ccnc-port: add end-of-life notice and onroad gate

This reverts commit 15e5d2efb9.

.github/workflows/compile-warp-kernels.yaml

@@ -42,7 +42,7 @@ jobs:
             WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
             echo "Compiling $WARP_PKL on QCOM"
             taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
-              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --split-frames --output "${WARP_PKL}"
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${WARP_PKL}"
 
             BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
             echo "Compiling $BIG_WARP_PKL on AMD"

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 354 Supported Cars
+# 351 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -153,21 +153,18 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Hyundai|Sonata Hybrid (without HDA II) 2024-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-26">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
-|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
 |Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||

openpilot/common/params_keys.h

@@ -162,6 +162,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
     {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
+    {"CcncPortEolAck", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
     {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
     {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -184,6 +185,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_CcncPortEol", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
     {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -1,4 +1,8 @@
 {
+  "Offroad_CcncPortEol": {
+    "text": "This branch will not receive any more functional updates. ccNC support is moving to master. See the ccNC Port topic on community.sunnypilot.ai for what you need to do.",
+    "severity": 1
+  },
   "Offroad_TemperatureTooHigh": {
     "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
     "severity": 0

openpilot/selfdrive/ui/layouts/main.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CcncPortEolGate, CcncPortEolNotice
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -54,6 +55,8 @@ class MainLayout(Widget):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+    self._ccnc_port_eol = CcncPortEolGate(self, CcncPortEolNotice)
+
   def _render(self, _):
     self._handle_onroad_transition()
     self._render_main_content()

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

@@ -7,6 +7,8 @@ from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoad
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CcncPortEolGate
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.ccnc_port_eol import MiciCcncPortEolNotice
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -64,6 +66,8 @@ class MiciMainLayout(Scroller):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+    self._ccnc_port_eol = CcncPortEolGate(self, MiciCcncPortEolNotice)
+
     # initialize correct onroad layout
     self._on_body_changed()
 

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

@@ -0,0 +1,71 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.common.qrcode import make_texture
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight, TextAlignment, TextAlignmentVertical, 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
+from openpilot.system.ui.widgets.label import Label
+
+CCNC_PORT_EOL_URL = "https://community.sunnypilot.ai/t/ccnc-port-non-hda2-hda2-supported-vehicles-features/1064/337?u=sunnyhaibin"
+
+
+class CcncPortEolGate:
+  # The ack param clears on boot and on every offroad transition, so the notice is shown again after each drive.
+  def __init__(self, main: Widget, notice_cls: Callable[[Callable[[], None]], Widget]):
+    self._main = main
+    self._notice = notice_cls(self._on_ack)
+    self._acked = False
+    gui_app.add_nav_stack_tick(self._tick)
+
+  def _tick(self):
+    if ui_state.started:
+      self._acked = False
+    elif not self._acked and gui_app.get_active_widget() is self._main:
+      gui_app.push_widget(self._notice)
+
+  def _on_ack(self):
+    self._acked = True
+    ui_state.params.put_bool("CcncPortEolAck", True, block=True)
+    gui_app.pop_widgets_to(self._main, instant=True)
+
+
+class CcncPortEolNotice(Widget):
+  def __init__(self, on_ack: Callable[[], None]):
+    super().__init__()
+    self._title = Label(tr("This branch is no longer updated"), font_size=75, font_weight=FontWeight.BOLD,
+                        text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
+    self._desc = Label(tr("ccnc-port will not receive any more functional updates. ccNC support is moving to master.\n\n" +
+                          "Scan the QR code to see what you need to do."),
+                       font_size=55, font_weight=FontWeight.MEDIUM,
+                       text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
+    self._ack_btn = Button(tr("I understand"), button_style=ButtonStyle.PRIMARY, click_callback=on_ack)
+    self._qr_texture = make_texture(CCNC_PORT_EOL_URL)
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+
+    qr_size = 560
+    qr_x = rect.x + rect.width - qr_size - 90
+    text_x = rect.x + 90
+    text_w = qr_x - text_x - 60
+    self._title.render(rl.Rectangle(text_x, rect.y + 90, text_w, 200))
+    self._desc.render(rl.Rectangle(text_x, rect.y + 300, text_w, 450))
+
+    if self._qr_texture:
+      src = rl.Rectangle(0, 0, self._qr_texture.width, self._qr_texture.height)
+      rl.draw_texture_pro(self._qr_texture, src, rl.Rectangle(qr_x, rect.y + 90, qr_size, qr_size), rl.Vector2(0, 0), 0, rl.WHITE)
+
+    self._ack_btn.render(rl.Rectangle(rect.x + 45, rect.y + rect.height - 160 - 45, rect.width - 90, 160))
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)

