 +121,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   align_timer->setSingleShot(true);
   QObject::connect(align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
   QObject::connect(auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
-  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &ChartsWidget::removeAll);
+  connections_.push_back(dbc()->fileChanged.connect([this]() { removeAll(); }));
-  QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
+  connections_.push_back(can->eventsMerged.connect([this](const MessageEventsMap &events) { eventsMerged(events); }));
-  QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
+  connections_.push_back(can->msgsReceived.connect([this](const std::set<MessageId> *, bool) { updateState(); }));
-  QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
+  connections_.push_back(can->seeking.connect([this](double) { updateState(); }));
-  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &ChartsWidget::timeRangeChanged);
+  connections_.push_back(can->timeRangeChanged.connect([this](const auto &range) { timeRangeChanged(range); }));
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
   QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
-  QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
+  connections_.push_back(settings.changed.connect([this]() { settingChanged(); }));
   QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
   QObject::connect(this, &ChartsWidget::seriesChanged, this, &ChartsWidget::updateTabBar);
   QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
@@ -246,7 +245,7 @@ void ChartsWidget::setIsDocked(bool docked) {
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Columns: %1").arg(column_count));
-  range_lb->setText(utils::formatSeconds(max_chart_range));
+  range_lb->setText(QString::fromStdString(utils::formatSeconds(max_chart_range)));
 
   bool is_zoomed = can->timeRange().has_value();
   range_lb_action->setVisible(!is_zoomed);

openpilot/tools/cabana/chart/chartswidget.h

@@ -13,6 +13,7 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/utils/qtutil.h"
 
 const int CHART_MIN_WIDTH = 300;
 
@@ -123,6 +124,7 @@ private:
   QTimer *align_timer;
   int current_theme = 0;
   bool value_tip_visible_ = false;
+  Connections connections_;
   friend class ChartView;
   friend class ChartsContainer;
 };

openpilot/tools/cabana/chart/signalselector.cc

@@ -1,5 +1,4 @@
 #include "tools/cabana/chart/signalselector.h"
-#include "tools/cabana/dbc/dbcqt.h"
 
 #include <QDialogButtonBox>
 #include <QGridLayout>
@@ -9,6 +8,7 @@
 #include <QVBoxLayout>
 
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/utils/qtutil.h"
 
 SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) {
   setWindowTitle(title);

openpilot/tools/cabana/chart/sparkline.cc

@@ -3,6 +3,7 @@
 #include <algorithm>
 #include <limits>
 #include <QPainter>
+#include "tools/cabana/utils/qtutil.h"
 
 void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size) {
   if (first == last || size.isEmpty()) {

openpilot/tools/cabana/chart/tiplabel.cc

@@ -7,7 +7,7 @@
 #include <QToolTip>
 
 #include "tools/cabana/settings.h"
-#include "tools/cabana/utils/util.h"
+#include "tools/cabana/utils/qtutil.h"
 
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
   setAttribute(Qt::WA_ShowWithoutActivating);

openpilot/tools/cabana/commands.cc

@@ -1,5 +1,6 @@
 #include "tools/cabana/commands.h"
 
+#include <cassert>
 #include <cmath>
 
 // UndoStack
@@ -28,22 +29,22 @@ void UndoStack::clear() {
   bool was_clean = isClean();
   commands_.clear();
   index_ = clean_index_ = 0;
-  if (callbacks_.index_changed) callbacks_.index_changed();
+  indexChanged();
-  if (!was_clean && callbacks_.clean_changed) callbacks_.clean_changed(true);
+  if (!was_clean) cleanChanged(true);
 }
 
 void UndoStack::setClean() {
   if (!isClean()) {
     clean_index_ = index_;
-    if (callbacks_.clean_changed) callbacks_.clean_changed(true);
+    cleanChanged(true);
   }
 }
 
 void UndoStack::setIndex(int index) {
   bool was_clean = isClean();
   index_ = index;
-  if (callbacks_.index_changed) callbacks_.index_changed();
+  indexChanged();
-  if (isClean() != was_clean && callbacks_.clean_changed) callbacks_.clean_changed(isClean());
+  if (isClean() != was_clean) cleanChanged(isClean());
 }
 
 UndoStack *UndoStack::instance() {
@@ -51,18 +52,6 @@ UndoStack *UndoStack::instance() {
   return &undo_stack;
 }
 
-QtUndoNotifier::QtUndoNotifier(QObject *parent) : QObject(parent) {
-  UndoStack::instance()->setCallbacks({
-    .index_changed = [this]() { emit indexChanged(); },
-    .clean_changed = [this](bool clean) { emit cleanChanged(clean); },
-  });
-}
-
-QtUndoNotifier *undoNotifier() {
-  static QtUndoNotifier notifier;
-  return &notifier;
-}
-
 // EditMsgCommand
 
 EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size,

openpilot/tools/cabana/commands.h

@@ -1,13 +1,11 @@
 #pragma once
 
-#include <functional>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include <QObject>
+#include "tools/cabana/core/observable.h"
-
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
@@ -21,11 +19,6 @@ public:
 
 class UndoStack {
 public:
-  struct Callbacks {
-    std::function<void()> index_changed;
-    std::function<void(bool)> clean_changed;
-  };
-
   void push(UndoCommand *cmd);  // takes ownership and calls redo()
   void undo();
   void redo();
@@ -36,31 +29,18 @@ public:
   bool canRedo() const { return index_ < (int)commands_.size(); }
   std::string undoText() const { return canUndo() ? commands_[index_ - 1]->text : ""; }
   std::string redoText() const { return canRedo() ? commands_[index_]->text : ""; }
-  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
   static UndoStack *instance();
 
+  Observable<> indexChanged;
+  Observable<bool> cleanChanged;
+
 private:
   void setIndex(int index);
   std::vector<std::unique_ptr<UndoCommand>> commands_;
   int index_ = 0;
   int clean_index_ = 0;
-  Callbacks callbacks_;
 };
 
-// emits Qt signals for the global undo stack
-class QtUndoNotifier : public QObject {
-  Q_OBJECT
-
-public:
-  explicit QtUndoNotifier(QObject *parent = nullptr);
-
-signals:
-  void indexChanged();
-  void cleanChanged(bool clean);
-};
-
-QtUndoNotifier *undoNotifier();
-
 class EditMsgCommand : public UndoCommand {
 public:
   EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node,

openpilot/tools/cabana/core/observable.h

@@ -0,0 +1,83 @@
+#pragma once
+
+#include <functional>
+#include <map>
+#include <memory>
+#include <utility>
+#include <vector>
+
+namespace observable_detail {
+struct HandlerTable {
+  virtual ~HandlerTable() = default;
+  virtual void erase(int id) = 0;
+};
+}  // namespace observable_detail
+
+// disconnects on destruction; safe to outlive the Observable
+class Connection {
+public:
+  Connection() = default;
+  Connection(std::weak_ptr<observable_detail::HandlerTable> table, int id) : table_(std::move(table)), id_(id) {}
+  Connection(Connection &&other) noexcept { *this = std::move(other); }
+  Connection &operator=(Connection &&other) noexcept {
+    if (this != &other) {
+      disconnect();
+      table_ = std::move(other.table_);
+      id_ = std::exchange(other.id_, -1);
+    }
+    return *this;
+  }
+  Connection(const Connection &) = delete;
+  Connection &operator=(const Connection &) = delete;
+  ~Connection() { disconnect(); }
+
+  void disconnect() {
+    if (auto table = table_.lock()) table->erase(id_);
+    table_.reset();
+    id_ = -1;
+  }
+
+private:
+  std::weak_ptr<observable_detail::HandlerTable> table_;
+  int id_ = -1;
+};
+
+using Connections = std::vector<Connection>;
+
+// main thread only. handlers may disconnect (or destroy the Observable) while being invoked.
+template <typename... Args>
+class Observable {
+public:
+  using Handler = std::function<void(Args...)>;
+
+  Observable() = default;
+  Observable(const Observable &) = delete;
+  Observable &operator=(const Observable &) = delete;
+
+  [[nodiscard]] Connection connect(Handler handler) {
+    int id = table_->next_id++;
+    table_->handlers.emplace(id, std::make_shared<Handler>(std::move(handler)));
+    return Connection(table_, id);
+  }
+
+  void operator()(Args... args) const {
+    auto table = table_;
+    std::vector<int> ids;
+    ids.reserve(table->handlers.size());
+    for (const auto &[id, _] : table->handlers) ids.push_back(id);
+    for (int id : ids) {
+      auto it = table->handlers.find(id);
+      if (it == table->handlers.end()) continue;
+      auto handler = it->second;
+      (*handler)(args...);
+    }
+  }
+
+private:
+  struct Table : observable_detail::HandlerTable {
+    std::map<int, std::shared_ptr<Handler>> handlers;
+    int next_id = 0;
+    void erase(int id) override { handlers.erase(id); }
+  };
+  std::shared_ptr<Table> table_ = std::make_shared<Table>();
+};

openpilot/tools/cabana/dbc/dbcmanager.cc

@@ -17,7 +17,7 @@ bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name
     return false;
   }
 
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
   return true;
 }
 
@@ -32,7 +32,7 @@ bool DBCManager::open(const SourceSet &sources, const std::string &name, const s
     return false;
   }
 
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
   return true;
 }
 
@@ -40,26 +40,26 @@ void DBCManager::close(const SourceSet &sources) {
   for (auto s : sources) {
     dbc_files[s] = nullptr;
   }
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
 }
 
 void DBCManager::close(DBCFile *dbc_file) {
   for (auto &[_, f] : dbc_files) {
     if (f.get() == dbc_file) f = nullptr;
   }
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
 }
 
 void DBCManager::closeAll() {
   dbc_files.clear();
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
 }
 
 void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->addSignal(sig)) {
-      if (callbacks_.signal_added) callbacks_.signal_added(id, s);
+      signalAdded(id, s);
-      if (callbacks_.mask_updated) callbacks_.mask_updated();
+      maskUpdated();
     }
   }
 }
@@ -67,8 +67,8 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
 void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
-      if (callbacks_.signal_updated) callbacks_.signal_updated(s);
+      signalUpdated(s);
-      if (callbacks_.mask_updated) callbacks_.mask_updated();
+      maskUpdated();
     }
   }
 }
@@ -76,9 +76,9 @@ void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name,
 void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
-      if (callbacks_.signal_removed) callbacks_.signal_removed(s);
+      signalRemoved(s);
       m->removeSignal(sig_name);
-      if (callbacks_.mask_updated) callbacks_.mask_updated();
+      maskUpdated();
     }
   }
 }
@@ -87,15 +87,15 @@ void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, node, comment);
-  if (callbacks_.msg_updated) callbacks_.msg_updated(id);
+  msgUpdated(id);
 }
 
 void DBCManager::removeMsg(const MessageId &id) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->removeMsg(id);
-  if (callbacks_.msg_removed) callbacks_.msg_removed(id);
+  msgRemoved(id);
-  if (callbacks_.mask_updated) callbacks_.mask_updated();
+  maskUpdated();
 }
 
 std::string DBCManager::newMsgName(const MessageId &id) {

openpilot/tools/cabana/dbc/dbcmanager.h

@@ -1,12 +1,12 @@
 #pragma once
 
-#include <functional>
 #include <memory>
 #include <map>
 #include <set>
 #include <string>
 #include <vector>
 
+#include "tools/cabana/core/observable.h"
 #include "tools/cabana/dbc/dbcfile.h"
 
 typedef std::set<int> SourceSet;
@@ -15,16 +15,6 @@ inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<D
 
 class DBCManager {
 public:
-  struct Callbacks {
-    std::function<void(MessageId, const cabana::Signal *)> signal_added;
-    std::function<void(const cabana::Signal *)> signal_removed;
-    std::function<void(const cabana::Signal *)> signal_updated;
-    std::function<void(MessageId)> msg_updated;
-    std::function<void(MessageId)> msg_removed;
-    std::function<void()> file_changed;
-    std::function<void()> mask_updated;
-  };
-
   DBCManager() = default;
   bool open(const SourceSet &sources, const std::string &dbc_file_name, std::string *error = nullptr);
   bool open(const SourceSet &sources, const std::string &name, const std::string &content, std::string *error = nullptr);
@@ -54,11 +44,17 @@ public:
   DBCFile *findDBCFile(const uint8_t source);
   inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
   std::set<DBCFile *> allDBCFiles();
-  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
+
+  Observable<MessageId, const cabana::Signal *> signalAdded;
+  Observable<const cabana::Signal *> signalRemoved;
+  Observable<const cabana::Signal *> signalUpdated;
+  Observable<MessageId> msgUpdated;
+  Observable<MessageId> msgRemoved;
+  Observable<> fileChanged;
+  Observable<> maskUpdated;
 
 private:
   std::map<int, std::shared_ptr<DBCFile>> dbc_files;
-  Callbacks callbacks_;
 };
 
 DBCManager *dbc();

openpilot/tools/cabana/dbc/dbcqt.cc

@@ -1,18 +0,0 @@
-#include "tools/cabana/dbc/dbcqt.h"
-
-QtDBCNotifier::QtDBCNotifier(QObject *parent) : QObject(parent) {
-  dbc()->setCallbacks({
-    .signal_added = [this](MessageId id, const cabana::Signal *sig) { emit signalAdded(id, sig); },
-    .signal_removed = [this](const cabana::Signal *sig) { emit signalRemoved(sig); },
-    .signal_updated = [this](const cabana::Signal *sig) { emit signalUpdated(sig); },
-    .msg_updated = [this](MessageId id) { emit msgUpdated(id); },
-    .msg_removed = [this](MessageId id) { emit msgRemoved(id); },
-    .file_changed = [this]() { emit DBCFileChanged(); },
-    .mask_updated = [this]() { emit maskUpdated(); },
-  });
-}
-
-QtDBCNotifier *dbcNotifier() {
-  static QtDBCNotifier notifier;
-  return &notifier;
-}