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

@@ -0,0 +1,32 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.selfdrive.ui.mici.layouts.onboarding import QRCodeWidget
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CCNC_PORT_EOL_URL
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.mici_setup import GreyBigButton
+from openpilot.system.ui.widgets.scroller import Scroller
+
+
+class MiciCcncPortEolNotice(Scroller):
+  def __init__(self, on_ack: Callable[[], None]):
+    super().__init__()
+    self._scroller.add_widgets([
+      GreyBigButton("no longer\nupdated", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "ccnc-port will not receive any more functional updates. ccNC support is moving to master."),
+      GreyBigButton("scan the QR code", "to see what to do"),
+      QRCodeWidget(CCNC_PORT_EOL_URL),
+      BigConfirmationCircleButton("I\nunderstand", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_ack),
+    ])
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    super()._render(_)

openpilot/sunnypilot/modeld_v2/compile_warp.py

@@ -17,25 +17,16 @@ def main():
   parser.add_argument("--frame", required=True, help="width,height,stride,y_height,uv_height,buffer_size")
   parser.add_argument("--warp-to", required=True, help="model input WxH")
   parser.add_argument("--output", required=True)
-  parser.add_argument("--split-frames", action="store_true", help="one input per camera (frame, big_frame), bound to the camera buffers by pointer")
   args = parser.parse_args()
 
   from examples.openpilot.compile_warp import make_frame_prepare, parse_frame, parse_size
   from tinygrad import Device, Tensor, TinyJit
   frame = parse_frame(args.frame)
   warp = make_frame_prepare(frame, *parse_size(args.warp_to))
+  run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
   rng = np.random.default_rng(42)
-  frames = rng.integers(0, 256, (2, frame.size), dtype=np.uint8)
-  m_inv = Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()
-  if args.split_frames:
-    run = TinyJit(lambda frame, big_frame, M_inv: Tensor.stack(warp(frame, M_inv[0]), warp(big_frame, M_inv[1])), prune=True)
-    inputs = {"frame": Tensor(frames[0], device=Device.DEFAULT).realize(), "big_frame": Tensor(frames[1], device=Device.DEFAULT).realize(), "M_inv": m_inv}
-    specs = {"frame": ((frame.size,), "|u1", Device.DEFAULT), "big_frame": ((frame.size,), "|u1", Device.DEFAULT),
-             "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
-  else:
-    run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
-    inputs = {"input_frame": Tensor(frames, device=Device.DEFAULT).realize(), "M_inv": m_inv}
-    specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
+  inputs = {"input_frame": Tensor(rng.integers(0, 256, (2, frame.size), dtype=np.uint8), device=Device.DEFAULT).realize(),
+            "M_inv": Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()}
   with record_kernel_linear() as recorded:
     run(**inputs)
     run(**inputs)
@@ -43,6 +34,7 @@ def main():
   assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
   part = serialize_jit(run, recorded[0], check)
   PlainJit(*part)
+  specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
   write_bundle(args.output, {"run": part}, {"input_specs": specs, "metadata": {}})
   print(f"Saved warp to {args.output} ({len(part[0]['calls'])} kernels)")
 

openpilot/sunnypilot/modeld_v2/frame_fusion.py

@@ -12,8 +12,6 @@ from functools import partial
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot.modeld_v2.helpers import _dtype, read_parts
 
-SPLIT_FRAMES = ("big_frame", "frame")
-
 
 def pack_layout(shapes: dict[str, tuple], frame_size: int) -> tuple[dict[str, int], int]:
   offsets, offset = {}, 0
@@ -41,30 +39,29 @@ def frame_part(warp_path: str, parts: dict, extras: dict) -> dict:
   (model, model_blob), (warp, warp_blob) = parts["run"], read_parts(warp_path)[0]["run"]
   states = sorted(name for name in extras["input_specs"] if f"next_{name}" in extras["metadata"]["output_shapes"])
   host = {name: shape for name, (shape, _, _) in extras["input_specs"].items() if name not in states and name != "new_img"}
-  frame_specs = {s["name"]: s for s in warp["inputs"] if s["name"] in SPLIT_FRAMES}
-  offsets, packed = pack_layout(host, 0 if frame_specs else next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2)
+  frame_size = next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2
+  offsets, packed = pack_layout(host, frame_size)
   shift, upload, u8 = len(model_blob), len(model["buffers"]) + len(warp["buffers"]), repr(_dtype("dtypes.uint8"))
 
   def view(name: str, nbytes: int, dtype: str) -> dict:
     return {"buffer": upload, "offset": offsets[name], "nbytes": nbytes, "dtype": dtype}
   outputs = sorted(s["slot"] for s in model["inputs"] if s["name"] is None)
-  names = sorted(["host", *states, *frame_specs])
+  names = sorted(["host", *states])
   slots = {s["slot"]: names.index(s["name"]) for s in model["inputs"] if s["name"] in states} | \
           {slot: len(names) + i for i, slot in enumerate(outputs)}
   returned = warp["returns"]["tensors"][0]
   model_inputs = {s["slot"]: {"input": slots[s["slot"]]} if s["slot"] in slots else
                   {k: v for k, v in returned.items() if k != "shape"} | {"buffer": returned["buffer"] + len(model["buffers"])} if s["name"] == "new_img" else
                   view(s["name"], s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in model["inputs"]}
-  warp_inputs = {s["slot"]: {"input": names.index(s["name"])} if s["name"] in frame_specs else
-                 view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in warp["inputs"]}
+  warp_inputs = {s["slot"]: view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"])
+                 for s in warp["inputs"]}
 
   def remap(calls: list, inputs: dict, buffers: int, lib: int) -> list:
     return [call | ({"lib": [call["lib"][0] + lib, call["lib"][1] + lib]} if "lib" in call else {}) |
             {"args": [dict(inputs[a["input"]]) if "input" in a else a | {"buffer": a["buffer"] + buffers} for a in call["args"]]} for call in calls]
   header = {"input_names": names, "returns": {"kind": "NoneType", "tensors": []}, "check": None,
             "inputs": [{"slot": names.index("host"), "name": "host", "dtype": u8, "numel": packed, "device": "NPY"}] +
-                      [s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots] +
-                      [s | {"slot": names.index(name)} for name, s in frame_specs.items()],
+                      [s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots],
             "buffers": model["buffers"] + [b | ({"init": [b["init"][0] + shift, b["init"][1] + shift]} if "init" in b else {}) for b in warp["buffers"]] +
                        [{"nbytes": packed, "device": model["inputs"][0]["device"], "dtype": u8}],
             "calls": [{"kind": "copy", "args": [{"buffer": upload, "offset": 0, "nbytes": packed, "dtype": u8}, {"input": names.index("host")}]}] +

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -270,32 +270,15 @@ def _program_uop(call: dict, lib: bytes):
                                UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
 
 
-def _input_tensors(kwargs: dict) -> list:  # in _prepare_jit_inputs' order
-  from tinygrad import Tensor
-  tensors = [t for _, t in sorted(kwargs.items()) if t.__class__ is Tensor]
-  for value in kwargs.values():
-    tensors += [t for t in (value.values() if isinstance(value, dict) else value if isinstance(value, (tuple, list)) else ())
-                if t.__class__ is Tensor and not any(t is y for y in tensors)]
-  return tensors
-
-
 class _Jit:
   def __init__(self, captured, input_names: list, buffers: list):
     self.captured, self.input_names, self.buffers = captured, input_names, buffers
 
   def __call__(self, *args, **kwargs):
     import tinygrad.engine.jit as jit
-    from tinygrad.uop.ops import Ops
-    # same names, no variables: the binding is the tensors' own uops, without _prepare_jit_inputs' graph rewrites
-    if not args and self.__dict__.get("_names") == sorted(kwargs):
-      tensors = _input_tensors(kwargs)
-      if all(t.uop.is_realized for t in tensors):
-        return self.captured([t.uop.src[0] if t.uop.op is Ops.UNSHARD else t.uop for t in tensors], {})
     input_uops, var_vals, names, _ = jit._prepare_jit_inputs(args, kwargs)
     if names != self.input_names:
       raise ValueError(f"expected inputs {self.input_names}, got {names}")
-    if not args and not var_vals:
-      self._names = sorted(kwargs)
     return self.captured(input_uops, var_vals)
 
 
@@ -328,7 +311,7 @@ class PlainJit(_Jit):
         calls.append(_program_uop(call, bytes(blob[slice(*call["lib"])])).call(*arguments))
       else:
         calls.append(arguments[0].store_call(arguments[1]))
-    # allocate gpu buffers
+    # stand-ins for JIT inputs: copy staging to GPU is decided from the input buffers, the real ones bind per call
     stand_ins = {slot: UOp.from_buffer(Buffer(_device(spec["device"], device_map), spec["numel"] * _dtype(spec["dtype"]).itemsize).ensure_allocated(),
                                        _dtype(spec["dtype"])) for slot, spec in inputs.items()}
     input_uops = tuple(stand_ins.get(slot, next(iter(stand_ins.values()), None)) for slot in range(max(stand_ins, default=-1) + 1))

openpilot/sunnypilot/modeld_v2/model_adapters.py

@@ -11,7 +11,7 @@ import pickle
 import numpy as np
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout, SPLIT_FRAMES
+from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout
 from openpilot.sunnypilot.modeld_v2.helpers import load_model
 from openpilot.sunnypilot.modeld_v2.compile_modeld import (POLICY_INPUTS, derive_frame_skip,
                                                            make_split_input_queues, make_supercombo_input_queues)
@@ -169,18 +169,16 @@ class NativeTinygradAdapter(BaseModelAdapter):
     self.warp_frame_size = self.frame_copy_size
     self._init_common()
     self.run_model = self.jits['run']
-    self.split = [name for name in SPLIT_FRAMES if name in self.run_model.input_names]
-    self.frame_inputs: dict[str, Tensor] = {}
 
     self.input_queues = {name: Tensor(np.zeros(shape, dtype=dtype), device=self.model_device).realize()
                          for name, (shape, dtype) in self.input_shapes.items() if name in self.state_pairs}
     shapes = {name: shape for name, (shape, _) in self.input_shapes.items() if name not in self.state_pairs and name != 'new_img'}
-    offsets, packed = pack_layout(shapes, 0 if self.split else self.warp_frame_size)
+    offsets, packed = pack_layout(shapes, self.warp_frame_size)
     self.packed_input = np.zeros(packed, dtype=np.uint8)
     self.host = Tensor(self.packed_input, device='NPY')
     self.numpy_inputs = {name: np.ndarray(shape, dtype=np.float32, buffer=self.packed_input, offset=offsets[name])
                          for name, shape in ({'tfm': (2, 3, 3)} | shapes).items()}
-    self.frames = self.packed_input[offsets['frames']:].reshape(2, -1)
+    self.frames = self.packed_input[offsets['frames']:].reshape(2, self.warp_frame_size)
 
     self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in self.jits['output_specs'].items()}
     for name, next_name in self.state_pairs.items():
@@ -189,29 +187,17 @@ class NativeTinygradAdapter(BaseModelAdapter):
 
   def copy_frames(self, bufs):
     for i, key in enumerate(self._vision_input_names):
-      if key not in bufs:
-        continue
-      if not self.split:
+      if key in bufs:
         data = bufs[key].data if hasattr(bufs[key], 'data') else bufs[key]
         np.copyto(self.frames[i], np.frombuffer(data, dtype=np.uint8, count=self.warp_frame_size))
-      elif (name := ('frame', 'big_frame')[i]) in self.split:
-        if isinstance(bufs[key], np.ndarray):  # cached memory: the GPU would read stale lines in place
-          self.frame_inputs[name] = Tensor(np.ascontiguousarray(bufs[key][:self.warp_frame_size]), device=self.model_device).realize()
-          continue
-        ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data  # visionipc buffers are coherent
-        if (key, ptr) not in self._blob_cache:
-          self._blob_cache[(key, ptr)] = Tensor.from_blob(ptr, (self.warp_frame_size,), dtype='uint8', device=self.model_device)
-        self.frame_inputs[name] = self._blob_cache[(key, ptr)]
 
   def reset_warmup_buffers(self) -> None:
     self.packed_input[:] = 0
-    self.frame_inputs.clear()
-    self._blob_cache.clear()
     for key in self.state_pairs:
       self.input_queues[key].assign(0).realize()
 
   def run(self):
-    self.run_model(host=self.host, **self.input_queues, **self.frame_inputs, output_buffers=self.outputs)
+    self.run_model(host=self.host, **self.input_queues, output_buffers=self.outputs)
     return self.outputs['outputs']
 
 

openpilot/sunnypilot/modeld_v2/models/driving_warp_1344x760_tinygrad.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d776c72125156b5dd3eb59768409401e28c8a52a3a619cd3b9f02c10a156fda6
-size 3699072
+oid sha256:4b22fd6bcb3a3e8a642e6866449dd9c30c12e694ff0741cad9e34e4b00d8c5fa
+size 3698799

openpilot/sunnypilot/modeld_v2/models/driving_warp_1928x1208_tinygrad.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a3f13ed12e087817a86afd48b2496c66c4f61a1925065b676b2945e81fabaacd
-size 7924864
+oid sha256:9a17fd6acece4fab23784ef0f3f8bba28a049e9599e5e9e5ee7b36e4b1d24a6f
+size 7924847

openpilot/sunnypilot/modeld_v2/tests/test_plain_artifact.py

@@ -144,21 +144,6 @@ class TestPlainArtifact(OpenpilotTestCase):
     for name in ("outputs", "next_state_feat_q"):
       assert np.array_equal(inputs["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
 
-    split_path = os.path.join(self.tmp.name, "warp_split_tinygrad.pkl")
-    with mock.patch.object(sys, "argv", ["compile_warp", "--frame", FRAME, "--warp-to", f"{MODEL_W}x{MODEL_H}", "--output", split_path, "--split-frames"]):
-      compile_warp.main()
-    split = load_model(path, cache=False, extend=functools.partial(frame_part, split_path))
-    assert split["run"].input_names == ["big_frame", "frame", "host", "state_feat_q"]
-    offsets, packed = pack_layout(HOST, 0)
-    host = np.zeros(packed, np.uint8)
-    for name, shape in ({"tfm": (2, 3, 3)} | HOST).items():
-      np.ndarray(shape, np.float32, host, offsets[name])[...] = tfm.numpy() if name == "tfm" else inputs[name].numpy()
-    out = {"outputs": Tensor.zeros(OUT).contiguous().realize(), "next_state_feat_q": Tensor.zeros(STATE).contiguous().realize()}
-    split["run"](host=Tensor(host, device="NPY"), frame=Tensor(frames.numpy()[0]).realize(), big_frame=Tensor(frames.numpy()[1]).realize(),
-                 state_feat_q=expected["state_feat_q"], output_buffers=out)
-    for name in ("outputs", "next_state_feat_q"):
-      assert np.array_equal(out[name].numpy(), expected["output_buffers"][name].numpy()), name
-
   def test_tinygrad_api_the_loader_reads(self):
     import tinygrad.engine.jit as jit
     from tinygrad.device import Buffer, TinyELF

openpilot/system/hardware/hardwared.py

@@ -252,6 +252,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   chestnut = Chestnut()
   chestnut_status = ChestnutStatus()
   branch = get_short_branch()
+  set_offroad_alert("Offroad_CcncPortEol", True)
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -353,6 +354,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
     startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
+    startup_conditions["ccnc_port_eol_ack"] = params.get_bool("CcncPortEolAck")
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
     startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp