fix stale sessions

# Conflicts:
#	openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

.gitattributes

@@ -14,8 +14,3 @@ openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 
 openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text
-
-# Achievements icons are kept out of LFS on this dev branch (no push access to the LFS store).
-# Move them into LFS before this goes upstream.
-openpilot/sunnypilot/selfdrive/assets/icons_mici/achievements.png -filter binary
-openpilot/sunnypilot/selfdrive/assets/offroad/icon_achievements.png -filter binary

.github/workflows/build-single-tinygrad-model.yaml

@@ -34,11 +34,6 @@ on:
         required: false
         type: string
         default: 'qcom'
-      on_device:
-        description: 'Compile on the tici / chestnut runner instead of on a hosted runner with tinygrad''s qcom / amd mock'
-        required: false
-        type: boolean
-        default: false
       hf_repo:
         description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
         required: false
@@ -112,11 +107,6 @@ on:
         options:
           - qcom
           - chestnut
-      on_device:
-        description: 'Compile on the tici / chestnut runner instead of on a hosted runner with tinygrad''s qcom / amd mock'
-        required: false
-        type: boolean
-        default: false
       hf_repo:
         description: 'Hugging Face dataset repository'
         required: false
@@ -140,7 +130,6 @@ jobs:
       is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
       target_hardware: ${{ inputs.target_hardware }}
-      on_device: ${{ inputs.on_device || false }}
     secrets: inherit
 
   publish_model:

.github/workflows/chestnut-build-parity/action.yml

@@ -1,61 +0,0 @@
-name: Chestnut mock build parity
-description: >-
-  Convert one commaai precompiled chestnut model (LS2) on this runner under tinygrad's amd mock, as a hosted chestnut build does, and require the
-  exact bytes the chestnut runner built (the published artifact). Needs setup-amd-mock, numpy and zstandard; tinygrad_repo checked out.
-runs:
-  using: composite
-  steps:
-    - name: Key this check by everything its result depends on
-      id: key
-      shell: bash
-      env:
-        SOURCES: ${{ hashFiles('tinygrad_repo/tinygrad/**/*.py', 'tinygrad_repo/test/mockgpu/**', 'openpilot/sunnypilot/modeld_v2/*.py', '.github/workflows/chestnut-build-parity/action.yml') }}
-      run: echo "key=chestnut-build-parity-$SOURCES-$(sha256sum "$LLVM_PATH" | cut -c1-16)-$(python3 -c 'import platform; print(platform.python_version())')" >> "$GITHUB_OUTPUT"
-
-    - name: Passed before with all of it identical?
-      id: passed
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.chestnut_build_parity.passed
-        key: ${{ steps.key.outputs.key }}
-
-    - name: Rebuild LS2 on the mock and require the chestnut runner's artifact byte for byte
-      if: steps.passed.outputs.cache-hit != 'true'
-      shell: bash
-      env:
-        REF: b92fc4828664f8767bce5e92f1630ed319cbe509  # commaai/openpilot: precompiled big_driving_tinygrad.pkl, pins tinygrad ec91b74b5b
-        PKL_OID: b4dead3ee091d66ab002a6b8e716c26f4f79e3c931e4be5f48e017ba92f6e960
-        PKL_SIZE: "767228907"
-        TG_SHA: ec91b74b5b6b0fc924b72d3f27689679ca2438b9
-        WANT: 680a8d629785f2b1d1a2b0e40d0dfbcd0f7291c21e20c51259f1d768a22ec217  # driving_light_speed_2_november_04_2026_tinygrad.pkl, recompiled46
-      run: |
-        set -euo pipefail
-        work="$RUNNER_TEMP/chestnut_parity" && rm -rf "$work" && mkdir -p "$work"
-        href=$(curl -fsSL --retry 3 -X POST -H "Accept: application/vnd.git-lfs+json" -H "Content-Type: application/vnd.git-lfs+json" \
-          https://huggingface.co/commaai/openpilot-lfs.git/info/lfs/objects/batch \
-          -d "{\"operation\":\"download\",\"transfer\":[\"basic\"],\"objects\":[{\"oid\":\"$PKL_OID\",\"size\":$PKL_SIZE}]}" | jq -r '.objects[0].actions.download.href')
-        curl -fsSL --retry 3 -o "$work/big_driving_tinygrad.pkl" "$href"
-        echo "$PKL_OID  $work/big_driving_tinygrad.pkl" | sha256sum -c -
-        tg="$work/tinygrad" && git init -q "$tg" && git -C "$tg" fetch -q --depth 1 https://github.com/tinygrad/tinygrad "$TG_SHA" && git -C "$tg" checkout -q FETCH_HEAD
-        CHECK_OOB=0 GMMU=0 PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo" python3 tinygrad_repo/test/mockgpu/usb_server.py \
-          env DEV=USB+AMD PYTHONPATH="$tg:$GITHUB_WORKSPACE" python3 openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py "$work/big_driving_tinygrad.pkl" "$work/LS2.pkl"
-        got=$(sha256sum "$work/LS2.pkl" | cut -d' ' -f1)
-        if [ "$got" != "$WANT" ]; then
-          echo "::error::the mock's LS2 build ($got) is not the chestnut runner's ($WANT): this runner's LLVM or the mock no longer builds what the chestnut does"
-          exit 1
-        fi
-        echo "LS2 rebuilt on the mock: byte-identical to the chestnut runner's build"
-        touch ~/.chestnut_build_parity.passed
-
-    - name: Remember the pass
-      if: steps.passed.outputs.cache-hit != 'true'
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.chestnut_build_parity.passed
-        key: ${{ steps.key.outputs.key }}
-
-    - name: Already passed
-      if: steps.passed.outputs.cache-hit == 'true'
-      shell: bash
-      run: |
-        echo "LS2 rebuild skipped: it already matched the chestnut runner's build with this exact mock, converter, LLVM and python"

.github/workflows/setup-amd-mock/action.yml

@@ -1,60 +0,0 @@
-name: Set up tinygrad's amd mock
-description: LLVM 20 and ROCm comgr, as tinygrad_repo/.github/actions/setup-tinygrad installs them for the mock gpu
-inputs:
-  emu_cache:
-    description: >-
-      Keep tinygrad's cache db (the emulator's compiled kernels and gate results) between runs under this name, e.g. the model's file name.
-      Empty: no cache.
-    default: ''
-runs:
-  using: composite
-  steps:
-    - name: Install LLVM 20 and ROCm comgr
-      shell: bash
-      run: |
-        . /etc/os-release
-        curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc > /dev/null
-        echo "deb http://apt.llvm.org/$VERSION_CODENAME/ llvm-toolchain-$VERSION_CODENAME-20 main" | sudo tee /etc/apt/sources.list.d/llvm.list
-        sudo mkdir -p /etc/apt/keyrings
-        curl -fsSL https://repo.radeon.com/rocm/rocm.gpg.key | gpg --dearmor | sudo tee /etc/apt/keyrings/rocm.gpg > /dev/null
-        echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/rocm.gpg] https://repo.radeon.com/rocm/apt/7.1 $VERSION_CODENAME main" | sudo tee /etc/apt/sources.list.d/rocm.list
-        printf 'Package: *\nPin: release o=repo.radeon.com\nPin-Priority: 600\n' | sudo tee /etc/apt/preferences.d/rocm-pin-600
-        sudo apt-get -qq update && sudo apt-get -qq install -y --no-install-recommends libllvm20 clang-20 lld-20 comgr
-        printf '/opt/rocm/lib\n/opt/rocm/lib64\n' | sudo tee /etc/ld.so.conf.d/rocm.conf && sudo ldconfig
-        echo "/usr/lib/llvm-20/bin" >> "$GITHUB_PATH"
-        llvm=$(ls /usr/lib/llvm-20/lib/libLLVM*.so* /usr/lib/*-linux-gnu/libLLVM-20.so* 2>/dev/null | head -1 || true)
-        [ -n "$llvm" ] || { echo "::error::libLLVM 20 not found"; exit 1; }
-        echo "LLVM_PATH=$llvm" >> "$GITHUB_ENV"
-
-    - name: Cache the chestnut's firmware
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/tinygrad/downloads/fw
-        key: chestnut-fw-${{ hashFiles('tinygrad_repo/tinygrad/runtime/autogen/am/fw.py') }}
-
-    - name: Fetch the chestnut's firmware (gitlab times out now and then; the mock boots from it)
-      shell: bash
-      run: |
-        for i in 1 2 3 4 5; do
-          PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo" python3 -c "
-        from tinygrad.helpers import fetch_fw
-        from tinygrad.runtime.autogen.am import fw
-        for n, h in fw.hashes.items():
-          if n.startswith(('psp_14_0_2_', 'smu_14_0_2.', 'sdma_7_0_0.', 'gc_12_0_0_')): fetch_fw('amdgpu', n, h)" && exit 0
-          sleep $((i * 10))
-        done
-        echo "::error::could not fetch the chestnut's firmware from gitlab"; exit 1
-
-    - name: runner cpu
-      if: inputs.emu_cache != ''
-      id: cpu
-      shell: bash
-      run: echo "cpu=$( (grep -m1 '^model name' /proc/cpuinfo; grep -m1 '^flags' /proc/cpuinfo) | sha256sum | cut -c1-16)" >> "$GITHUB_OUTPUT"
-
-    - name: Keep the emulator's compiled kernels between runs
-      if: inputs.emu_cache != ''
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/tinygrad/cache.db
-        key: emu-${{ steps.cpu.outputs.cpu }}-${{ hashFiles('tinygrad_repo/tinygrad/**/*.py', 'tinygrad_repo/test/mockgpu/**') }}-${{ inputs.emu_cache }}
-        restore-keys: emu-${{ steps.cpu.outputs.cpu }}-${{ hashFiles('tinygrad_repo/tinygrad/**/*.py', 'tinygrad_repo/test/mockgpu/**') }}-

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

@@ -35,11 +35,6 @@ on:
         required: false
         type: string
         default: 'qcom'
-      on_device:
-        description: 'Compile on the tici / chestnut runner instead of on a hosted runner with tinygrad''s qcom / amd mock'
-        required: false
-        type: boolean
-        default: false
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -64,11 +59,6 @@ on:
           - qcom
           - chestnut
         default: 'qcom'
-      on_device:
-        description: 'Compile on the tici / chestnut runner instead of on a hosted runner with tinygrad''s qcom / amd mock'
-        required: false
-        type: boolean
-        default: false
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -163,67 +153,18 @@ jobs:
           if-no-files-found: error
 
   build_model:
-    runs-on: ${{ inputs.on_device && fromJSON(inputs.target_hardware == 'chestnut' && '["self-hosted","chestnut"]' || '["self-hosted","tici"]') || 'ubuntu-24.04' }}
+    runs-on: [self-hosted, "${{ inputs.target_hardware == 'chestnut' && 'chestnut' || 'tici' }}"]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
       REF: ${{ inputs.upstream_branch }}
-      MOCK_BUILD: ${{ !inputs.on_device }}
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
           submodules: recursive
 
-      - name: Set up the hosted mock build
-        if: env.MOCK_BUILD == 'true'
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-
-      - name: Install LLVM 20 and ROCm comgr for the amd mock
-        if: env.MOCK_BUILD == 'true' && inputs.target_hardware == 'chestnut'
-        uses: ./.github/workflows/setup-amd-mock
-        with:
-          emu_cache: build
-
-      - name: Install the amd mock build dependencies
-        if: env.MOCK_BUILD == 'true' && inputs.target_hardware == 'chestnut'
-        run: |
-          python3 -m pip install -q numpy zstandard
-
-      - name: Install the qcom mock build dependencies
-        if: env.MOCK_BUILD == 'true' && inputs.target_hardware != 'chestnut'
-        id: qcom_deps
-        run: |
-          sudo apt-get -qq update && sudo apt-get -qq install -y --no-install-recommends qemu-user-static aria2
-          python3 -m pip install -q numpy zstandard tinymesa==25.2.7.2
-          echo "qemu=$(dpkg-query -W -f='${Version}' qemu-user-static)" >> "$GITHUB_OUTPUT"
-
-      - name: Compiler check passed before with all of it identical?
-        if: env.MOCK_BUILD == 'true' && inputs.target_hardware != 'chestnut'
-        id: qcom_compiler
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.qcom_compiler_parity.passed
-          key: qcom-compiler-parity-${{ steps.qcom_deps.outputs.qemu }}-${{ hashFiles('tinygrad_repo/test/device/qcom/compiler_parity.py', 'tinygrad_repo/test/mockgpu/qcom/a630_compiled.pkl.xz', 'tinygrad_repo/tinygrad/runtime/support/compiler_qcom.py') }}
-
-      - name: Check the off-device qcom compiler builds the a630's bytes
-        if: env.MOCK_BUILD == 'true' && inputs.target_hardware != 'chestnut' && steps.qcom_compiler.outputs.cache-hit != 'true'
-        run: |
-          # every kernel an a630 has compiled must compile to the same bytes here before a model is built here
-          PYTHONPATH="$TINYGRAD_PATH" python3 "$TINYGRAD_PATH/test/device/qcom/compiler_parity.py" check "$TINYGRAD_PATH/test/mockgpu/qcom/a630_compiled.pkl.xz"
-          touch ~/.qcom_compiler_parity.passed
-
-      - name: Remember the compiler check passed
-        if: env.MOCK_BUILD == 'true' && inputs.target_hardware != 'chestnut' && steps.qcom_compiler.outputs.cache-hit != 'true'
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.qcom_compiler_parity.passed
-          key: ${{ steps.qcom_compiler.outputs.cache-primary-key }}
-
       - name: Set environment variables
-        if: env.MOCK_BUILD != 'true'
         id: set-env
         run: |
           # Set up common environment
@@ -236,7 +177,6 @@ jobs:
           printenv >> $GITHUB_ENV
 
       - name: Setup build environment
-        if: env.MOCK_BUILD != 'true'
         run: |
           mkdir -p "${BUILD_DIR}/"
           sudo find $BUILD_DIR/ -mindepth 1 -delete
@@ -258,28 +198,21 @@ jobs:
 
       - name: Build Model
         run: |
-          if [ "$MOCK_BUILD" = "true" ]; then
-            TASKSET=""
-            export CHECK_OOB=0 GMMU=0  # as test/mockgpu runs the amd mock
-          else
-            source /etc/profile
-            export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-            export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-            source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-            TASKSET="taskset -c 7"
-          fi
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
           COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
 
-          MOCK=$([ "$MOCK_BUILD" = "true" ] && echo MOCK || true)
-          TG_FLAGS_QCOM="DEV=${MOCK:+MOCK+}QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 OPENPILOT_HACKS=1"
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 OPENPILOT_HACKS=1"
           if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
             echo "CHESTNUT build"
             export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=${MOCK}USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
@@ -294,16 +227,14 @@ jobs:
             echo "Converting commaai's precompiled model with tinygrad $TG_SHA"
             UPSTREAM_TG="${{ runner.temp }}/upstream_tinygrad"
             rm -rf "$UPSTREAM_TG" && git init -q "$UPSTREAM_TG" && git -C "$UPSTREAM_TG" fetch -q --depth 1 "$TG_URL" "$TG_SHA" && git -C "$UPSTREAM_TG" checkout -q FETCH_HEAD
-            ON_MOCK=""
-            if [ "$MOCK_BUILD" = "true" ]; then ON_MOCK="env PYTHONPATH=$TINYGRAD_PATH python3 $TINYGRAD_PATH/test/mockgpu/usb_server.py"; fi
             CONVERTED="${{ runner.temp }}/big_driving_tinygrad_plain.pkl"
-            $ON_MOCK env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" $TASKSET python3 openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
+            env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
               "${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl" "$CONVERTED"
             mv "$CONVERTED" "$OUTPUT_PKL"
           elif NEW_ARCH_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}*driving*.onnx" -print -quit) &&
                [ -n "$NEW_ARCH_ONNX" ] && grep -qa new_img "$NEW_ARCH_ONNX"; then # the new architecture: one ONNX taking the warped frames as new_img
             echo "Compiling new architecture ONNX: $NEW_ARCH_ONNX"
-            env ${TG_FLAGS} $TASKSET python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
+            env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
               "$NEW_ARCH_ONNX" "$OUTPUT_PKL" --device-input "*" --benchmark-runs 1
           else
             echo "Detected onnx architecture. Routing to native compile_modeld.py."
@@ -353,7 +284,7 @@ jobs:
 
             if [ -n "$MODEL_TYPE" ]; then
               echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
-              env ${TG_FLAGS} $TASKSET python3 "$COMPILE_MODELD" \
+              env ${TG_FLAGS} taskset -c 7 python3 "$COMPILE_MODELD" \
                 --model-type $MODEL_TYPE \
                 --model-size $MODEL_SIZE \
                 --camera-resolutions $CAMERA_RES \
@@ -362,13 +293,6 @@ jobs:
             fi
           fi
 
-      - name: Replay its check frame on the mock and require the result bit for bit
-        if: env.MOCK_BUILD == 'true'
-        env:
-          DEV: ${{ inputs.target_hardware == 'chestnut' && 'MOCKUSB+AMD' || 'MOCK+QCOM' }}
-          PYTHONPATH: ${{ env.TINYGRAD_PATH }}:${{ github.workspace }}
-        run: python3 -m openpilot.sunnypilot.modeld_v2.mock_parity check "${{ env.MODELS_DIR }}/${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}driving_tinygrad.pkl"
-
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -380,7 +304,7 @@ jobs:
             --include='/${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}driving_tinygrad.pkl' \
             --exclude='*' \
             --delete-excluded \
-            $([ "$MOCK_BUILD" = "true" ] || echo --chown=comma:comma) \
+            --chown=comma:comma \
             ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
 
           python3 "${{ github.workspace }}/release/ci/model_generator.py" \
@@ -409,7 +333,7 @@ jobs:
           path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
 
       - name: Re-enable powersave
-        if: always() && env.MOCK_BUILD != 'true'
+        if: always()
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

.github/workflows/test_models.yml

@@ -28,30 +28,24 @@ jobs:
         env:
           DEV: CPU
         run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_plain_artifact.py
-      - uses: ./.github/workflows/setup-amd-mock
+      - name: Install LLVM 20 and ROCm comgr for the amd mock, as tinygrad_repo/.github/actions/setup-tinygrad does
+        run: |
+          . /etc/os-release
+          curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc > /dev/null
+          echo "deb http://apt.llvm.org/$VERSION_CODENAME/ llvm-toolchain-$VERSION_CODENAME-20 main" | sudo tee /etc/apt/sources.list.d/llvm.list
+          sudo mkdir -p /etc/apt/keyrings
+          curl -fsSL https://repo.radeon.com/rocm/rocm.gpg.key | gpg --dearmor | sudo tee /etc/apt/keyrings/rocm.gpg > /dev/null
+          echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/rocm.gpg] https://repo.radeon.com/rocm/apt/7.1 $VERSION_CODENAME main" | sudo tee /etc/apt/sources.list.d/rocm.list
+          printf 'Package: *\nPin: release o=repo.radeon.com\nPin-Priority: 600\n' | sudo tee /etc/apt/preferences.d/rocm-pin-600
+          sudo apt-get -qq update && sudo apt-get -qq install -y --no-install-recommends libllvm20 clang-20 lld-20 comgr
+          printf '/opt/rocm/lib\n/opt/rocm/lib64\n' | sudo tee /etc/ld.so.conf.d/rocm.conf && sudo ldconfig
+          echo "/usr/lib/llvm-20/bin" >> "$GITHUB_PATH"
       - name: Convert a pickled USB+AMD jit and replay it under tinygrad's amd mock
         env:
           DEV: MOCKUSB+AMD
           CHECK_OOB: 0
           GMMU: 0
         run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
-      - name: Resolve commaai's tinygrad pin, which their precompiled chestnut model is built and converted with
-        id: upstream-tg
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          read -r sha url < <(gh api repos/commaai/openpilot/contents/tinygrad_repo --jq '.sha + " " + .submodule_git_url')
-          echo "commaai/openpilot master pins $url@$sha, ours is $(git rev-parse HEAD:tinygrad_repo)"
-          dir="$RUNNER_TEMP/upstream_tinygrad"
-          git init -q "$dir" && git -C "$dir" fetch -q --depth 1 "$url" "$sha" && git -C "$dir" checkout -q FETCH_HEAD
-          echo "path=$dir" >> "$GITHUB_OUTPUT"
-      - name: Convert a pickled USB+AMD jit under commaai's tinygrad, as the chestnut model build does
-        env:
-          DEV: MOCKUSB+AMD
-          CHECK_OOB: 0
-          GMMU: 0
-          PYTHONPATH: ${{ steps.upstream-tg.outputs.path }}:${{ github.workspace }}
-        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
       - name: Where tinygrad moved, for the helper or failure point named above
         if: failure() && github.event_name == 'pull_request'
         run: |
@@ -69,8 +63,6 @@ jobs:
     runs-on: ubuntu-latest
     outputs:
       models: ${{ steps.set-matrix.outputs.models }}
-      chestnut: ${{ steps.set-matrix.outputs.chestnut }}
-      qcom: ${{ steps.set-matrix.outputs.qcom }}
     steps:
       - uses: actions/checkout@v4
       - name: Fetch and Parse json
@@ -82,22 +74,16 @@ jobs:
           with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
             urls = re.findall(r"MODEL_URL(?:_CHESTNUT)?\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", f.read())
 
-          artifacts, chestnut, qcom = [], [], []
+          artifacts = []
           for url in urls:
             data = json.loads(urllib.request.urlopen(url).read())
             for bundle in data.get("bundles", []):
               for model in bundle.get("models", []):
                 if "artifact" in model:
                   artifacts.append(model["artifact"])
-                  if "chestnut" in url:
-                    chestnut.append(model["artifact"])
-                  elif "tinygrad" in model["artifact"]["file_name"]:
-                    qcom.append(model["artifact"])
 
           with open(os.environ["GITHUB_OUTPUT"], "a") as f:
             f.write(f"models={json.dumps(artifacts)}\n")
-            f.write(f"chestnut={json.dumps(chestnut)}\n")
-            f.write(f"qcom={json.dumps(qcom)}\n")
           '
 
   test-model:
@@ -134,81 +120,3 @@ jobs:
           export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
           python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
           python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py
-
-  chestnut-mock-parity:
-    name: Mock parity ${{ matrix.artifact.file_name }}
-    needs: generate-matrix
-    runs-on: ubuntu-24.04
-    strategy:
-      fail-fast: false
-      matrix:
-        artifact: ${{ fromJson(needs.generate-matrix.outputs.chestnut) }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-amd-mock
-        with:
-          emu_cache: ${{ matrix.artifact.file_name }}
-      - run: python3 -m pip install -q numpy
-      - name: Download model
-        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
-          MODEL_URL: ${{ matrix.artifact.download_uri.url }}
-          MODEL_SHA: ${{ matrix.artifact.download_uri.sha256 }}
-        shell: bash
-        run: |
-          AUTH=()
-          if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
-          curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "$RUNNER_TEMP/model.pkl" "$MODEL_URL"
-          if [ -n "$MODEL_SHA" ]; then echo "$MODEL_SHA  $RUNNER_TEMP/model.pkl" | sha256sum -c -; fi
-      - name: Replay its check frame on the amd mock and require the chestnut's result bit for bit
-        env:
-          PYTHONPATH: ${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}
-        run: python3 -m openpilot.sunnypilot.modeld_v2.mock_parity check "$RUNNER_TEMP/model.pkl"
-
-  qcom-mock-parity:
-    name: QCOM mock parity ${{ matrix.artifact.file_name }}
-    needs: generate-matrix
-    runs-on: ubuntu-24.04
-    strategy:
-      fail-fast: false
-      matrix:
-        artifact: ${{ fromJson(needs.generate-matrix.outputs.qcom) }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - run: python3 -m pip install -q numpy tinymesa==25.2.7.2
-      - name: Download model
-        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
-          MODEL_URL: ${{ matrix.artifact.download_uri.url }}
-          MODEL_SHA: ${{ matrix.artifact.download_uri.sha256 }}
-        shell: bash
-        run: |
-          AUTH=()
-          if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
-          curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "$RUNNER_TEMP/model.pkl" "$MODEL_URL"
-          if [ -n "$MODEL_SHA" ]; then echo "$MODEL_SHA  $RUNNER_TEMP/model.pkl" | sha256sum -c -; fi
-      - name: Replay its check frame on the qcom mock and require the comma device's result bit for bit
-        env:
-          DEV: MOCK+QCOM
-          PYTHONPATH: ${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}
-        run: python3 -m openpilot.sunnypilot.modeld_v2.mock_parity check "$RUNNER_TEMP/model.pkl"
-
-  chestnut-mock-build-parity:
-    name: Chestnut build on the amd mock = chestnut runner build
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-amd-mock
-        with:
-          emu_cache: chestnut-build-parity
-      - run: python3 -m pip install -q numpy zstandard
-      - uses: ./.github/workflows/chestnut-build-parity

docs/superpowers/specs/2026-11-10-achievements-design.md

@@ -1,95 +0,0 @@
-# Achievements: phase 1, on the device
-
-## Status: built, tested off-device, not yet run on a car
-
-Phase 1 of the sunnypilot community plan. The device counts driving stats and unlocks achievements, and shows them on
-an Achievements screen. Nothing leaves the device yet; sharing, the community site, leaderboards, groups, the map and
-contests come in later phases on a separate backend.
-
-## Where it fits
-
-```mermaid
-flowchart LR
-  subgraph device[On the device: this phase]
-    cereal[cereal: carState, selfdriveState,<br/>selfdriveStateSP, modelV2,<br/>driverMonitoringState, GPS] --> d[achievementsd<br/>10 Hz, read-only]
-    d --> f[(state.json<br/>/data/media/0/achievements)]
-    f --> ui[Achievements screen<br/>comma four and comma 3X]
-    ui --> seen[(seen.json)]
-  end
-  f -. later phase: opt-in .-> backend[Achievements backend] --> site[Community site] & forum[Forum badges]
-```
-
-## How a drive is counted
-
-```mermaid
-flowchart TD
-  s[Sample every 0.1 s] --> g{gap over 1 s or<br/>speed outside 0-70 m/s?}
-  g -- yes --> skip[count nothing]
-  g -- no --> e{engaged?<br/>selfdriveState.active<br/>or MADS active}
-  e -- no --> lc
-  e -- yes --> add[add distance, time,<br/>day, model, area, MADS-only km]
-  add --> lc{lane change reached<br/>finishing?}
-  lc --> u[check every tier,<br/>record new unlocks]
-```
-
-- **Engaged** means `selfdriveState.active` (including driver override) or MADS lateral active. MADS-only distance
-  is MADS active without `selfdriveState.active`.
-- **Days** (Regular, Streak, Road Trip, Four Seasons) need a valid wall clock. Before the clock is set, distance still
-  counts but no day does. The calendar day comes from GPS longitude (15 degrees per hour), since the device clock runs
-  in UTC; without GPS it falls back to the system zone. Southern-hemisphere fixes flip the seasons.
-- **Explorer areas** are geohash cells of about 5 km, salted with a random per-device salt and SHA-256 hashed before
-  they are stored. No coordinates are written anywhere.
-- **Attentive** is the longest engaged stretch without a red (level three) driver monitoring alert.
-- **Dev Branch Brave** counts on any channel that is not a release channel, plus staging channels.
-
-## Catalog
-
-`openpilot/sunnypilot/achievements/catalog.json`, 14 achievements and 32 tiers. Unlock ids are `odometer.silver`, or
-just `first_light` for single-tier ones, so a later backend can map them one-to-one to badges.
-
-| Achievement | Measures | Tiers |
-| --- | --- | --- |
-| First Light | engaged km | 0.1 |
-| Odometer | engaged km | 100 / 1,000 / 10,000 / 50,000 |
-| Captain's Hours | engaged hours | 10 / 100 / 1,000 |
-| Regular | days engaged | 7 / 30 / 100 / 365 |
-| Streak | days in a row | 7 / 30 |
-| Steady Hands | MADS-only km | 100 / 1,000 |
-| Smooth Merger | assisted lane changes | 10 / 100 / 1,000 |
-| Road Trip | km in one day | 500 |
-| Explorer | 5 km areas | 5 / 25 / 100 |
-| Model Hopper | models with 50+ km | 3 / 5 / 10 |
-| Dev Branch Brave | km on dev or staging | 100 |
-| Attentive | hours without a red DM alert | 10 / 50 / 100 |
-| Four Seasons | seasons driven | 4 |
-| Linked Up | sunnylink on and registered | yes |
-
-Safety rules for anything added here: never reward speed, hard driving, night or fatigue driving, or fewer
-takeovers, and never show anything while driving.
-
-## Why a state file, not Params
-
-This is a prebuilt branch: a new Params key means rebuilding the ARM64 `libparams_c.so` (see
-`openpilot/tools/params/README.md`). Progress lives in `/data/media/0/achievements/state.json` instead, written
-atomically every 30 s and when the drive ends. It survives updates. The UI keeps its own `seen.json`, so the daemon and
-the UI never write the same file. A corrupt state file is moved to `state.corrupt.json` instead of being overwritten.
-
-## Files
-
-| File | What it is |
-| --- | --- |
-| `sunnypilot/achievements/catalog.json`, `catalog.py` | the goals, and display text for both UIs |
-| `sunnypilot/achievements/engine.py` | pure Python counting and unlocks, no cereal or Params |
-| `sunnypilot/achievements/achievementsd.py` | onroad process that feeds the engine from cereal |
-| `system/manager/process_config.py` | registers `achievementsd` as `only_onroad` |
-| `selfdrive/ui/sunnypilot/achievements_store.py` | shared reader for both screens |
-| `selfdrive/ui/sunnypilot/mici/layouts/achievements.py` | comma four screen, plus the settings button with "N new" |
-| `selfdrive/ui/sunnypilot/layouts/settings/achievements.py` | comma 3X settings panel |
-
-## Testing
-
-`pytest openpilot/sunnypilot/achievements/tests openpilot/selfdrive/ui/sunnypilot/tests/test_achievements_store.py`
-(26 tests, no device libraries needed). The screens and achievementsd were syntax- and lint-checked only: the UI and
-cereal libraries on this branch are ARM64 builds, so neither has run yet. First drive to check: the process starts
-onroad, `state.json` appears within 30 s of engaging, and the comma four settings show "achievements" with
-"2 new" (First Light, and Linked Up if sunnylink is on) after the drive.

openpilot/common/params_keys.h

@@ -149,7 +149,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelBoostSP", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -235,6 +234,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
     {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
 
+    {"SunnylinkLocalApps", {PERSISTENT, JSON}},
+    {"SunnylinkLocalAppsMeta", {PERSISTENT, JSON}},
+    {"SunnylinkLocalEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkLocalRevoke", {CLEAR_ON_MANAGER_START, STRING}},
+    {"SunnylinkLocalEnroll", {CLEAR_ON_MANAGER_START, STRING}},
+    {"SunnylinkLocalCloudRevoke", {CLEAR_ON_MANAGER_START, STRING}},
+
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
     {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},

openpilot/selfdrive/controls/lib/desire_helper.py

@@ -28,8 +28,6 @@ class DesireHelper:
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
     self.lane_turn_direction = TurnDirection.none
-    self.turn_frames = 0
-    self.turn_repulse = 98
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -97,10 +95,8 @@ class DesireHelper:
     self.prev_one_blinker = one_blinker and lateral_active
 
     if self.lane_turn_direction != TurnDirection.none:
-      self.turn_frames += 1
-      self.desire = TURN_DESIRES[self.lane_turn_direction] if self.turn_frames % self.turn_repulse else log.Desire.none
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
-      self.turn_frames = 0
       self.desire = log.Desire.none
       if self.lane_change_state == LaneChangeState.laneChangeStarting:
         if self.lane_change_direction == LaneChangeDirection.left:

openpilot/selfdrive/modeld/models/driving_supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b043d3bbc556e3a872c0edde4081f99b5ba92cbfd98eaea2ee2cbb87e9f277ec
-size 82539558
+oid sha256:65a08adc31d5c456219687d99b7bf5e44d61dae2d49ea67850e76105c7248cce
+size 60918562

openpilot/selfdrive/ui/sunnypilot/achievements_store.py

@@ -1,97 +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.
-
-What both Achievements screens and the settings buttons read: the state file
-achievementsd writes, plus the UI's own list of unlocks already seen.
-No pyray here, so it can be tested without a display.
-"""
-import time
-from pathlib import Path
-
-from openpilot.sunnypilot.achievements.catalog import AchievementStatus, Catalog, format_amount, load_catalog, statuses
-from openpilot.sunnypilot.achievements.engine import State, load_seen, load_state, save_seen, seen_path, state_path
-
-REFRESH_INTERVAL_S = 5.0
-
-
-class AchievementsStore:
-  def __init__(self, state_file: Path | None = None, seen_file: Path | None = None, catalog: Catalog | None = None):
-    self._state_file = state_file
-    self._seen_file = seen_file
-    self.catalog = catalog or load_catalog()
-    self.state = State()
-    self._seen: set[str] = set()
-    self._mtime: float | None = None
-    self._last_check = 0.0
-    self.version = 0  # bumps on every reload or seen change, so several screens can share one store
-
-  def _state_path(self) -> Path:
-    return self._state_file or state_path()
-
-  def _seen_path(self) -> Path:
-    return self._seen_file or seen_path()
-
-  def refresh(self, force: bool = False) -> bool:
-    """Reload if the state file changed. Cheap enough to call every frame. Returns True when reloaded."""
-    now = time.monotonic()
-    if not force and now - self._last_check < REFRESH_INTERVAL_S:
-      return False
-    self._last_check = now
-    try:
-      mtime = self._state_path().stat().st_mtime
-    except OSError:
-      mtime = None
-    if not force and mtime == self._mtime:
-      return False
-    self._mtime = mtime
-    try:
-      self.state = load_state(self._state_path()) if mtime is not None else State()
-    except OSError:
-      return False
-    self._seen = load_seen(self._seen_path())
-    self.version += 1
-    return True
-
-  def statuses(self) -> list[AchievementStatus]:
-    return statuses(self.catalog, self.state.metrics(), self.state.unlocked)
-
-  def status(self, achievement_id: str) -> AchievementStatus | None:
-    return next((s for s in self.statuses() if s.achievement.id == achievement_id), None)
-
-  def unlock_ids(self, achievement_id: str) -> list[str]:
-    a = next((a for a in self.catalog.achievements if a.id == achievement_id), None)
-    return [a.unlock_id(t) for t in a.tiers] if a else []
-
-  def unlocked_count(self) -> tuple[int, int]:
-    all_ids = self.catalog.all_unlock_ids()
-    return sum(1 for uid in all_ids if uid in self.state.unlocked), len(all_ids)
-
-  def new_ids(self) -> set[str]:
-    return {uid for uid in self.state.unlocked if uid not in self._seen and uid in set(self.catalog.all_unlock_ids())}
-
-  def mark_all_seen(self) -> None:
-    new = self.new_ids()
-    if not new:
-      return
-    self._seen |= new
-    self.version += 1
-    try:
-      save_seen(self._seen, self._seen_path())
-    except OSError:
-      pass
-
-  def totals_text(self, is_metric: bool = True) -> str:
-    m = self.state.metrics()
-    unlocked, total = self.unlocked_count()
-    return "\n".join([
-      f"{format_amount(m['engaged_km'], 'km', is_metric)} engaged",
-      f"{format_amount(m['engaged_h'], 'h')} engaged",
-      f"{int(m['active_days'])} days, best streak {int(m['best_streak_days'])}",
-      f"{unlocked} of {total} unlocked",
-    ])
-
-
-achievements_store = AchievementsStore()

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

@@ -1,52 +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.
-
-comma 3X Achievements panel: a totals row, then one row per achievement.
-Tap a row to read what it is for. Opening the panel marks new unlocks as seen.
-"""
-from openpilot.selfdrive.ui.sunnypilot.achievements_store import AchievementsStore, achievements_store
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.list_view import text_item
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-
-
-class AchievementsLayout(Widget):
-  def __init__(self, store: AchievementsStore = achievements_store):
-    super().__init__()
-    self._store = store
-    self._new: set[str] = set()
-
-    unlocked = text_item(tr("Unlocked"), self._unlocked_text, description=lambda: self._store.totals_text(ui_state.is_metric))
-    items = [unlocked]
-    for a in self._store.catalog.achievements:
-      items.append(text_item(a.name, lambda aid=a.id: self._row_value(aid), description=a.description))
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _unlocked_text(self) -> str:
-    unlocked, total = self._store.unlocked_count()
-    return f"{unlocked} / {total}"
-
-  def _row_value(self, achievement_id: str) -> str:
-    status = self._store.status(achievement_id)
-    if status is None:
-      return ""
-    is_new = any(uid in self._new for uid in self._store.unlock_ids(achievement_id))
-    return (tr("NEW") + " · " if is_new else "") + status.summary(ui_state.is_metric)
-
-  def show_event(self):
-    self._scroller.show_event()
-    self._store.refresh(force=True)
-    # remembered for this visit, so the NEW labels stay up while the panel is open
-    self._new = self._store.new_ids()
-    self._store.mark_all_seen()
-
-  def _update_state(self):
-    self._store.refresh()
-
-  def _render(self, rect):
-    self._scroller.render(rect)

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

@@ -57,12 +57,6 @@ class CruiseLayout(Widget):
       description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
-    self.accel_boost_toggle = toggle_item_sp(
-      title=tr("Acceleration Boost"),
-      description=tr("Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. " +
-                     "Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first."),
-      param="AccelBoostSP")
-
     self.custom_acc_toggle = toggle_item_sp(
       title=tr("Custom ACC Speed Increments"),
       description="",
@@ -92,7 +86,6 @@ class CruiseLayout(Widget):
       self.icbm_toggle,
       self.scc_v_toggle,
       self.scc_m_toggle,
-      self.accel_boost_toggle,
       self.custom_acc_toggle,
       self.custom_acc_short_increment,
       self.custom_acc_long_increment,
@@ -143,8 +136,6 @@ class CruiseLayout(Widget):
           self.icbm_toggle.set_description(new_desc)
           self.icbm_toggle.show_description(True)
 
-      self.accel_boost_toggle.action_item.set_enabled(has_long)
-
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
@@ -160,7 +151,6 @@ class CruiseLayout(Widget):
     else:
       has_icbm = has_long = False
       self.icbm_toggle.action_item.set_enabled(False)
-      self.accel_boost_toggle.action_item.set_enabled(False)
       self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
 
     show_custom_acc_desc = False

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

@@ -11,7 +11,6 @@ import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.achievements import AchievementsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
@@ -51,7 +50,6 @@ OP.PanelType = IntEnum(  # type: ignore[assignment] # ty: ignore[invalid-assignm
     "NAVIGATION",
     "TRIPS",
     "VEHICLE",
-    "ACHIEVEMENTS",
   ],
   start=0,
 )
@@ -124,8 +122,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
       OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
       # OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
       OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
-      OP.PanelType.ACHIEVEMENTS: PanelInfo(tr_noop("Achievements"), AchievementsLayout(),
-                                           icon="../../sunnypilot/selfdrive/assets/offroad/icon_achievements.png"),
       OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
       OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
       OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),

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

@@ -4,24 +4,33 @@ 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 time
+
 import pyray as rl
+from functools import partial
 from openpilot.cereal import custom
+from openpilot.common.version import sunnylink_consent_version
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.sunnypilot.sunnylink.athena.local_app_rows import MAX_LOCAL_APP_ROWS, LocalAppRow
+from openpilot.sunnypilot.sunnylink.athena.local_auth_daemon import (
+  app_rows,
+  pending_enrollment,
+  request_revoke,
+  request_revoke_all,
+)
 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
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, button_item_sp, toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import dual_button_item
+from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.common.version import sunnylink_consent_version
-
 
 class SunnylinkHeader(Widget):
   def __init__(self):
@@ -192,6 +201,15 @@ class SunnylinkLayout(Widget):
     self._backup_btn.set_button_style(ButtonStyle.NORMAL)
     self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
 
+    self._mobile_app_btn = button_item_sp(
+      title=tr("Sunnylink Local Connections"),
+      button_text=tr("CONFIGURE"),
+      description=tr("Manage the mobile app(s) connected over Wi-Fi: pair a new app ") +
+                  tr("or unpair existing ones."),
+      callback=self._open_local_apps,
+    )
+    self._mobile_app_btn.set_visible(lambda: self._sunnylink_enabled)
+
     items = [
       SunnylinkHeader(),
       LineSeparator(),
@@ -202,9 +220,11 @@ class SunnylinkLayout(Widget):
       LineSeparator(),
       self._pair_btn,
       LineSeparator(),
+      self._mobile_app_btn,
+      LineSeparator(),
       self._sunnylink_uploader_toggle,
       LineSeparator(),
-      self._sunnylink_backup_restore_buttons
+      self._sunnylink_backup_restore_buttons,
     ]
     return items
 
@@ -352,6 +372,9 @@ class SunnylinkLayout(Widget):
     self._pair_btn.action_item.set_text(pair_btn_text)
     self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
 
+  def _open_local_apps(self):
+    gui_app.push_widget(SunnylinkLocalAppLayout())
+
   def _render(self, rect):
     self._scroller.render(rect)
 
@@ -364,3 +387,138 @@ class SunnylinkLayout(Widget):
   def hide_event(self):
     super().hide_event()
     ui_state.sunnylink_state.set_settings_open(False)
+
+
+class SunnylinkLocalAppLayout(Widget):
+
+  # How long a requested unpair may stay visible before the UI calls it stuck: the local
+  # daemon's tick services requests about once a second, so anything older was never claimed.
+  _REVOKE_STUCK_S = 4.0
+
+  def __init__(self):
+    super().__init__()
+    self._rows_cache: list[LocalAppRow] = []
+    self._pending_revokes: dict[str, float] = {}
+    self._pending_revoke_all: float | None = None
+
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(gui_app.pop_widget)
+
+    self._local_connections_toggle = toggle_item_sp(
+      title=tr("Enable local connections"),
+      description=tr("Let the sunnylink mobile app connect to this device over Wi-Fi. ") +
+                  tr("Turn this off to stop the local daemon and keep sunnylink itself running."),
+      param="SunnylinkLocalEnabled",
+    )
+
+    self._revoke_all_btn = button_item_sp(
+      title=tr("Unpair all phones"),
+      button_text=tr("REVOKE ALL"),
+      description=tr("Revoke every enrolled phone at once. Each phone must pair again ") +
+                  tr("from the sunnylink app to reconnect."),
+      callback=self._revoke_all,
+    )
+    self._revoke_all_btn.set_visible(lambda: bool(self._rows_cache))
+
+    self._revoke_status = SunnylinkDescriptionItem()
+    self._revoke_status.set_visible(False)
+
+    self._local_app_rows: list[ListItemSP] = []
+    self._local_app_seps: list[LineSeparator] = []
+    for i in range(MAX_LOCAL_APP_ROWS):
+      row = button_item_sp(
+        title=lambda i=i: self._row_title(i),
+        button_text=tr("UNPAIR"),
+        callback=partial(self._unpair_row, i),
+      )
+      sep = LineSeparator()
+      row.set_visible(lambda i=i: self._local_row_visible(i))
+      sep.set_visible(lambda i=i: self._local_row_visible(i))
+      self._local_app_rows.append(row)
+      self._local_app_seps.append(sep)
+
+    items = [self._local_connections_toggle, LineSeparator(),
+             self._revoke_status, LineSeparator(), self._revoke_all_btn, LineSeparator()]
+    for row, sep in zip(self._local_app_rows, self._local_app_seps, strict=True):
+      items.extend((row, sep))
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _local_row_visible(self, i: int) -> bool:
+    return i < len(self._rows_cache)
+
+  def _row_title(self, i: int) -> str:
+    return self._rows_cache[i].title if i < len(self._rows_cache) else ""
+
+  def _revoke_all(self):
+    dialog = ConfirmDialog(
+      text=tr("Revoke all phones?") + " " + tr("They will need to pair again from the app."),
+      confirm_text=tr("Revoke all"),
+      callback=self._on_revoke_all_confirmed,
+    )
+    gui_app.push_widget(dialog)
+
+  def _on_revoke_all_confirmed(self, result: int):
+    if result != DialogResult.CONFIRM:
+      return
+    self._pending_revoke_all = time.monotonic()
+    request_revoke_all()
+
+  def _unpair_row(self, index: int):
+    if index >= len(self._rows_cache):
+      return
+    row = self._rows_cache[index]
+    dialog = ConfirmDialog(
+      text=tr("Unpair") + f" {row.title}? " + tr("You will need to enroll this phone again from the app."),
+      confirm_text=tr("Unpair"),
+      callback=partial(self._on_unpair_confirmed, row.app_id),
+    )
+    gui_app.push_widget(dialog)
+
+  def _on_unpair_confirmed(self, app_id: str, result: int):
+    if result != DialogResult.CONFIRM:
+      return
+    self._pending_revokes[app_id] = time.monotonic()
+    request_revoke(app_id)
+
+  def _update_state(self):
+    super()._update_state()
+    self._rows_cache = app_rows()
+    self._update_revoke_status()
+
+  def _update_revoke_status(self) -> None:
+    now = time.monotonic()
+    present = {row.app_id for row in self._rows_cache}
+    stuck = [app_id for app_id, asked in self._pending_revokes.items()
+             if app_id in present and now - asked >= self._REVOKE_STUCK_S]
+    self._pending_revokes = {a: t for a, t in self._pending_revokes.items() if a in present}
+    revoke_all_stuck = (self._pending_revoke_all is not None and bool(present)
+                        and now - self._pending_revoke_all >= self._REVOKE_STUCK_S)
+    if not present:
+      self._pending_revoke_all = None
+    pending = pending_enrollment()
+    if stuck or revoke_all_stuck:
+      self._revoke_status.set_color(rl.Color(255, 165, 0, 255))
+      self._revoke_status.set_text(tr("Still paired — the local daemon may not be running."))
+      self._revoke_status.set_visible(True)
+    elif pending is not None:
+      self._revoke_status.set_color(rl.WHITE)
+      self._revoke_status.set_text(tr("Enrollment pending — waiting for the phone to connect…"))
+      self._revoke_status.set_visible(True)
+    else:
+      self._revoke_status.set_visible(False)
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40,
+                                rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._scroller.hide_event()
+

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

@@ -1,69 +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.
-
-comma four Achievements screen: a summary card, then one card per achievement.
-Reads the state file achievementsd writes; opening the screen marks new unlocks as seen.
-"""
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
-from openpilot.selfdrive.ui.sunnypilot.achievements_store import AchievementsStore, achievements_store
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets.scroller import NavScroller
-
-
-class AchievementsLayoutMici(NavScroller):
-  def __init__(self, store: AchievementsStore = achievements_store):
-    super().__init__()
-    self._store = store
-    self._shown_version = -1
-    self._summary_btn = BigButton(tr("achievements"), "")
-    self._summary_btn.set_click_callback(self._show_summary)
-
-    self._cards: dict[str, BigButton] = {}
-    widgets = [self._summary_btn]
-    for a in self._store.catalog.achievements:
-      card = BigButton(a.name.lower(), "")
-      card.set_click_callback(lambda aid=a.id: self._show_details(aid))
-      self._cards[a.id] = card
-      widgets.append(card)
-    self._scroller.add_widgets(widgets)
-
-  def show_event(self):
-    super().show_event()
-    self._store.refresh(force=True)
-    self._refresh_cards()
-    # marked seen after drawing, so the "new" labels stay up while this screen is open
-    self._store.mark_all_seen()
-    self._shown_version = self._store.version
-
-  def _update_state(self):
-    super()._update_state()
-    self._store.refresh()
-    if self._store.version != self._shown_version:
-      self._refresh_cards()
-      self._shown_version = self._store.version
-
-  def _refresh_cards(self):
-    is_metric = ui_state.is_metric
-    new = self._store.new_ids()
-    unlocked, total = self._store.unlocked_count()
-    self._summary_btn.set_value(f"{unlocked} / {total} unlocked")
-    for status in self._store.statuses():
-      a = status.achievement
-      card = self._cards[a.id]
-      is_new = any(uid in new for uid in self._store.unlock_ids(a.id))
-      card.set_value(("new · " if is_new else "") + status.summary(is_metric))
-
-  def _show_summary(self):
-    gui_app.push_widget(BigDialog("", self._store.totals_text(ui_state.is_metric)))
-
-  def _show_details(self, achievement_id: str):
-    status = self._store.status(achievement_id)
-    if status is None:
-      return
-    gui_app.push_widget(BigDialog(status.achievement.name.lower(), f"{status.achievement.description}\n{status.summary(ui_state.is_metric)}"))

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

@@ -9,8 +9,6 @@ from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigBut
 from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import DeviceLayoutMici
 from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
-from openpilot.selfdrive.ui.sunnypilot.achievements_store import achievements_store
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.achievements import AchievementsLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -52,11 +50,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
-    achievements_panel = AchievementsLayoutMici()
-    self._achievements_btn = SettingsBigButton(tr("achievements"), "",
-                                               gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/achievements.png", ICON_SIZE, ICON_SIZE))
-    self._achievements_btn.set_click_callback(lambda: gui_app.push_widget(achievements_panel))
-
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
     self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
@@ -79,7 +72,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
     items.insert(0, self._enable_offroad_btn_onroad)
     items.insert(0, self._disable_offroad_btn)
-    items.append(self._achievements_btn)
     # end slot: enable-offroad (right of developer)
     items.append(self._enable_offroad_btn_offroad)
 
@@ -89,11 +81,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
 
   def _update_state(self):
     super()._update_state()
-    achievements_store.refresh()
-    new = len(achievements_store.new_ids())
-    value = tr("{} new").format(new) if new else ""
-    if value != self._achievements_btn.get_value():
-      self._achievements_btn.set_value(value)
 
   def _handle_always_offroad(self, enable: bool):
 

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

@@ -4,22 +4,30 @@ 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 time
 
+import pyray as rl
+from functools import partial
 
 from openpilot.cereal import custom
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.sunnypilot.sunnylink.athena.local_app_rows import MAX_LOCAL_APP_ROWS, LocalAppRow
+from openpilot.sunnypilot.sunnylink.athena.local_auth_daemon import (
+  app_rows,
+  request_revoke,
+  request_revoke_all,
+)
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 class SunnylinkInfo(Widget):
   def __init__(self):
@@ -73,11 +81,15 @@ class SunnylinkLayoutMici(NavScroller):
     self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
                                                 toggle_callback=self._sunnylink_uploader_callback)
 
+    self._mobile_app_btn = BigButton(tr("sunnylink local"), "")
+    self._mobile_app_btn.set_click_callback(lambda: gui_app.push_widget(LocalAppsPanelMici()))
+
     self._scroller.add_widgets([
       self._sunnylink_info,
       self._sunnylink_toggle,
       self._sunnylink_sponsor_button,
       self._sunnylink_pair_button,
+      self._mobile_app_btn,
       self._backup_btn,
       self._restore_btn,
       self._sunnylink_uploader_toggle
@@ -111,6 +123,8 @@ class SunnylinkLayoutMici(NavScroller):
     else:
       self._sunnylink_pair_button.set_text(tr("pair"))
 
+    self._mobile_app_btn.set_visible(self._sunnylink_enabled)
+
   def show_event(self):
     super().show_event()
     ui_state.update_params()
@@ -252,3 +266,94 @@ class SunnylinkPairBigButton(BigButton):
       dlg = SunnylinkPairingDialog(sponsor_pairing=False)
     if dlg:
       gui_app.push_widget(dlg)
+
+
+class LocalAppsPanelMici(NavScroller):
+
+  # How long a requested unpair may stay visible before the UI calls it stuck: the local
+  # daemon's tick services requests about once a second, so anything older was never claimed.
+  _REVOKE_STUCK_S = 4.0
+
+  def __init__(self):
+    super().__init__()
+    self._rows_cache: list[LocalAppRow] = []
+    self._pending_revokes: dict[str, float] = {}
+    self._pending_revoke_all: float | None = None
+
+    self._local_toggle = BigToggle(text=tr("local connections"),
+                                   initial_state=ui_state.params.get_bool("SunnylinkLocalEnabled"),
+                                   toggle_callback=self._local_toggle_callback)
+
+    self._revoke_all_btn = BigButton(tr("revoke all phones"), "")
+    self._revoke_all_btn.set_click_callback(self._confirm_revoke_all)
+
+    self._local_app_btns: list[BigButton] = []
+    for i in range(MAX_LOCAL_APP_ROWS):
+      btn = BigButton("", "")
+      btn.set_click_callback(partial(self._confirm_unpair_row, i))
+      self._local_app_btns.append(btn)
+
+    self._scroller.add_widgets([self._local_toggle, self._revoke_all_btn, *self._local_app_btns])
+
+  @staticmethod
+  def _local_toggle_callback(state: bool):
+    ui_state.params.put_bool("SunnylinkLocalEnabled", state)
+    ui_state.update_params()
+
+  def _update_state(self):
+    super()._update_state()
+    self._local_toggle.set_checked(ui_state.params.get_bool("SunnylinkLocalEnabled"))
+    self._rows_cache = app_rows()
+    self._revoke_all_btn.set_visible(bool(self._rows_cache))
+    now = time.monotonic()
+    present = {row.app_id for row in self._rows_cache}
+    self._pending_revokes = {a: t for a, t in self._pending_revokes.items() if a in present}
+    if not present:
+      self._pending_revoke_all = None
+    stuck_all = (self._pending_revoke_all is not None and bool(present)
+                 and now - self._pending_revoke_all >= self._REVOKE_STUCK_S)
+    for i, btn in enumerate(self._local_app_btns):
+      btn.set_visible(i < len(self._rows_cache))
+      if i < len(self._rows_cache):
+        row = self._rows_cache[i]
+        btn.set_text(row.title)
+        asked = self._pending_revokes.get(row.app_id)
+        if (asked is not None and now - asked >= self._REVOKE_STUCK_S) or stuck_all:
+          btn.set_value(tr("still paired — retry?"))
+        else:
+          btn.set_value("")
+    if stuck_all:
+      self._revoke_all_btn.set_value(tr("still paired — retry?"))
+    else:
+      self._revoke_all_btn.set_value("")
+
+  def _confirm_revoke_all(self):
+    icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
+    dlg = BigConfirmationDialog(
+      tr("revoke all phones"),
+      icon,
+      confirm_callback=self._on_revoke_all_confirmed,
+      red=True,
+    )
+    gui_app.push_widget(dlg)
+
+  def _on_revoke_all_confirmed(self):
+    self._pending_revoke_all = time.monotonic()
+    request_revoke_all()
+
+  def _confirm_unpair_row(self, index: int):
+    if index >= len(self._rows_cache):
+      return
+    row = self._rows_cache[index]
+    dlg = BigConfirmationDialog(
+      tr("slide to unpair"),
+      gui_app.texture("icons_mici/settings/device/update.png", 64, 64),
+      confirm_callback=partial(self._on_unpair_confirmed, row.app_id),
+      red=True,
+    )
+    gui_app.push_widget(dlg)
+
+  def _on_unpair_confirmed(self, app_id: str):
+    self._pending_revokes[app_id] = time.monotonic()
+    request_revoke(app_id)
+

openpilot/selfdrive/ui/sunnypilot/tests/test_achievements_store.py

@@ -1,57 +0,0 @@
-from openpilot.selfdrive.ui.sunnypilot.achievements_store import AchievementsStore
-from openpilot.sunnypilot.achievements.engine import AchievementEngine, State, save_state
-
-T0 = 1_780_000_000.0
-
-
-def make_store(tmp_path):
-  return AchievementsStore(state_file=tmp_path / "state.json", seen_file=tmp_path / "seen.json")
-
-
-def write_state(tmp_path, engaged_km):
-  e = AchievementEngine(State(engaged_m=engaged_km * 1000.0))
-  e.check_unlocks(T0)
-  save_state(e.state, tmp_path / "state.json")
-
-
-def test_no_state_file_shows_everything_locked(tmp_path):
-  store = make_store(tmp_path)
-  assert store.refresh(force=True)
-  unlocked, total = store.unlocked_count()
-  assert unlocked == 0 and total > 10
-  assert store.new_ids() == set()
-
-
-def test_new_unlocks_until_seen(tmp_path):
-  write_state(tmp_path, 150)
-  store = make_store(tmp_path)
-  store.refresh(force=True)
-  assert store.new_ids() == {"first_light", "odometer.bronze"}
-  v = store.version
-  store.mark_all_seen()
-  assert store.new_ids() == set() and store.version > v
-
-  # a second store (the other screen, or after a reboot) sees them as seen too
-  other = make_store(tmp_path)
-  other.refresh(force=True)
-  assert other.new_ids() == set()
-
-
-def test_refresh_picks_up_new_unlocks(tmp_path):
-  write_state(tmp_path, 150)
-  store = make_store(tmp_path)
-  store.refresh(force=True)
-  store.mark_all_seen()
-  write_state(tmp_path, 1500)
-  assert store.refresh(force=True)
-  assert store.new_ids() == {"odometer.silver"}
-
-
-def test_totals_and_status(tmp_path):
-  write_state(tmp_path, 1240)
-  store = make_store(tmp_path)
-  store.refresh(force=True)
-  assert store.status("odometer").summary() == "silver · 1,240 / 10,000 km"
-  assert "1,240 km engaged" in store.totals_text()
-  assert store.unlock_ids("odometer") == ["odometer.bronze", "odometer.silver", "odometer.gold", "odometer.platinum"]
-  assert store.status("nope") is None

openpilot/sunnypilot/achievements/README.md

@@ -1,55 +0,0 @@
-# Achievements and the community log
-
-Everything here runs on the car. Nothing is uploaded yet: the uploads are a dry run that writes files.
-
-| File | What it does |
-| --- | --- |
-| `achievementsd.py` | Onroad process. Feeds car messages to the engine and the community log. |
-| `engine.py`, `catalog.py`, `catalog.json` | Driving stats and achievement unlocks (Phase 1). |
-| `community.py` | Community log in `community.db`: 6 km tiles, drive start/end tiles, daily totals, region per day. Also the privacy filter and the report builders. |
-| `preview.py` | Writes what the car would send, plus `map.html`, to `preview/`. |
-| `h3lite.py` | The H3 functions we need, in pure Python (sunnypilot doesn't add packages). Same cell ids as Uber's H3. |
-| `regions.py`, `regions.json.gz` | Tile to home region (`US-OH`, `CA-ON`, `GB`). Built by `tools/build_regions.py`. |
-| `replay.py` | Runs everything over drives already saved on the car. |
-| `simulate.py` | Made-up drives for tests and a demo. |
-
-## Privacy rules (from the build plan)
-
-- Positions only become H3 resolution 6 tiles (about 6 km). No coordinates, times of day or routes are stored.
-- A tile where drives start or end on 3+ days is a frequent stop. It and the 6 tiles around it never leave the car.
-- Other start and end tiles wait 14 days.
-- Hidden tiles never leave the car.
-- The tile batch is sorted and has no dates. It is separate from the daily report.
-- Others only ever see resolution 4 blocks (about 45 km).
-- Home region: where you drove most on most days in the last 90 days. A detected change is sent at most every 30 days; a change you make goes right away.
-
-## Files on the car
-
-All under `/data/media/0/achievements/`:
-
-- `state.json`: achievement progress.
-- `community.db`: the community log.
-- `community_settings.json` (optional): `{"level": 0-3, "region": "auto" | "country" | "hidden" | "US-OH"}`. Level 0 (off) is the default.
-- `preview/`: `daily-YYYY-MM-DD.json`, `tiles.json`, `delete.json`, `map.html`. Rewritten after every drive.
-
-`map.html` shows your frequent stops. It is for you only.
-
-## See it on your own drives
-
-```sh
-ssh comma@<car ip>
-cd /data/openpilot
-python -m openpilot.sunnypilot.achievements.replay    # qlogs in /data/media/0/realdata; add --days 30 or --rlog
-# on your computer:
-scp comma@<car ip>:/data/media/0/achievements/replay/preview/map.html .
-```
-
-The replay writes to `achievements/replay/` and doesn't touch live progress.
-
-## Tests
-
-```sh
-python -m pytest openpilot/sunnypilot/achievements/tests
-```
-
-With `h3` installed (`pip install h3`), the H3 tests also compare random points against the real library.

openpilot/sunnypilot/achievements/achievementsd.py

@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-"""
-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.
-
-achievementsd: counts driving stats and unlocks achievements while onroad.
-
-Read-only toward the car: it only subscribes to messages, never publishes
-controls. Progress is saved to a JSON file on the device (see engine.state_path)
-every SAVE_INTERVAL_S and when the drive ends. The community log (map tiles,
-stops, daily totals; see community.py) is saved next to it, and when the drive
-ends a dry-run preview of what would be shared is written to preview/.
-Nothing leaves the device.
-"""
-import datetime
-import time
-
-from openpilot.cereal import messaging
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.time_helpers import system_time_valid
-from openpilot.sunnypilot.achievements.community import CommunityLog, Settings
-from openpilot.sunnypilot.achievements.engine import (AchievementEngine, MAX_GPS_ACCURACY_M, Sample, load_state,
-                                                      save_state)
-from openpilot.sunnypilot.achievements.preview import write_preview
-
-RATE_HZ = 10.
-SAVE_INTERVAL_S = 30.
-SLOW_POLL_S = 30.  # model, build and sunnylink checks
-GPS_MAX_AGE_S = 2.
-UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
-
-SERVICES = ['carState', 'selfdriveState', 'selfdriveStateSP', 'modelV2', 'driverMonitoringState',
-            'gpsLocation', 'gpsLocationExternal']
-
-
-def _dev_build() -> bool:
-  try:
-    from openpilot.common.version import get_build_metadata
-    bm = get_build_metadata()
-    return "staging" in bm.channel or not (bm.release_channel or bm.release_sp_channel)
-  except Exception:
-    return False
-
-
-def _active_model() -> tuple[str, str]:
-  try:
-    from openpilot.sunnypilot.models.helpers import get_active_bundle
-    bundle = get_active_bundle()
-    if bundle is None:
-      return "default", "Default"
-    return bundle.ref or bundle.internalName, bundle.displayName or bundle.internalName
-  except Exception:
-    cloudlog.exception("achievementsd: could not read the active model")
-    return "", ""
-
-
-def _sunnylink_linked(params: Params) -> bool:
-  try:
-    dongle = params.get("SunnylinkDongleId")
-    return bool(params.get_bool("SunnylinkEnabled")) and dongle not in (None, "", UNREGISTERED_SUNNYLINK_DONGLE_ID)
-  except Exception:
-    return False
-
-
-def _gps_fix(sm: messaging.SubMaster, now: float) -> tuple[float | None, float | None]:
-  for svc in ('gpsLocation', 'gpsLocationExternal'):
-    if sm.seen[svc] and now - sm.recv_time[svc] < GPS_MAX_AGE_S:
-      g = sm[svc]
-      if g.hasFix and 0 < g.horizontalAccuracy < MAX_GPS_ACCURACY_M:
-        return g.latitude, g.longitude
-  return None, None
-
-
-def _car_platform(params: Params) -> str | None:
-  try:
-    from opendbc.car.structs import car
-    cp_bytes = params.get("CarParams")
-    if not cp_bytes:
-      return None
-    return messaging.log_from_bytes(cp_bytes, car.CarParams).carFingerprint or None
-  except Exception:
-    return None
-
-
-def _open_community() -> CommunityLog | None:
-  try:
-    community = CommunityLog()
-    _ = community.regions  # load the region table now, not mid-drive
-    return community
-  except Exception:
-    cloudlog.exception("achievementsd: could not open the community log")
-    return None
-
-
-def _community_step(community: CommunityLog, sample: Sample, engine: AchievementEngine, save: bool) -> CommunityLog | None:
-  """Feed one sample. On any error the community log is off until the next drive; achievements keep working."""
-  try:
-    community.update(sample, engine.last_step)
-    if save:
-      community.flush()
-    return community
-  except Exception:
-    cloudlog.exception("achievementsd: community log failed, off until the next drive")
-    community.close()
-    return None
-
-
-def _finish_community(community: CommunityLog, engine: AchievementEngine, params: Params) -> None:
-  """Save where the drive ended and write the dry-run preview. Must stay well under the manager's 5 s stop timeout."""
-  try:
-    community.end_drive(engine.utc_offset_h)
-    if system_time_valid():
-      today = engine.local_date(datetime.datetime.now(datetime.UTC).timestamp())
-      write_preview(community, engine.state, today, _car_platform(params), Settings.load())
-  except Exception:
-    cloudlog.exception("achievementsd: community log or preview failed")
-  finally:
-    community.close()
-
-
-def _wall_time(valid: bool) -> float | None:
-  return datetime.datetime.now(datetime.UTC).timestamp() if valid else None
-
-
-def main():
-  params = Params()
-  sm = messaging.SubMaster(SERVICES, ignore_alive=['gpsLocation', 'gpsLocationExternal'],
-                           ignore_valid=['gpsLocation', 'gpsLocationExternal'])
-  engine = AchievementEngine(load_state())
-  community = _open_community()
-  rk = Ratekeeper(RATE_HZ, print_delay_threshold=None)
-
-  dev_build = _dev_build()
-  model_ref, model_name = _active_model()
-  last_save = last_slow = time.monotonic()
-  clock_ok = system_time_valid()
-  engine.set_sunnylink_linked(_sunnylink_linked(params), _wall_time(clock_ok))
-
-  try:
-    while True:
-      sm.update(0)
-      now = time.monotonic()
-
-      if now - last_slow > SLOW_POLL_S:
-        last_slow = now
-        model_ref, model_name = _active_model()
-        clock_ok = system_time_valid()
-        for uid in engine.set_sunnylink_linked(_sunnylink_linked(params), _wall_time(clock_ok)):
-          cloudlog.event("achievement unlocked", id=uid)
-
-      lat, lon = _gps_fix(sm, now)
-      sample = Sample(
-        t=now,
-        v_ego=sm['carState'].vEgo,
-        op_active=sm['selfdriveState'].active,
-        mads_active=sm['selfdriveStateSP'].mads.active,
-        lane_change_state=sm['modelV2'].meta.laneChangeState.raw,
-        dm_alert_level=sm['driverMonitoringState'].alertLevel.raw,
-        lat=lat,
-        lon=lon,
-        model_ref=model_ref,
-        model_name=model_name,
-        dev_build=dev_build,
-        wall=_wall_time(clock_ok),
-      )
-      for uid in engine.update(sample):
-        cloudlog.event("achievement unlocked", id=uid)
-
-      save = now - last_save > SAVE_INTERVAL_S
-      if save:
-        last_save = now
-        save_state(engine.state)
-      if community is not None:
-        community = _community_step(community, sample, engine, save)
-
-      rk.keep_time()
-  finally:
-    # the manager stops us with SIGINT when the drive ends
-    engine.end_drive()
-    save_state(engine.state)
-    if community is not None:
-      _finish_community(community, engine, params)
-
-
-if __name__ == "__main__":
-  main()

openpilot/sunnypilot/achievements/catalog.json

@@ -1,153 +0,0 @@
-{
-  "version": 1,
-  "achievements": [
-    {
-      "id": "first_light",
-      "name": "First Light",
-      "description": "Your first engaged drive with sunnypilot.",
-      "metric": "engaged_km",
-      "unit": "km",
-      "tiers": [{"tier": "single", "threshold": 0.1}]
-    },
-    {
-      "id": "odometer",
-      "name": "Odometer",
-      "description": "Distance driven with sunnypilot engaged.",
-      "metric": "engaged_km",
-      "unit": "km",
-      "tiers": [
-        {"tier": "bronze", "threshold": 100},
-        {"tier": "silver", "threshold": 1000},
-        {"tier": "gold", "threshold": 10000},
-        {"tier": "platinum", "threshold": 50000}
-      ]
-    },
-    {
-      "id": "captains_hours",
-      "name": "Captain's Hours",
-      "description": "Time spent with sunnypilot engaged.",
-      "metric": "engaged_h",
-      "unit": "h",
-      "tiers": [
-        {"tier": "bronze", "threshold": 10},
-        {"tier": "silver", "threshold": 100},
-        {"tier": "gold", "threshold": 1000}
-      ]
-    },
-    {
-      "id": "regular",
-      "name": "Regular",
-      "description": "Different days you drove with sunnypilot engaged.",
-      "metric": "active_days",
-      "unit": "days",
-      "tiers": [
-        {"tier": "bronze", "threshold": 7},
-        {"tier": "silver", "threshold": 30},
-        {"tier": "gold", "threshold": 100},
-        {"tier": "platinum", "threshold": 365}
-      ]
-    },
-    {
-      "id": "streak",
-      "name": "Streak",
-      "description": "Engaged on this many days in a row.",
-      "metric": "best_streak_days",
-      "unit": "days",
-      "tiers": [
-        {"tier": "bronze", "threshold": 7},
-        {"tier": "silver", "threshold": 30}
-      ]
-    },
-    {
-      "id": "steady_hands",
-      "name": "Steady Hands",
-      "description": "Distance with MADS steering on its own, without sunnypilot's cruise.",
-      "metric": "mads_km",
-      "unit": "km",
-      "tiers": [
-        {"tier": "bronze", "threshold": 100},
-        {"tier": "silver", "threshold": 1000}
-      ]
-    },
-    {
-      "id": "smooth_merger",
-      "name": "Smooth Merger",
-      "description": "Assisted lane changes completed.",
-      "metric": "lane_changes",
-      "unit": "changes",
-      "tiers": [
-        {"tier": "bronze", "threshold": 10},
-        {"tier": "silver", "threshold": 100},
-        {"tier": "gold", "threshold": 1000}
-      ]
-    },
-    {
-      "id": "road_trip",
-      "name": "Road Trip",
-      "description": "Engaged distance in a single day. Take breaks along the way.",
-      "metric": "best_day_km",
-      "unit": "km",
-      "tiers": [{"tier": "single", "threshold": 500}]
-    },
-    {
-      "id": "explorer",
-      "name": "Explorer",
-      "description": "Different areas (about 5 km across) driven engaged. Areas are kept as anonymous hashes on this device.",
-      "metric": "areas",
-      "unit": "areas",
-      "tiers": [
-        {"tier": "bronze", "threshold": 5},
-        {"tier": "silver", "threshold": 25},
-        {"tier": "gold", "threshold": 100}
-      ]
-    },
-    {
-      "id": "model_hopper",
-      "name": "Model Hopper",
-      "description": "Driving models you have driven at least 50 km engaged.",
-      "metric": "models_50km",
-      "unit": "models",
-      "tiers": [
-        {"tier": "bronze", "threshold": 3},
-        {"tier": "silver", "threshold": 5},
-        {"tier": "gold", "threshold": 10}
-      ]
-    },
-    {
-      "id": "dev_branch_brave",
-      "name": "Dev Branch Brave",
-      "description": "Engaged distance on a development or staging build.",
-      "metric": "dev_km",
-      "unit": "km",
-      "tiers": [{"tier": "single", "threshold": 100}]
-    },
-    {
-      "id": "attentive",
-      "name": "Attentive",
-      "description": "Engaged time in a row without a red driver monitoring alert.",
-      "metric": "attentive_best_h",
-      "unit": "h",
-      "tiers": [
-        {"tier": "bronze", "threshold": 10},
-        {"tier": "silver", "threshold": 50},
-        {"tier": "gold", "threshold": 100}
-      ]
-    },
-    {
-      "id": "seasons",
-      "name": "Four Seasons",
-      "description": "Engaged drives in spring, summer, fall and winter.",
-      "metric": "seasons",
-      "unit": "seasons",
-      "tiers": [{"tier": "single", "threshold": 4}]
-    },
-    {
-      "id": "linked_up",
-      "name": "Linked Up",
-      "description": "Turn on sunnylink on this device.",
-      "metric": "sunnylink_linked",
-      "unit": "",
-      "tiers": [{"tier": "single", "threshold": 1}]
-    }
-  ]
-}

openpilot/sunnypilot/achievements/catalog.py

@@ -1,137 +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.
-
-The achievement catalog. Pure Python on purpose: the UI, achievementsd and the
-tests all load it, and none of them should need cereal or the Params library to
-read a list of goals.
-"""
-from __future__ import annotations
-
-import json
-from dataclasses import dataclass
-from functools import cache
-from pathlib import Path
-
-CATALOG_PATH = Path(__file__).with_name("catalog.json")
-SINGLE = "single"
-KM_TO_MI = 0.621371
-
-
-@dataclass(frozen=True)
-class Tier:
-  tier: str
-  threshold: float
-
-
-@dataclass(frozen=True)
-class Achievement:
-  id: str
-  name: str
-  description: str
-  metric: str
-  unit: str
-  tiers: tuple[Tier, ...]
-
-  def unlock_id(self, tier: Tier) -> str:
-    """The id an unlock is stored and shared under: `odometer.silver`, or just `first_light`."""
-    return self.id if tier.tier == SINGLE else f"{self.id}.{tier.tier}"
-
-  @property
-  def tiered(self) -> bool:
-    return not (len(self.tiers) == 1 and self.tiers[0].tier == SINGLE)
-
-
-@dataclass(frozen=True)
-class Catalog:
-  version: int
-  achievements: tuple[Achievement, ...]
-
-  @property
-  def metrics(self) -> set[str]:
-    return {a.metric for a in self.achievements}
-
-  def all_unlock_ids(self) -> list[str]:
-    return [a.unlock_id(t) for a in self.achievements for t in a.tiers]
-
-
-def parse_catalog(data: dict) -> Catalog:
-  achievements = []
-  seen: set[str] = set()
-  for raw in data["achievements"]:
-    tiers = tuple(Tier(str(t["tier"]), float(t["threshold"])) for t in raw["tiers"])
-    if not tiers:
-      raise ValueError(f"achievement {raw['id']} has no tiers")
-    if any(b.threshold <= a.threshold for a, b in zip(tiers, tiers[1:], strict=False)):
-      raise ValueError(f"achievement {raw['id']} tiers must increase")
-    if raw["id"] in seen:
-      raise ValueError(f"duplicate achievement id {raw['id']}")
-    seen.add(raw["id"])
-    achievements.append(Achievement(raw["id"], raw["name"], raw["description"], raw["metric"], raw.get("unit", ""), tiers))
-  return Catalog(int(data["version"]), tuple(achievements))
-
-
-@cache
-def load_catalog(path: str = str(CATALOG_PATH)) -> Catalog:
-  with open(path) as f:
-    return parse_catalog(json.load(f))
-
-
-# --- display helpers, shared by both device UIs ---
-
-def _fmt_number(value: float) -> str:
-  if value >= 100 or value == int(value):
-    return f"{int(value):,}"
-  return f"{value:.1f}"
-
-
-def format_amount(value: float, unit: str, is_metric: bool = True) -> str:
-  if unit == "km" and not is_metric:
-    value, unit = value * KM_TO_MI, "mi"
-  if not unit:
-    return _fmt_number(value)
-  return f"{_fmt_number(value)} {unit}"
-
-
-@dataclass(frozen=True)
-class AchievementStatus:
-  achievement: Achievement
-  reached: Tier | None   # highest tier unlocked, None if locked
-  next: Tier | None      # next tier to unlock, None when all are done
-  value: float
-
-  @property
-  def done(self) -> bool:
-    return self.next is None
-
-  def summary(self, is_metric: bool = True) -> str:
-    """One short line: `silver · 1,240 / 10,000 km`, `locked · 3 / 7 days`, `gold · done`."""
-    a = self.achievement
-    if self.next is None:
-      return f"{self.reached.tier} · done" if a.tiered and self.reached else "done"
-    label = self.reached.tier if self.reached else "locked"
-    if not a.unit:  # a yes/no achievement, like turning on sunnylink
-      return label
-    return f"{label} · {format_progress(self.value, self.next.threshold, a.unit, is_metric)}"
-
-
-def format_progress(value: float, goal: float, unit: str, is_metric: bool = True) -> str:
-  if unit == "km" and not is_metric:
-    value, goal, unit = value * KM_TO_MI, goal * KM_TO_MI, "mi"
-  return f"{_fmt_number(min(value, goal))} / {_fmt_number(goal)} {unit}"
-
-
-def statuses(catalog: Catalog, metrics: dict[str, float], unlocked: dict[str, str]) -> list[AchievementStatus]:
-  out = []
-  for a in catalog.achievements:
-    reached = None
-    nxt = None
-    for t in a.tiers:
-      if a.unlock_id(t) in unlocked:
-        reached = t
-      elif nxt is None:
-        nxt = t
-    out.append(AchievementStatus(a, reached, nxt, float(metrics.get(a.metric, 0.0))))
-  return out

openpilot/sunnypilot/achievements/community.py

@@ -1,370 +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.
-
-The community log and the privacy filter.
-
-While driving, achievementsd hands every sample to CommunityLog, which keeps in
-community.db on the car:
-- the 6 km map tiles (H3 resolution 6) you drove through, with the day each was
-  first seen,
-- the tile where each drive started and ended, per day,
-- engaged distance and time per day,
-- engaged distance per region per day.
-Positions only ever become tiles: no coordinates, times of day or routes are
-stored here.
-
-The privacy filter (tile_view, daily_report, tile_batch, profile_update) then
-decides what could leave the car, following the Privacy spec in the build plan:
-- A tile holding a drive's start or end on 3+ different days is a frequent stop
-  (home, work, school). It and the 6 tiles around it never leave the car.
-- Any other start or end tile waits 14 days.
-- Tiles the driver hid never leave the car.
-- Tiles go out as a sorted list with no dates, apart from the daily report.
-- The home region is where you drove most on most days over 90 days. It is sent
-  only when it changes, and an automatic change at most every 30 days.
-
-Nothing in this file sends anything.
-"""
-from __future__ import annotations
-
-import collections
-import datetime as dt
-import json
-import sqlite3
-from dataclasses import dataclass, field
-from pathlib import Path
-
-from openpilot.sunnypilot.achievements import h3lite
-from openpilot.sunnypilot.achievements.engine import Sample, State, Step, achievements_root
-from openpilot.sunnypilot.achievements.regions import RegionTable, country_of
-from openpilot.sunnypilot.achievements.regions import table as region_table
-
-REPORT_VERSION = 1
-TILE_RES = 6                 # about 6 km across; only the owner sees these
-PUBLIC_RES = 4               # about 45 km across; what crews and the public see
-STOP_HOLD_DAYS = 14
-FREQUENT_STOP_DAYS = 3
-REGION_WINDOW_DAYS = 90
-REGION_RESEND_DAYS = 30
-MOVING_MS = 1.0
-METERS_PER_MILE = 1609.344
-UNLINKED_DEVICE = "c_" + "0" * 16  # the real id comes from the community key made at linking
-
-LEVEL_OFF, LEVEL_ACHIEVEMENTS, LEVEL_DAILY, LEVEL_MAP = range(4)
-
-SCHEMA = """
-CREATE TABLE IF NOT EXISTS tiles (cell TEXT PRIMARY KEY, first_day TEXT NOT NULL, sent INTEGER NOT NULL DEFAULT 0);
-CREATE TABLE IF NOT EXISTS stops (cell TEXT NOT NULL, day TEXT NOT NULL, PRIMARY KEY (cell, day));
-CREATE TABLE IF NOT EXISTS days (day TEXT PRIMARY KEY, engaged_m REAL NOT NULL, engaged_s REAL NOT NULL);
-CREATE TABLE IF NOT EXISTS day_regions (day TEXT NOT NULL, region TEXT NOT NULL, engaged_m REAL NOT NULL,
-                                        PRIMARY KEY (day, region));
-CREATE TABLE IF NOT EXISTS hidden (cell TEXT PRIMARY KEY);
-CREATE TABLE IF NOT EXISTS meta (key TEXT PRIMARY KEY, value TEXT NOT NULL);
-"""
-
-
-def db_path() -> Path:
-  return achievements_root() / "community.db"
-
-
-def settings_path() -> Path:
-  return achievements_root() / "community_settings.json"
-
-
-@dataclass
-class Settings:
-  level: int = LEVEL_OFF   # 0 off (default), 1 achievements, 2 daily stats, 3 map
-  region: str = "auto"     # "auto", "country", "hidden", or a region code the driver picked
-
-  @classmethod
-  def load(cls, path: Path | None = None) -> Settings:
-    try:
-      with open(path or settings_path()) as f:
-        d = json.load(f)
-      return cls(level=int(d.get("level", LEVEL_OFF)), region=str(d.get("region", "auto")))
-    except (OSError, ValueError, TypeError, AttributeError):
-      return cls()
-
-
-def round_to(x: float, step: int) -> int:
-  return int(round(x / step)) * step
-
-
-def tile_of(lat: float, lon: float) -> str:
-  return h3lite.cell_to_str(h3lite.latlng_to_cell(lat, lon, TILE_RES))
-
-
-def ring_of(tile: str) -> set[str]:
-  """The tile and the tiles touching it: an area about 18 km across."""
-  return {h3lite.cell_to_str(c) for c in h3lite.grid_disk1(h3lite.str_to_cell(tile))}
-
-
-def public_block(tile: str) -> str:
-  return h3lite.cell_to_str(h3lite.cell_to_parent(h3lite.str_to_cell(tile), PUBLIC_RES))
-
-
-@dataclass
-class TileView:
-  """Every driven tile, sorted by what the privacy filter does with it."""
-  driven: set[str] = field(default_factory=set)
-  frequent: set[str] = field(default_factory=set)     # home, work, school...
-  ring: set[str] = field(default_factory=set)         # frequent stops and the tiles around them: never sent
-  held: dict[str, str] = field(default_factory=dict)  # recent stop tile -> first day it may be sent
-  hidden: set[str] = field(default_factory=set)
-  shareable: set[str] = field(default_factory=set)
-  sent: set[str] = field(default_factory=set)
-
-  @property
-  def to_send(self) -> set[str]:
-    return self.shareable - self.sent
-
-  @property
-  def to_delete(self) -> set[str]:
-    """Tiles already sent that later became private (moved house, new job, hidden)."""
-    return self.sent & (self.ring | self.hidden)
-
-
-class CommunityLog:
-  def __init__(self, path: Path | None = None, regions: RegionTable | None = None):
-    self.path = path or db_path()
-    self.path.parent.mkdir(parents=True, exist_ok=True)
-    self.db = sqlite3.connect(self.path)
-    self.db.executescript(SCHEMA)
-    self._regions = regions
-    self._known: set[str] = {r[0] for r in self.db.execute("SELECT cell FROM tiles")}
-    self._region_of: dict[str, str | None] = {}
-    self._utc_offset_h: float | None = None
-    self._reset_pending()
-    self._reset_drive()
-
-  def close(self) -> None:
-    self.db.close()
-
-  @property
-  def regions(self) -> RegionTable:
-    if self._regions is None:
-      self._regions = region_table()
-    return self._regions
-
-  def _reset_pending(self) -> None:
-    self._new_tiles: dict[str, str] = {}
-    self._stops: set[tuple[str, str]] = set()
-    self._days: dict[str, list[float]] = collections.defaultdict(lambda: [0.0, 0.0])
-    self._day_regions: dict[tuple[str, str], float] = collections.defaultdict(float)
-
-  def _reset_drive(self) -> None:
-    self._started = False
-    self._last_fix: tuple[str, str] | None = None
-
-  # --- while driving ---
-
-  def update(self, s: Sample, step: Step) -> None:
-    day = step.day
-    if day is None:
-      return
-    if s.engaged and step.dt_s > 0.0:
-      d = self._days[day]
-      d[0] += step.engaged_m
-      d[1] += step.dt_s
-
-    if s.lat is None or s.lon is None:
-      return
-    tile = tile_of(s.lat, s.lon)
-    if not self._started:
-      self._started = True
-      self._stops.add((tile, day))
-    self._last_fix = (tile, day)
-
-    if s.v_ego > MOVING_MS and tile not in self._known and tile not in self._new_tiles:
-      self._new_tiles[tile] = day
-
-    if step.engaged_m > 0.0:
-      if tile not in self._region_of:
-        self._region_of[tile] = self.regions.lookup_cell(h3lite.str_to_cell(tile))
-      region = self._region_of[tile]
-      if region is not None:
-        self._day_regions[(day, region)] += step.engaged_m
-
-  def end_drive(self, utc_offset_h: float | None = None) -> None:
-    """Record where the drive ended and save. Safe to call more than once."""
-    if self._last_fix is not None:
-      self._stops.add(self._last_fix)
-    if utc_offset_h is not None:
-      self._utc_offset_h = utc_offset_h
-    self._reset_drive()
-    self.flush()
-
-  def flush(self) -> None:
-    with self.db:
-      self.db.executemany("INSERT OR IGNORE INTO tiles (cell, first_day) VALUES (?, ?)", self._new_tiles.items())
-      self.db.executemany("INSERT OR IGNORE INTO stops (cell, day) VALUES (?, ?)", self._stops)
-      self.db.executemany("""INSERT INTO days (day, engaged_m, engaged_s) VALUES (?, ?, ?)
-                             ON CONFLICT(day) DO UPDATE SET engaged_m = engaged_m + excluded.engaged_m,
-                                                            engaged_s = engaged_s + excluded.engaged_s""",
-                          [(day, m, s) for day, (m, s) in self._days.items()])
-      self.db.executemany("""INSERT INTO day_regions (day, region, engaged_m) VALUES (?, ?, ?)
-                             ON CONFLICT(day, region) DO UPDATE SET engaged_m = engaged_m + excluded.engaged_m""",
-                          [(day, region, m) for (day, region), m in self._day_regions.items()])
-      if self._utc_offset_h is not None:
-        self._set_meta("utc_offset_h", self._utc_offset_h)
-    self._known.update(self._new_tiles)
-    self._reset_pending()
-
-  # --- settings kept with the data ---
-
-  def _get_meta(self, key: str, default=None):
-    row = self.db.execute("SELECT value FROM meta WHERE key = ?", (key,)).fetchone()
-    return json.loads(row[0]) if row else default
-
-  def _set_meta(self, key: str, value) -> None:
-    self.db.execute("INSERT OR REPLACE INTO meta (key, value) VALUES (?, ?)", (key, json.dumps(value)))
-
-  def hide_tile(self, tile: str) -> None:
-    with self.db:
-      self.db.execute("INSERT OR IGNORE INTO hidden (cell) VALUES (?)", (tile,))
-
-  def unhide_tile(self, tile: str) -> None:
-    with self.db:
-      self.db.execute("DELETE FROM hidden WHERE cell = ?", (tile,))
-
-  def mark_sent(self, tiles: set[str], sent: bool = True) -> None:
-    """For the uploader: tiles the server now has (or, with sent=False, has deleted)."""
-    with self.db:
-      self.db.executemany("UPDATE tiles SET sent = ? WHERE cell = ?", [(int(sent), t) for t in tiles])
-
-  # --- the privacy filter ---
-
-  def tile_view(self, today: dt.date) -> TileView:
-    v = TileView()
-    for cell, sent in self.db.execute("SELECT cell, sent FROM tiles"):
-      v.driven.add(cell)
-      if sent:
-        v.sent.add(cell)
-
-    stop_days: dict[str, set[str]] = collections.defaultdict(set)
-    for cell, day in self.db.execute("SELECT cell, day FROM stops"):
-      stop_days[cell].add(day)
-    v.frequent = {c for c, days in stop_days.items() if len(days) >= FREQUENT_STOP_DAYS}
-    for c in v.frequent:
-      v.ring |= ring_of(c)
-    for c, days in stop_days.items():
-      if c in v.ring:
-        continue
-      release = dt.date.fromisoformat(max(days)) + dt.timedelta(days=STOP_HOLD_DAYS)
-      if release > today:
-        v.held[c] = release.isoformat()
-
-    v.hidden = {r[0] for r in self.db.execute("SELECT cell FROM hidden")}
-    v.shareable = v.driven - v.ring - set(v.held) - v.hidden
-    return v
-
-  def driven_days(self, since: dt.date | None = None) -> list[str]:
-    rows = self.db.execute("SELECT day FROM days WHERE day >= ? ORDER BY day", ((since or dt.date.min).isoformat(),))
-    return [r[0] for r in rows]
-
-  def day_stats(self, day: str) -> tuple[float, float, int]:
-    """Engaged meters, engaged seconds and new tiles on a day."""
-    row = self.db.execute("SELECT engaged_m, engaged_s FROM days WHERE day = ?", (day,)).fetchone()
-    new = self.db.execute("SELECT COUNT(*) FROM tiles WHERE first_day = ?", (day,)).fetchone()[0]
-    return (row[0], row[1], new) if row else (0.0, 0.0, new)
-
-  def region_days(self, today: dt.date) -> collections.Counter:
-    """How many of the last 90 days each region was where you drove most, engaged."""
-    since = (today - dt.timedelta(days=REGION_WINDOW_DAYS)).isoformat()
-    best: dict[str, tuple[float, str]] = {}
-    for day, region, m in self.db.execute("SELECT day, region, engaged_m FROM day_regions WHERE day > ? ORDER BY region",
-                                          (since,)):
-      if day not in best or m > best[day][0]:
-        best[day] = (m, region)
-    return collections.Counter(region for _, region in best.values())
-
-  def home_region(self, today: dt.date) -> str | None:
-    tally = self.region_days(today)
-    if not tally:
-      return None
-    return max(sorted(tally), key=lambda r: tally[r])
-
-  def shared_region(self, today: dt.date, settings: Settings) -> str | None:
-    if settings.region == "hidden":
-      return None
-    if settings.region not in ("auto", "country"):
-      return settings.region
-    home = self.home_region(today)
-    if home is None:
-      return None
-    return country_of(home) if settings.region == "country" else home
-
-  def profile_update(self, today: dt.date, car: str | None, settings: Settings) -> dict | None:
-    """Car model and home region, only when they changed since they were last sent."""
-    last = self._get_meta("profile_sent", {})
-    out: dict = {}
-    if car and car != last.get("car"):
-      out["car"] = car
-    region = self.shared_region(today, settings)
-    if region != last.get("region") and (region is not None or "region" in last):
-      # the driver changing the setting goes right away; a change the car detected waits
-      chosen = settings.region != last.get("choice", "auto")
-      last_day = last.get("region_day")
-      if chosen or last_day is None or (today - dt.date.fromisoformat(last_day)).days >= REGION_RESEND_DAYS:
-        out["region"] = region
-    return out or None
-
-  def mark_profile_sent(self, today: dt.date, profile: dict, settings: Settings) -> None:
-    last = self._get_meta("profile_sent", {})
-    if "car" in profile:
-      last["car"] = profile["car"]
-    if "region" in profile:
-      last["region"] = profile["region"]
-      last["region_day"] = today.isoformat()
-      last["choice"] = settings.region
-    with self.db:
-      self._set_meta("profile_sent", last)
-
-  # --- uploads ---
-
-  def unlock_day(self, unix: float) -> str | None:
-    if not unix:
-      return None  # unlocked before the clock was valid
-    offset = self._utc_offset_h if self._utc_offset_h is not None else self._get_meta("utc_offset_h", 0)
-    return (dt.datetime.fromtimestamp(unix, dt.UTC) + dt.timedelta(hours=offset)).date().isoformat()
-
-  def daily_report(self, day: str, state: State, level: int, profile: dict | None = None,
-                   include_undated: bool = False, device: str = UNLINKED_DEVICE) -> dict | None:
-    """The daily report for one day, with only the parts the sharing level allows."""
-    if level < LEVEL_ACHIEVEMENTS:
-      return None
-    unlocks = []
-    for uid, unix in sorted(state.unlocked.items()):
-      d = self.unlock_day(unix)
-      if d == day or (d is None and include_undated):
-        unlocks.append({"id": uid, "day": day})
-    report: dict = {
-      "v": REPORT_VERSION,
-      "device": device,
-      "day": day,
-      "unlocks": unlocks,
-      "totals": {"engaged_mi": round_to(state.engaged_m / METERS_PER_MILE, 10),
-                 "engaged_h": round_to(state.engaged_s / 3600.0, 10)},
-    }
-    if level >= LEVEL_DAILY:
-      m, s, new = self.day_stats(day)
-      report["daily"] = {"engaged_mi": round(m / METERS_PER_MILE), "engaged_min": round(s / 60.0), "new_places": new}
-      if profile:
-        report["profile"] = profile
-    return report
-
-  def tile_batch(self, today: dt.date, device: str = UNLINKED_DEVICE) -> dict | None:
-    """The weekly tile batch: new shareable tiles, sorted, with no dates."""
-    tiles = self.tile_view(today).to_send
-    if not tiles:
-      return None
-    return {"v": REPORT_VERSION, "device": device, "tiles": sorted(tiles)}
-
-  def tile_deletes(self, today: dt.date, device: str = UNLINKED_DEVICE) -> dict | None:
-    tiles = self.tile_view(today).to_delete
-    if not tiles:
-      return None
-    return {"v": REPORT_VERSION, "device": device, "delete_tiles": sorted(tiles)}

openpilot/sunnypilot/achievements/engine.py

@@ -1,347 +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.
-
-The achievements engine: running totals and unlocks, fed one Sample at a time.
-
-Pure Python with no cereal or Params imports, so it can be tested and replayed
-anywhere. achievementsd turns live messages into Samples; the UI only reads the
-saved state file.
-
-Everything stays on the device. Explorer areas are stored as salted hashes of
-~5 km geohash cells, never as coordinates.
-"""
-from __future__ import annotations
-
-import datetime as dt
-import hashlib
-import json
-import os
-import secrets
-import tempfile
-from dataclasses import asdict, dataclass, field
-from pathlib import Path
-
-from openpilot.sunnypilot.achievements.catalog import Catalog, load_catalog
-
-STATE_VERSION = 1
-
-# plausibility limits for a single update
-MAX_DT_S = 1.0          # a longer gap (process stall, suspend) counts nothing
-MAX_SPEED_MS = 70.0     # ~250 km/h; above this the reading is not trusted
-MIN_SPEED_MS = 0.0
-
-# GPS
-GEOHASH_PRECISION = 5   # cells of about 4.9 x 4.9 km
-MAX_GPS_ACCURACY_M = 100.0
-MODEL_KM_GOAL = 50.0    # Model Hopper: km on a model before it counts
-
-# driver monitoring alertLevel.three is the red, take-control-now alert
-DM_ALERT_RED = 3
-
-# modelV2.meta.laneChangeState
-LANE_CHANGE_STARTING = 2
-LANE_CHANGE_FINISHING = 3
-
-_GEOHASH_BASE32 = "0123456789bcdefghjkmnpqrstuvwxyz"
-
-
-def achievements_root() -> Path:
-  """/data/media/0/achievements on the device (survives updates), ~/.comma/... on PC."""
-  if "ACHIEVEMENTS_ROOT" in os.environ:
-    return Path(os.environ["ACHIEVEMENTS_ROOT"])
-  if os.path.isfile("/TICI"):
-    return Path("/data/media/0/achievements")
-  return Path.home() / (".comma" + os.environ.get("OPENPILOT_PREFIX", "")) / "media" / "0" / "achievements"
-
-
-def state_path() -> Path:
-  return achievements_root() / "state.json"
-
-
-def seen_path() -> Path:
-  """Unlocks the driver has already looked at. Written only by the UI."""
-  return achievements_root() / "seen.json"
-
-
-def geohash(lat: float, lon: float, precision: int = GEOHASH_PRECISION) -> str:
-  lat_rng, lon_rng = [-90.0, 90.0], [-180.0, 180.0]
-  bits, bit, ch, even = [16, 8, 4, 2, 1], 0, 0, True
-  out = []
-  while len(out) < precision:
-    rng, val = (lon_rng, lon) if even else (lat_rng, lat)
-    mid = (rng[0] + rng[1]) / 2
-    if val >= mid:
-      ch |= bits[bit]
-      rng[0] = mid
-    else:
-      rng[1] = mid
-    even = not even
-    if bit < 4:
-      bit += 1
-    else:
-      out.append(_GEOHASH_BASE32[ch])
-      bit, ch = 0, 0
-  return "".join(out)
-
-
-def season(day: dt.date, southern: bool = False) -> str:
-  s = ("winter", "winter", "spring", "spring", "spring", "summer", "summer", "summer", "fall", "fall", "fall", "winter")[day.month - 1]
-  if southern:
-    s = {"winter": "summer", "summer": "winter", "spring": "fall", "fall": "spring"}[s]
-  return s
-
-
-@dataclass
-class Sample:
-  """One reading of the car, built by achievementsd from cereal."""
-  t: float                        # monotonic seconds, for time between samples
-  v_ego: float                    # m/s
-  op_active: bool                 # selfdriveState.active (sunnypilot driving, incl. driver override)
-  mads_active: bool = False       # selfdriveStateSP.mads.active (lateral)
-  lane_change_state: int = 0      # modelV2.meta.laneChangeState
-  dm_alert_level: int = 0         # driverMonitoringState.alertLevel
-  lat: float | None = None        # only when a good fix is present
-  lon: float | None = None
-  model_ref: str = ""
-  model_name: str = ""
-  dev_build: bool = False
-  wall: float | None = None       # unix time; None until the device clock is valid
-
-  @property
-  def engaged(self) -> bool:
-    return self.op_active or self.mads_active
-
-  @property
-  def mads_only(self) -> bool:
-    return self.mads_active and not self.op_active
-
-
-@dataclass
-class Step:
-  """What the last update counted, for the community log (see community.py)."""
-  dt_s: float = 0.0          # trusted seconds since the previous sample (0 after a gap or a bad reading)
-  engaged_m: float = 0.0     # meters driven engaged in this step
-  day: str | None = None     # local calendar day; None until the clock is valid
-
-
-@dataclass
-class State:
-  version: int = STATE_VERSION
-  salt: str = field(default_factory=lambda: secrets.token_hex(16))
-  engaged_m: float = 0.0
-  engaged_s: float = 0.0
-  mads_m: float = 0.0
-  dev_m: float = 0.0
-  lane_changes: int = 0
-  days: list[str] = field(default_factory=list)        # ISO dates with engaged driving, sorted
-  best_streak_days: int = 0
-  today: str = ""
-  today_m: float = 0.0
-  best_day_m: float = 0.0
-  areas: list[str] = field(default_factory=list)       # salted hashes of geohash cells, sorted
-  model_m: dict[str, float] = field(default_factory=dict)
-  model_names: dict[str, str] = field(default_factory=dict)
-  attentive_run_s: float = 0.0
-  attentive_best_s: float = 0.0
-  seasons: list[str] = field(default_factory=list)
-  sunnylink_linked: bool = False
-  unlocked: dict[str, float] = field(default_factory=dict)  # unlock id -> unix time
-
-  @classmethod
-  def from_dict(cls, d: dict) -> State:
-    known = {k: v for k, v in d.items() if k in cls.__dataclass_fields__}
-    return cls(**known)
-
-  def metrics(self) -> dict[str, float]:
-    return {
-      "engaged_km": self.engaged_m / 1000.0,
-      "engaged_h": self.engaged_s / 3600.0,
-      "active_days": float(len(self.days)),
-      "best_streak_days": float(self.best_streak_days),
-      "mads_km": self.mads_m / 1000.0,
-      "lane_changes": float(self.lane_changes),
-      "best_day_km": max(self.best_day_m, self.today_m) / 1000.0,
-      "areas": float(len(self.areas)),
-      "models_50km": float(sum(1 for m in self.model_m.values() if m >= MODEL_KM_GOAL * 1000.0)),
-      "dev_km": self.dev_m / 1000.0,
-      "attentive_best_h": max(self.attentive_best_s, self.attentive_run_s) / 3600.0,
-      "seasons": float(len(self.seasons)),
-      "sunnylink_linked": 1.0 if self.sunnylink_linked else 0.0,
-    }
-
-
-def _streak_ending(days: list[str], last: str) -> int:
-  have = set(days)
-  d = dt.date.fromisoformat(last)
-  n = 0
-  while d.isoformat() in have:
-    n += 1
-    d -= dt.timedelta(days=1)
-  return n
-
-
-class AchievementEngine:
-  def __init__(self, state: State | None = None, catalog: Catalog | None = None):
-    self.state = state or State()
-    self.catalog = catalog or load_catalog()
-    self._last_t: float | None = None
-    self._last_lane_change = 0
-    self._utc_offset_h: float | None = None  # from GPS longitude, see local_date
-    self._southern = False
-    self.last_step = Step()
-
-  # --- time ---
-
-  @property
-  def utc_offset_h(self) -> float | None:
-    return self._utc_offset_h
-
-  def local_date(self, wall: float) -> dt.date:
-    """Calendar day for streaks and Road Trip.
-
-    Comma devices keep their clock in UTC, which would split an evening drive in
-    the Americas across two days. With a GPS fix, use the solar offset from
-    longitude (15 degrees per hour); without one, fall back to the system zone.
-    """
-    if self._utc_offset_h is not None:
-      return (dt.datetime.fromtimestamp(wall, dt.UTC) + dt.timedelta(hours=self._utc_offset_h)).date()
-    return dt.datetime.fromtimestamp(wall).date()
-
-  # --- updates ---
-
-  def update(self, s: Sample) -> list[str]:
-    """Feed one sample. Returns unlock ids that were newly unlocked by it."""
-    st = self.state
-    dt_s = 0.0 if self._last_t is None else s.t - self._last_t
-    self._last_t = s.t
-    if not (0.0 < dt_s <= MAX_DT_S) or not (MIN_SPEED_MS <= s.v_ego <= MAX_SPEED_MS):
-      dt_s = 0.0
-
-    if s.lat is not None and s.lon is not None:
-      self._utc_offset_h = round(s.lon / 15.0)
-      self._southern = s.lat < 0
-
-    day = self.local_date(s.wall).isoformat() if s.wall is not None else None
-    self.last_step = Step(dt_s=dt_s, engaged_m=s.v_ego * dt_s if s.engaged else 0.0, day=day)
-
-    if s.engaged and dt_s > 0.0:
-      dist = s.v_ego * dt_s
-      if day is not None and day != st.today:
-        st.best_day_m = max(st.best_day_m, st.today_m)
-        st.today, st.today_m = day, 0.0
-
-      st.engaged_m += dist
-      st.engaged_s += dt_s
-      if day is not None:
-        st.today_m += dist
-      if s.mads_only:
-        st.mads_m += dist
-      if s.dev_build:
-        st.dev_m += dist
-      if s.model_ref:
-        st.model_m[s.model_ref] = st.model_m.get(s.model_ref, 0.0) + dist
-        if s.model_name:
-          st.model_names[s.model_ref] = s.model_name
-
-      if day is not None and day not in st.days and s.v_ego > 1.0:
-        st.days.append(day)
-        st.days.sort()
-        st.best_streak_days = max(st.best_streak_days, _streak_ending(st.days, day))
-        sn = season(dt.date.fromisoformat(day), self._southern)
-        if sn not in st.seasons:
-          st.seasons.append(sn)
-
-      if s.dm_alert_level >= DM_ALERT_RED:
-        st.attentive_best_s = max(st.attentive_best_s, st.attentive_run_s)
-        st.attentive_run_s = 0.0
-      else:
-        st.attentive_run_s += dt_s
-
-      if s.lat is not None and s.lon is not None:
-        area = hashlib.sha256((st.salt + geohash(s.lat, s.lon)).encode()).hexdigest()[:16]
-        if area not in st.areas:
-          st.areas.append(area)
-          st.areas.sort()
-
-    # a lane change counts once, when it reaches its finishing phase while engaged
-    if s.engaged and s.lane_change_state == LANE_CHANGE_FINISHING and self._last_lane_change == LANE_CHANGE_STARTING:
-      st.lane_changes += 1
-    self._last_lane_change = s.lane_change_state
-
-    return self.check_unlocks(s.wall)
-
-  def set_sunnylink_linked(self, linked: bool, wall: float | None) -> list[str]:
-    self.state.sunnylink_linked = self.state.sunnylink_linked or linked
-    return self.check_unlocks(wall)
-
-  def end_drive(self) -> None:
-    """Close out the attentive run so the best is kept, and forget timing between drives."""
-    st = self.state
-    st.attentive_best_s = max(st.attentive_best_s, st.attentive_run_s)
-    self._last_t = None
-    self._last_lane_change = 0
-
-  def check_unlocks(self, wall: float | None) -> list[str]:
-    """Unlock every tier whose goal is met. The unlock time is 0 when the clock isn't valid yet."""
-    metrics = self.state.metrics()
-    new = []
-    for a in self.catalog.achievements:
-      value = metrics.get(a.metric, 0.0)
-      for tier in a.tiers:
-        uid = a.unlock_id(tier)
-        if value >= tier.threshold and uid not in self.state.unlocked:
-          self.state.unlocked[uid] = round(wall) if wall is not None else 0
-          new.append(uid)
-    return new
-
-
-# --- persistence ---
-
-def load_state(path: Path | None = None) -> State:
-  path = path or state_path()
-  try:
-    with open(path) as f:
-      return State.from_dict(json.load(f))
-  except FileNotFoundError:
-    return State()
-  except (ValueError, TypeError):
-    # unreadable JSON: keep it aside for debugging instead of silently overwriting it.
-    # Other OSErrors propagate, so a transient read failure can never be saved over real progress.
-    os.replace(path, path.with_suffix(".corrupt.json"))
-    return State()
-
-
-def save_json(path: Path, data: dict) -> None:
-  path.parent.mkdir(parents=True, exist_ok=True)
-  fd, tmp = tempfile.mkstemp(dir=path.parent, prefix=path.name, suffix=".tmp")
-  try:
-    with os.fdopen(fd, "w") as f:
-      json.dump(data, f, separators=(",", ":"), sort_keys=True)
-      f.flush()
-      os.fsync(f.fileno())
-    os.replace(tmp, path)
-  except BaseException:
-    try:
-      os.unlink(tmp)
-    except OSError:
-      pass
-    raise
-
-
-def save_state(state: State, path: Path | None = None) -> None:
-  save_json(path or state_path(), asdict(state))
-
-
-def load_seen(path: Path | None = None) -> set[str]:
-  try:
-    with open(path or seen_path()) as f:
-      return set(json.load(f).get("seen", []))
-  except (OSError, ValueError, AttributeError):
-    return set()
-
-
-def save_seen(seen: set[str], path: Path | None = None) -> None:
-  save_json(path or seen_path(), {"seen": sorted(seen)})

openpilot/sunnypilot/achievements/h3lite.py

@@ -1,629 +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.
-
-h3lite: the few H3 functions the car needs, in pure Python.
-
-sunnypilot doesn't add Python packages, so instead of the h3 package this is a
-line-by-line port of the parts of Uber's H3 v4.1.2 C library we use:
-latLngToCell, cellToLatLng, cellToParent and a one-ring disk. Cell ids match
-the real library exactly (tests/test_h3lite.py checks this against h3-py when
-it's installed, and against fixed vectors when it isn't), so the site and the
-server can keep using h3-js and h3-pg on the same ids.
-
-H3 is Copyright Uber Technologies, Inc., licensed under the Apache License 2.0
-(https://github.com/uber/h3). The tables below are copied from its
-faceijk.c and baseCells.c.
-"""
-from __future__ import annotations
-
-import math
-
-MAX_RES = 15
-NUM_FACES = 20
-NUM_BASE_CELLS = 122
-
-_EPSILON = 1e-16
-_SQRT3_2 = 0.8660254037844386467637231707529361834714
-_SQRT7 = 2.6457513110645905905016157536392604257102
-_AP7_ROT_RADS = 0.333473172251832115336090755351601070065900389
-_RES0_U_GNOMONIC = 0.38196601125010500003
-_2PI = 2.0 * math.pi
-
-# Directions (index digits)
-_CENTER, _K, _J, _JK, _I, _IK, _IJ = range(7)
-_UNIT_VECS = ((0, 0, 0), (0, 0, 1), (0, 1, 0), (0, 1, 1), (1, 0, 0), (1, 0, 1), (1, 1, 0))
-_ROT_CCW = (0, _IK, _JK, _K, _IJ, _I, _J)   # digit -> digit rotated 60 degrees ccw
-_ROT_CW = (0, _JK, _IJ, _J, _IK, _K, _I)    # digit -> digit rotated 60 degrees cw
-
-# face neighbor quadrants
-_IJ_Q, _KI_Q, _JK_Q = 1, 2, 3
-
-# bit layout of an H3 index
-_MODE_OFFSET = 59
-_RES_OFFSET = 52
-_BC_OFFSET = 45
-_H3_INIT = (1 << 45) - 1   # every digit set to 7
-_CELL_MODE = 1
-
-
-def _max_dim(res: int) -> int:     # Class II resolutions only
-  return 2 * 7 ** (res // 2)
-
-
-def _unit_scale(res: int) -> int:  # Class II resolutions only
-  return 7 ** (res // 2)
-
-
-# --- tables copied from H3 v4.1.2 faceijk.c and baseCells.c ---
-
-FACE_CENTER_GEO = (
-  (0.80358264971899, 1.2483974196173961), (1.3077478834556382, 2.5369450098779214),
-  (1.054751253523952, -1.3475173589003966), (0.6001915955381868, -0.45060390946975576),
-  (0.49171542819877384, 0.40198820291130694), (0.1727453274156187, 1.6781468852804338),
-  (0.6059293215713507, 2.9539233298124117), (0.42737051832897965, -1.8888762003362853),
-  (-0.07906611854921283, -0.7334295133808677), (-0.23096164445538364, 0.506495587332349),
-  (0.07906611854921283, 2.4081631402089254), (0.23096164445538364, -2.635097066257444),
-  (-0.1727453274156187, -1.4634457683093596), (-0.6059293215713507, -0.18766932377738163),
-  (-0.42737051832897965, 1.2527164532535078), (-0.6001915955381868, 2.6909887441200375),
-  (-0.49171542819877384, -2.7396044506784865), (-0.80358264971899, -1.8931952339723972),
-  (-1.3077478834556382, -0.6046476437118721), (-1.054751253523952, 1.7940752946893965),
-)
-FACE_CENTER_POINT = (
-  (0.2199307791404606, 0.6583691780274996, 0.7198475378926182),
-  (-0.2139234834501421, 0.1478171829550703, 0.9656017935214205),
-  (0.1092625278784797, -0.481195157287321, 0.8697775121287253),
-  (0.7428567301586791, -0.3593941678278028, 0.5648005936517033),
-  (0.8112534709140969, 0.3448953237639384, 0.472138773641393),
-  (-0.1055498149613921, 0.9794457296411413, 0.1718874610009365),
-  (-0.8075407579970092, 0.1533552485898818, 0.5695261994882688),
-  (-0.2846148069787907, -0.8644080972654206, 0.4144792552473539),
-  (0.7405621473854482, -0.6673299564565524, -0.0789837646326737),
-  (0.8512303986474293, 0.4722343788582681, -0.2289137388687808),
-  (-0.7405621473854481, 0.6673299564565524, 0.0789837646326737),
-  (-0.8512303986474292, -0.4722343788582682, 0.2289137388687808),
-  (0.1055498149613919, -0.9794457296411413, -0.1718874610009365),
-  (0.8075407579970092, -0.1533552485898819, -0.5695261994882688),
-  (0.2846148069787908, 0.8644080972654204, -0.4144792552473539),
-  (-0.7428567301586791, 0.3593941678278027, -0.5648005936517033),
-  (-0.811253470914097, -0.3448953237639382, -0.472138773641393),
-  (-0.2199307791404607, -0.6583691780274996, -0.7198475378926182),
-  (0.213923483450142, -0.1478171829550704, -0.9656017935214205),
-  (-0.1092625278784796, 0.481195157287321, -0.8697775121287253),
-)
-FACE_AXIS_AZ_CII = (
-  5.6199582685239395, 5.7603390817141875, 0.78021365439343, 0.4304693639799999,
-  6.130269123335111, 2.692877706530643, 2.982963003477244, 3.532912002790141,
-  3.494305004259568, 3.0032141694995382, 5.930472956509812, 0.13837848409025486,
-  0.4487149470591504, 0.15862965011254937, 5.891865957979238, 2.711123289609793,
-  3.294508837434268, 3.80481969224544, 3.6644388790551923, 2.361378999196363,
-)
-# per face: (central, ij, ki, jk) neighbors as (face, (i, j, k) translate, ccw 60 rotations)
-FACE_NEIGHBORS = (
-  ((0, (0, 0, 0), 0), (4, (2, 0, 2), 1), (1, (2, 2, 0), 5), (5, (0, 2, 2), 3)),
-  ((1, (0, 0, 0), 0), (0, (2, 0, 2), 1), (2, (2, 2, 0), 5), (6, (0, 2, 2), 3)),
-  ((2, (0, 0, 0), 0), (1, (2, 0, 2), 1), (3, (2, 2, 0), 5), (7, (0, 2, 2), 3)),
-  ((3, (0, 0, 0), 0), (2, (2, 0, 2), 1), (4, (2, 2, 0), 5), (8, (0, 2, 2), 3)),
-  ((4, (0, 0, 0), 0), (3, (2, 0, 2), 1), (0, (2, 2, 0), 5), (9, (0, 2, 2), 3)),
-  ((5, (0, 0, 0), 0), (10, (2, 2, 0), 3), (14, (2, 0, 2), 3), (0, (0, 2, 2), 3)),
-  ((6, (0, 0, 0), 0), (11, (2, 2, 0), 3), (10, (2, 0, 2), 3), (1, (0, 2, 2), 3)),
-  ((7, (0, 0, 0), 0), (12, (2, 2, 0), 3), (11, (2, 0, 2), 3), (2, (0, 2, 2), 3)),
-  ((8, (0, 0, 0), 0), (13, (2, 2, 0), 3), (12, (2, 0, 2), 3), (3, (0, 2, 2), 3)),
-  ((9, (0, 0, 0), 0), (14, (2, 2, 0), 3), (13, (2, 0, 2), 3), (4, (0, 2, 2), 3)),
-  ((10, (0, 0, 0), 0), (5, (2, 2, 0), 3), (6, (2, 0, 2), 3), (15, (0, 2, 2), 3)),
-  ((11, (0, 0, 0), 0), (6, (2, 2, 0), 3), (7, (2, 0, 2), 3), (16, (0, 2, 2), 3)),
-  ((12, (0, 0, 0), 0), (7, (2, 2, 0), 3), (8, (2, 0, 2), 3), (17, (0, 2, 2), 3)),
-  ((13, (0, 0, 0), 0), (8, (2, 2, 0), 3), (9, (2, 0, 2), 3), (18, (0, 2, 2), 3)),
-  ((14, (0, 0, 0), 0), (9, (2, 2, 0), 3), (5, (2, 0, 2), 3), (19, (0, 2, 2), 3)),
-  ((15, (0, 0, 0), 0), (16, (2, 0, 2), 1), (19, (2, 2, 0), 5), (10, (0, 2, 2), 3)),
-  ((16, (0, 0, 0), 0), (17, (2, 0, 2), 1), (15, (2, 2, 0), 5), (11, (0, 2, 2), 3)),
-  ((17, (0, 0, 0), 0), (18, (2, 0, 2), 1), (16, (2, 2, 0), 5), (12, (0, 2, 2), 3)),
-  ((18, (0, 0, 0), 0), (19, (2, 0, 2), 1), (17, (2, 2, 0), 5), (13, (0, 2, 2), 3)),
-  ((19, (0, 0, 0), 0), (15, (2, 0, 2), 1), (18, (2, 2, 0), 5), (14, (0, 2, 2), 3)),
-)
-# [face][i][j][k] -> (base cell, ccw 60 rotations), flattened as face*27 + i*9 + j*3 + k
-FACE_IJK_BASE_CELLS = (
-  (16,0), (18,0), (24,0), (33,0), (30,0), (32,3), (49,1), (48,3), (50,3),
-  (8,0), (5,5), (10,5), (22,0), (16,0), (18,0), (41,1), (33,0), (30,0),
-  (4,0), (0,5), (2,5), (15,1), (8,0), (5,5), (31,1), (22,0), (16,0),
-  (2,0), (6,0), (14,0), (10,0), (11,0), (17,3), (24,1), (23,3), (25,3),
-  (0,0), (1,5), (9,5), (5,0), (2,0), (6,0), (18,1), (10,0), (11,0),
-  (4,1), (3,5), (7,5), (8,1), (0,0), (1,5), (16,1), (5,0), (2,0),
-  (7,0), (21,0), (38,0), (9,0), (19,0), (34,3), (14,1), (20,3), (36,3),
-  (3,0), (13,5), (29,5), (1,0), (7,0), (21,0), (6,1), (9,0), (19,0),
-  (4,2), (12,5), (26,5), (0,1), (3,0), (13,5), (2,1), (1,0), (7,0),
-  (26,0), (42,0), (58,0), (29,0), (43,0), (62,3), (38,1), (47,3), (64,3),
-  (12,0), (28,5), (44,5), (13,0), (26,0), (42,0), (21,1), (29,0), (43,0),
-  (4,3), (15,5), (31,5), (3,1), (12,0), (28,5), (7,1), (13,0), (26,0),
-  (31,0), (41,0), (49,0), (44,0), (53,0), (61,3), (58,1), (65,3), (75,3),
-  (15,0), (22,5), (33,5), (28,0), (31,0), (41,0), (42,1), (44,0), (53,0),
-  (4,4), (8,5), (16,5), (12,1), (15,0), (22,5), (26,1), (28,0), (31,0),
-  (50,0), (48,0), (49,3), (32,0), (30,3), (33,3), (24,3), (18,3), (16,3),
-  (70,0), (67,0), (66,3), (52,3), (50,0), (48,0), (37,3), (32,0), (30,3),
-  (83,0), (87,3), (85,3), (74,3), (70,0), (67,0), (57,1), (52,3), (50,0),
-  (25,0), (23,0), (24,3), (17,0), (11,3), (10,3), (14,3), (6,3), (2,3),
-  (45,0), (39,0), (37,3), (35,3), (25,0), (23,0), (27,3), (17,0), (11,3),
-  (63,0), (59,3), (57,3), (56,3), (45,0), (39,0), (46,3), (35,3), (25,0),
-  (36,0), (20,0), (14,3), (34,0), (19,3), (9,3), (38,3), (21,3), (7,3),
-  (55,0), (40,0), (27,3), (54,3), (36,0), (20,0), (51,3), (34,0), (19,3),
-  (72,0), (60,3), (46,3), (73,3), (55,0), (40,0), (71,3), (54,3), (36,0),
-  (64,0), (47,0), (38,3), (62,0), (43,3), (29,3), (58,3), (42,3), (26,3),
-  (84,0), (69,0), (51,3), (82,3), (64,0), (47,0), (76,3), (62,0), (43,3),
-  (97,0), (89,3), (71,3), (98,3), (84,0), (69,0), (96,3), (82,3), (64,0),
-  (75,0), (65,0), (58,3), (61,0), (53,3), (44,3), (49,3), (41,3), (31,3),
-  (94,0), (86,0), (76,3), (81,3), (75,0), (65,0), (66,3), (61,0), (53,3),
-  (107,0), (104,3), (96,3), (101,3), (94,0), (86,0), (85,3), (81,3), (75,0),
-  (57,0), (59,0), (63,3), (74,0), (78,3), (79,3), (83,3), (92,3), (95,3),
-  (37,0), (39,3), (45,3), (52,0), (57,0), (59,0), (70,3), (74,0), (78,3),
-  (24,0), (23,3), (25,3), (32,3), (37,0), (39,3), (50,3), (52,0), (57,0),
-  (46,0), (60,0), (72,3), (56,0), (68,3), (80,3), (63,3), (77,3), (90,3),
-  (27,0), (40,3), (55,3), (35,0), (46,0), (60,0), (45,3), (56,0), (68,3),
-  (14,0), (20,3), (36,3), (17,3), (27,0), (40,3), (25,3), (35,0), (46,0),
-  (71,0), (89,0), (97,3), (73,0), (91,3), (103,3), (72,3), (88,3), (105,3),
-  (51,0), (69,3), (84,3), (54,0), (71,0), (89,0), (55,3), (73,0), (91,3),
-  (38,0), (47,3), (64,3), (34,3), (51,0), (69,3), (36,3), (54,0), (71,0),
-  (96,0), (104,0), (107,3), (98,0), (110,3), (115,3), (97,3), (111,3), (119,3),
-  (76,0), (86,3), (94,3), (82,0), (96,0), (104,0), (84,3), (98,0), (110,3),
-  (58,0), (65,3), (75,3), (62,3), (76,0), (86,3), (64,3), (82,0), (96,0),
-  (85,0), (87,0), (83,3), (101,0), (102,3), (100,3), (107,3), (112,3), (114,3),
-  (66,0), (67,3), (70,3), (81,0), (85,0), (87,0), (94,3), (101,0), (102,3),
-  (49,0), (48,3), (50,3), (61,3), (66,0), (67,3), (75,3), (81,0), (85,0),
-  (95,0), (92,0), (83,0), (79,0), (78,0), (74,3), (63,1), (59,3), (57,3),
-  (109,0), (108,0), (100,5), (93,1), (95,0), (92,0), (77,1), (79,0), (78,0),
-  (117,4), (118,5), (114,5), (106,1), (109,0), (108,0), (90,1), (93,1), (95,0),
-  (90,0), (77,0), (63,0), (80,0), (68,0), (56,3), (72,1), (60,3), (46,3),
-  (106,0), (93,0), (79,5), (99,1), (90,0), (77,0), (88,1), (80,0), (68,0),
-  (117,3), (109,5), (95,5), (113,1), (106,0), (93,0), (105,1), (99,1), (90,0),
-  (105,0), (88,0), (72,0), (103,0), (91,0), (73,3), (97,1), (89,3), (71,3),
-  (113,0), (99,0), (80,5), (116,1), (105,0), (88,0), (111,1), (103,0), (91,0),
-  (117,2), (106,5), (90,5), (121,1), (113,0), (99,0), (119,1), (116,1), (105,0),
-  (119,0), (111,0), (97,0), (115,0), (110,0), (98,3), (107,1), (104,3), (96,3),
-  (121,0), (116,0), (103,5), (120,1), (119,0), (111,0), (112,1), (115,0), (110,0),
-  (117,1), (113,5), (105,5), (118,1), (121,0), (116,0), (114,1), (120,1), (119,0),
-  (114,0), (112,0), (107,0), (100,0), (102,0), (101,3), (83,1), (87,3), (85,3),
-  (118,0), (120,0), (115,5), (108,1), (114,0), (112,0), (92,1), (100,0), (102,0),
-  (117,0), (121,5), (119,5), (109,1), (118,0), (120,0), (95,1), (108,1), (114,0),
-)
-# base cell -> (home face, i, j, k, is pentagon, cw offset face 1, cw offset face 2)
-BASE_CELL_DATA = (
-  (1,1,0,0,0,0,0), (2,1,1,0,0,0,0), (1,0,0,0,0,0,0), (2,1,0,0,0,0,0),
-  (0,2,0,0,1,-1,-1), (1,1,1,0,0,0,0), (1,0,0,1,0,0,0), (2,0,0,0,0,0,0),
-  (0,1,0,0,0,0,0), (2,0,1,0,0,0,0), (1,0,1,0,0,0,0), (1,0,1,1,0,0,0),
-  (3,1,0,0,0,0,0), (3,1,1,0,0,0,0), (11,2,0,0,1,2,6), (4,1,0,0,0,0,0),
-  (0,0,0,0,0,0,0), (6,0,1,0,0,0,0), (0,0,0,1,0,0,0), (2,0,1,1,0,0,0),
-  (7,0,0,1,0,0,0), (2,0,0,1,0,0,0), (0,1,1,0,0,0,0), (6,0,0,1,0,0,0),
-  (10,2,0,0,1,1,5), (6,0,0,0,0,0,0), (3,0,0,0,0,0,0), (11,1,0,0,0,0,0),
-  (4,1,1,0,0,0,0), (3,0,1,0,0,0,0), (0,0,1,1,0,0,0), (4,0,0,0,0,0,0),
-  (5,0,1,0,0,0,0), (0,0,1,0,0,0,0), (7,0,1,0,0,0,0), (11,1,1,0,0,0,0),
-  (7,0,0,0,0,0,0), (10,1,0,0,0,0,0), (12,2,0,0,1,3,7), (6,1,0,1,0,0,0),
-  (7,1,0,1,0,0,0), (4,0,0,1,0,0,0), (3,0,0,1,0,0,0), (3,0,1,1,0,0,0),
-  (4,0,1,0,0,0,0), (6,1,0,0,0,0,0), (11,0,0,0,0,0,0), (8,0,0,1,0,0,0),
-  (5,0,0,1,0,0,0), (14,2,0,0,1,0,9), (5,0,0,0,0,0,0), (12,1,0,0,0,0,0),
-  (10,1,1,0,0,0,0), (4,0,1,1,0,0,0), (12,1,1,0,0,0,0), (7,1,0,0,0,0,0),
-  (11,0,1,0,0,0,0), (10,0,0,0,0,0,0), (13,2,0,0,1,4,8), (10,0,0,1,0,0,0),
-  (11,0,0,1,0,0,0), (9,0,1,0,0,0,0), (8,0,1,0,0,0,0), (6,2,0,0,1,11,15),
-  (8,0,0,0,0,0,0), (9,0,0,1,0,0,0), (14,1,0,0,0,0,0), (5,1,0,1,0,0,0),
-  (16,0,1,1,0,0,0), (8,1,0,1,0,0,0), (5,1,0,0,0,0,0), (12,0,0,0,0,0,0),
-  (7,2,0,0,1,12,16), (12,0,1,0,0,0,0), (10,0,1,0,0,0,0), (9,0,0,0,0,0,0),
-  (13,1,0,0,0,0,0), (16,0,0,1,0,0,0), (15,0,1,1,0,0,0), (15,0,1,0,0,0,0),
-  (16,0,1,0,0,0,0), (14,1,1,0,0,0,0), (13,1,1,0,0,0,0), (5,2,0,0,1,10,19),
-  (8,1,0,0,0,0,0), (14,0,0,0,0,0,0), (9,1,0,1,0,0,0), (14,0,0,1,0,0,0),
-  (17,0,0,1,0,0,0), (12,0,0,1,0,0,0), (16,0,0,0,0,0,0), (17,0,1,1,0,0,0),
-  (15,0,0,1,0,0,0), (16,1,0,1,0,0,0), (9,1,0,0,0,0,0), (15,0,0,0,0,0,0),
-  (13,0,0,0,0,0,0), (8,2,0,0,1,13,17), (13,0,1,0,0,0,0), (17,1,0,1,0,0,0),
-  (19,0,1,0,0,0,0), (14,0,1,0,0,0,0), (19,0,1,1,0,0,0), (17,0,1,0,0,0,0),
-  (13,0,0,1,0,0,0), (17,0,0,0,0,0,0), (16,1,0,0,0,0,0), (9,2,0,0,1,14,18),
-  (15,1,0,1,0,0,0), (15,1,0,0,0,0,0), (18,0,1,1,0,0,0), (18,0,0,1,0,0,0),
-  (19,0,0,1,0,0,0), (17,1,0,0,0,0,0), (19,0,0,0,0,0,0), (18,0,1,0,0,0,0),
-  (18,1,0,1,0,0,0), (19,2,0,0,1,-1,-1), (19,1,0,0,0,0,0), (18,0,0,0,0,0,0),
-  (19,1,0,1,0,0,0), (18,1,0,0,0,0,0),
-)
-
-
-# --- ijk coordinates ---
-
-def _lround(x: float) -> int:
-  """C lroundl: halves round away from zero."""
-  return int(math.floor(x + 0.5)) if x >= 0 else -int(math.floor(-x + 0.5))
-
-
-def _normalize(i: int, j: int, k: int) -> tuple[int, int, int]:
-  if i < 0:
-    j -= i
-    k -= i
-    i = 0
-  if j < 0:
-    i -= j
-    k -= j
-    j = 0
-  if k < 0:
-    i -= k
-    j -= k
-    k = 0
-  m = min(i, j, k)
-  if m > 0:
-    i -= m
-    j -= m
-    k -= m
-  return i, j, k
-
-
-def _add(a: tuple[int, int, int], b: tuple[int, int, int]) -> tuple[int, int, int]:
-  return _normalize(a[0] + b[0], a[1] + b[1], a[2] + b[2])
-
-
-def _scaled_sum(c: tuple[int, int, int], iv, jv, kv) -> tuple[int, int, int]:
-  i, j, k = c
-  return _normalize(iv[0] * i + jv[0] * j + kv[0] * k,
-                    iv[1] * i + jv[1] * j + kv[1] * k,
-                    iv[2] * i + jv[2] * j + kv[2] * k)
-
-
-def _up_ap7(c):
-  i, j = c[0] - c[2], c[1] - c[2]
-  return _normalize(_lround((3 * i - j) / 7.0), _lround((i + 2 * j) / 7.0), 0)
-
-
-def _up_ap7r(c):
-  i, j = c[0] - c[2], c[1] - c[2]
-  return _normalize(_lround((2 * i + j) / 7.0), _lround((3 * j - i) / 7.0), 0)
-
-
-def _down_ap7(c):
-  return _scaled_sum(c, (3, 0, 1), (1, 3, 0), (0, 1, 3))
-
-
-def _down_ap7r(c):
-  return _scaled_sum(c, (3, 1, 0), (0, 3, 1), (1, 0, 3))
-
-
-def _rotate60ccw(c):
-  return _scaled_sum(c, (1, 1, 0), (0, 1, 1), (1, 0, 1))
-
-
-def _rotate60cw(c):
-  return _scaled_sum(c, (1, 0, 1), (1, 1, 0), (0, 1, 1))
-
-
-def _unit_to_digit(c) -> int:
-  c = _normalize(*c)
-  for d, u in enumerate(_UNIT_VECS):
-    if c == u:
-      return d
-  return 7
-
-
-def _hex2d_to_ijk(x: float, y: float) -> tuple[int, int, int]:
-  a1, a2 = abs(x), abs(y)
-  x2 = a2 / _SQRT3_2
-  x1 = a1 + x2 / 2.0
-  m1, m2 = int(x1), int(x2)
-  r1, r2 = x1 - m1, x2 - m2
-
-  if r1 < 0.5:
-    if r1 < 1.0 / 3.0:
-      i = m1
-      j = m2 if r2 < (1.0 + r1) / 2.0 else m2 + 1
-    else:
-      j = m2 if r2 < (1.0 - r1) else m2 + 1
-      i = m1 + 1 if (1.0 - r1) <= r2 < (2.0 * r1) else m1
-  else:
-    if r1 < 2.0 / 3.0:
-      j = m2 if r2 < (1.0 - r1) else m2 + 1
-      i = m1 if (2.0 * r1 - 1.0) < r2 < (1.0 - r1) else m1 + 1
-    else:
-      i = m1 + 1
-      j = m2 if r2 < (r1 / 2.0) else m2 + 1
-
-  # fold across the axes if necessary
-  if x < 0.0:
-    if j % 2 == 0:
-      i = i - 2 * (i - j // 2)
-    else:
-      i = i - (2 * (i - (j + 1) // 2) + 1)
-  if y < 0.0:
-    i = i - (2 * j + 1) // 2
-    j = -j
-  return _normalize(i, j, 0)
-
-
-def _ijk_to_hex2d(c) -> tuple[float, float]:
-  i, j = c[0] - c[2], c[1] - c[2]
-  return i - 0.5 * j, j * _SQRT3_2
-
-
-# --- sphere <-> face ---
-
-def _pos_angle(rads: float) -> float:
-  tmp = rads + _2PI if rads < 0.0 else rads
-  if rads >= _2PI:
-    tmp -= _2PI
-  return tmp
-
-
-def _constrain_lng(lng: float) -> float:
-  while lng > math.pi:
-    lng -= _2PI
-  while lng < -math.pi:
-    lng += _2PI
-  return lng
-
-
-def _azimuth(lat1: float, lng1: float, lat2: float, lng2: float) -> float:
-  return math.atan2(math.cos(lat2) * math.sin(lng2 - lng1),
-                    math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(lng2 - lng1))
-
-
-def _az_distance(lat1: float, lng1: float, az: float, distance: float) -> tuple[float, float]:
-  if distance < _EPSILON:
-    return lat1, lng1
-  az = _pos_angle(az)
-  if az < _EPSILON or abs(az - math.pi) < _EPSILON:
-    lat2 = lat1 + distance if az < _EPSILON else lat1 - distance
-    if abs(lat2 - math.pi / 2) < _EPSILON:
-      return math.pi / 2, 0.0
-    if abs(lat2 + math.pi / 2) < _EPSILON:
-      return -math.pi / 2, 0.0
-    return lat2, _constrain_lng(lng1)
-
-  sinlat = math.sin(lat1) * math.cos(distance) + math.cos(lat1) * math.sin(distance) * math.cos(az)
-  sinlat = max(-1.0, min(1.0, sinlat))
-  lat2 = math.asin(sinlat)
-  if abs(lat2 - math.pi / 2) < _EPSILON:
-    return math.pi / 2, 0.0
-  if abs(lat2 + math.pi / 2) < _EPSILON:
-    return -math.pi / 2, 0.0
-  sinlng = math.sin(az) * math.sin(distance) / math.cos(lat2)
-  coslng = (math.cos(distance) - math.sin(lat1) * math.sin(lat2)) / math.cos(lat1) / math.cos(lat2)
-  sinlng = max(-1.0, min(1.0, sinlng))
-  coslng = max(-1.0, min(1.0, coslng))
-  return lat2, _constrain_lng(lng1 + math.atan2(sinlng, coslng))
-
-
-def _closest_face(lat: float, lng: float) -> tuple[int, float]:
-  r = math.cos(lat)
-  z, x, y = math.sin(lat), math.cos(lng) * r, math.sin(lng) * r
-  face, sqd = 0, 5.0
-  for f, (fx, fy, fz) in enumerate(FACE_CENTER_POINT):
-    d = (fx - x) ** 2 + (fy - y) ** 2 + (fz - z) ** 2
-    if d < sqd:
-      face, sqd = f, d
-  return face, sqd
-
-
-def _geo_to_hex2d(lat: float, lng: float, res: int) -> tuple[int, float, float]:
-  face, sqd = _closest_face(lat, lng)
-  r = math.acos(1 - sqd / 2)
-  if r < _EPSILON:
-    return face, 0.0, 0.0
-
-  flat, flng = FACE_CENTER_GEO[face]
-  theta = _pos_angle(FACE_AXIS_AZ_CII[face] - _pos_angle(_azimuth(flat, flng, lat, lng)))
-  if res % 2:
-    theta = _pos_angle(theta - _AP7_ROT_RADS)
-
-  r = math.tan(r) / _RES0_U_GNOMONIC
-  for _ in range(res):
-    r *= _SQRT7
-  return face, r * math.cos(theta), r * math.sin(theta)
-
-
-def _hex2d_to_geo(x: float, y: float, face: int, res: int) -> tuple[float, float]:
-  r = math.hypot(x, y)
-  if r < _EPSILON:
-    return FACE_CENTER_GEO[face]
-  theta = math.atan2(y, x)
-  for _ in range(res):
-    r /= _SQRT7
-  r = math.atan(r * _RES0_U_GNOMONIC)
-  if res % 2:
-    theta = _pos_angle(theta + _AP7_ROT_RADS)
-  theta = _pos_angle(FACE_AXIS_AZ_CII[face] - theta)
-  flat, flng = FACE_CENTER_GEO[face]
-  return _az_distance(flat, flng, theta, r)
-
-
-# --- H3 index bits ---
-
-def get_resolution(h: int) -> int:
-  return (h >> _RES_OFFSET) & 15
-
-
-def get_base_cell(h: int) -> int:
-  return (h >> _BC_OFFSET) & 127
-
-
-def _digit(h: int, r: int) -> int:
-  return (h >> ((MAX_RES - r) * 3)) & 7
-
-
-def _set_digit(h: int, r: int, d: int) -> int:
-  off = (MAX_RES - r) * 3
-  return (h & ~(7 << off)) | (d << off)
-
-
-def _leading_digit(h: int) -> int:
-  for r in range(1, get_resolution(h) + 1):
-    d = _digit(h, r)
-    if d:
-      return d
-  return 0
-
-
-def _rotate_index60ccw(h: int) -> int:
-  for r in range(1, get_resolution(h) + 1):
-    h = _set_digit(h, r, _ROT_CCW[_digit(h, r)])
-  return h
-
-
-def _rotate_index60cw(h: int) -> int:
-  for r in range(1, get_resolution(h) + 1):
-    h = _set_digit(h, r, _ROT_CW[_digit(h, r)])
-  return h
-
-
-def _rotate_pent60ccw(h: int) -> int:
-  found = False
-  for r in range(1, get_resolution(h) + 1):
-    h = _set_digit(h, r, _ROT_CCW[_digit(h, r)])
-    if not found and _digit(h, r) != 0:
-      found = True
-      if _leading_digit(h) == _K:
-        h = _rotate_index60ccw(h)
-  return h
-
-
-def _is_pentagon_base(bc: int) -> bool:
-  return 0 <= bc < NUM_BASE_CELLS and bool(BASE_CELL_DATA[bc][4])
-
-
-def _face_ijk_base(face: int, c) -> tuple[int, int]:
-  return FACE_IJK_BASE_CELLS[face * 27 + c[0] * 9 + c[1] * 3 + c[2]]
-
-
-def _face_ijk_to_h3(face: int, c, res: int) -> int:
-  h = _H3_INIT | (_CELL_MODE << _MODE_OFFSET) | (res << _RES_OFFSET)
-  for r in range(res - 1, -1, -1):
-    last = c
-    if (r + 1) % 2:
-      c = _up_ap7(c)
-      center = _down_ap7(c)
-    else:
-      c = _up_ap7r(c)
-      center = _down_ap7r(c)
-    diff = _normalize(last[0] - center[0], last[1] - center[1], last[2] - center[2])
-    h = _set_digit(h, r + 1, _unit_to_digit(diff))
-
-  if max(c) > 2:
-    raise ValueError("coordinates off the base cell's face")
-  bc, rots = _face_ijk_base(face, c)
-  h = (h & ~(127 << _BC_OFFSET)) | (bc << _BC_OFFSET)
-
-  if _is_pentagon_base(bc):
-    if _leading_digit(h) == _K:
-      data = BASE_CELL_DATA[bc]
-      h = _rotate_index60cw(h) if face in (data[5], data[6]) else _rotate_index60ccw(h)
-    for _ in range(rots):
-      h = _rotate_pent60ccw(h)
-  else:
-    for _ in range(rots):
-      h = _rotate_index60ccw(h)
-  return h
-
-
-def _adjust_overage_class2(face: int, c, res: int, pent_leading4: bool) -> tuple[int, tuple[int, int, int], bool]:
-  """Move coordinates that fell off the face onto the neighboring face. Returns (face, ijk, moved)."""
-  max_dim = _max_dim(res)
-  if sum(c) <= max_dim:
-    return face, c, False
-
-  if c[2] > 0:
-    if c[1] > 0:
-      orient = FACE_NEIGHBORS[face][_JK_Q]
-    else:
-      orient = FACE_NEIGHBORS[face][_KI_Q]
-      if pent_leading4:
-        # rotate around the pentagon's center for its missing sequence
-        tmp = _rotate60cw((c[0] - max_dim, c[1], c[2]))
-        c = _normalize(tmp[0] + max_dim, tmp[1], tmp[2])
-  else:
-    orient = FACE_NEIGHBORS[face][_IJ_Q]
-
-  new_face, (ti, tj, tk), ccw = orient
-  for _ in range(ccw):
-    c = _rotate60ccw(c)
-  s = _unit_scale(res)
-  c = _normalize(c[0] + ti * s, c[1] + tj * s, c[2] + tk * s)
-  return new_face, c, True
-
-
-def _h3_to_face_ijk(h: int) -> tuple[int, tuple[int, int, int]]:
-  bc = get_base_cell(h)
-  if not 0 <= bc < NUM_BASE_CELLS:
-    raise ValueError("invalid base cell")
-  if _is_pentagon_base(bc) and _leading_digit(h) == _IK:
-    h = _rotate_index60cw(h)
-
-  data = BASE_CELL_DATA[bc]
-  face, c = data[0], (data[1], data[2], data[3])
-  res = get_resolution(h)
-  possible_overage = _is_pentagon_base(bc) or not (res == 0 or c == (0, 0, 0))
-  for r in range(1, res + 1):
-    c = _down_ap7(c) if r % 2 else _down_ap7r(c)
-    d = _digit(h, r)
-    if 0 < d < 7:
-      c = _add(c, _UNIT_VECS[d])
-  if not possible_overage:
-    return face, c
-
-  orig = c
-  adj_res = res
-  if adj_res % 2:
-    c = _down_ap7r(c)
-    adj_res += 1
-  pent_leading4 = _is_pentagon_base(bc) and _leading_digit(h) == _I
-  face, c, moved = _adjust_overage_class2(face, c, adj_res, pent_leading4)
-  if moved:
-    if _is_pentagon_base(bc):
-      while moved:
-        face, c, moved = _adjust_overage_class2(face, c, adj_res, False)
-    if adj_res != res:
-      c = _up_ap7r(c)
-  elif adj_res != res:
-    c = orig
-  return face, c
-
-
-# --- public API ---
-
-def latlng_to_cell(lat: float, lng: float, res: int) -> int:
-  """Cell containing a point given in degrees, like h3.latlng_to_cell."""
-  if not 0 <= res <= MAX_RES:
-    raise ValueError("resolution out of range")
-  if not (math.isfinite(lat) and math.isfinite(lng)):
-    raise ValueError("coordinates must be finite")
-  face, x, y = _geo_to_hex2d(math.radians(lat), math.radians(lng), res)
-  return _face_ijk_to_h3(face, _hex2d_to_ijk(x, y), res)
-
-
-def cell_to_latlng(h: int) -> tuple[float, float]:
-  """Center of a cell in degrees."""
-  face, c = _h3_to_face_ijk(h)
-  lat, lng = _hex2d_to_geo(*_ijk_to_hex2d(c), face, get_resolution(h))
-  return math.degrees(lat), math.degrees(lng)
-
-
-def cell_to_parent(h: int, res: int) -> int:
-  child_res = get_resolution(h)
-  if not 0 <= res <= child_res:
-    raise ValueError("parent resolution must be between 0 and the cell's resolution")
-  h = (h & ~(15 << _RES_OFFSET)) | (res << _RES_OFFSET)
-  for r in range(res + 1, child_res + 1):
-    h = _set_digit(h, r, 7)
-  return h
-
-
-def grid_disk1(h: int) -> set[int]:
-  """The cell and the cells touching it (h3.grid_disk(h, 1)).
-
-  Steps one cell along each of the six ijk axes on the cell's face and maps
-  that center back to a cell, so it also works across face edges.
-  """
-  face, c = _h3_to_face_ijk(h)
-  res = get_resolution(h)
-  out = {h}
-  for u in _UNIT_VECS[1:]:
-    x, y = _ijk_to_hex2d(_add(c, u))
-    lat, lng = _hex2d_to_geo(x, y, face, res)
-    out.add(latlng_to_cell(math.degrees(lat), math.degrees(lng), res))
-  return out
-
-
-def cell_to_str(h: int) -> str:
-  return format(h, "x")
-
-
-def str_to_cell(s: str) -> int:
-  return int(s, 16)

openpilot/sunnypilot/achievements/preview.py

@@ -1,236 +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.
-
-Dry run of the community uploads: writes exactly what the car would send, and
-a map page that shows what would be shared and what stays on the car, into
-<achievements root>/preview/. Nothing is sent anywhere.
-
-  preview/daily-YYYY-MM-DD.json   daily report per driven day (last 14 days), at level 2
-  preview/tiles.json              the next weekly tile batch (level 3)
-  preview/delete.json             tiles the car would ask the server to delete, if any
-  preview/map.html                open in a browser (copy it off the car first)
-
-map.html shows your frequent stops, so it is for you only: don't share it.
-"""
-from __future__ import annotations
-
-import datetime as dt
-import json
-from pathlib import Path
-
-from openpilot.sunnypilot.achievements.community import (LEVEL_DAILY, STOP_HOLD_DAYS, CommunityLog, Settings,
-                                                         public_block)
-from openpilot.sunnypilot.achievements.engine import State, achievements_root
-
-PREVIEW_DAYS = 14
-
-
-def preview_dir() -> Path:
-  return achievements_root() / "preview"
-
-
-def _write(path: Path, data) -> None:
-  tmp = path.with_suffix(path.suffix + ".tmp")
-  tmp.write_text(data if isinstance(data, str) else json.dumps(data, indent=2) + "\n")
-  tmp.replace(path)
-
-
-def build_preview(log: CommunityLog, state: State, today: dt.date, car: str | None, settings: Settings) -> dict:
-  """Everything the preview shows, as plain data."""
-  view = log.tile_view(today)
-  profile = log.profile_update(today, car, settings)
-  days = log.driven_days(since=today - dt.timedelta(days=PREVIEW_DAYS - 1))
-  daily = [log.daily_report(d, state, LEVEL_DAILY, profile=profile if d == days[-1] else None,
-                            include_undated=d == days[-1]) for d in days]
-  region_days = log.region_days(today)
-  return {
-    "today": today.isoformat(),
-    "level": settings.level,
-    "daily": daily,
-    "tiles": log.tile_batch(today),
-    "delete": log.tile_deletes(today),
-    "region": {"home": log.home_region(today), "shared": log.shared_region(today, settings),
-               "choice": settings.region, "days": dict(region_days.most_common())},
-    "map": {
-      "shareable": sorted(view.shareable),
-      "blocks": sorted({public_block(t) for t in view.shareable}),
-      "held": view.held,
-      "ring": sorted(view.ring),
-      "frequent": sorted(view.frequent),
-      "hidden": sorted(view.hidden & view.driven),
-      "driven": len(view.driven),
-    },
-  }
-
-
-def write_preview(log: CommunityLog, state: State, today: dt.date, car: str | None, settings: Settings,
-                  out: Path | None = None) -> Path:
-  out = out or preview_dir()
-  out.mkdir(parents=True, exist_ok=True)
-  data = build_preview(log, state, today, car, settings)
-
-  for f in out.glob("daily-*.json"):
-    f.unlink()
-  for report in data["daily"]:
-    _write(out / f"daily-{report['day']}.json", report)
-  for name in ("tiles", "delete"):
-    path = out / f"{name}.json"
-    if data[name]:
-      _write(path, data[name])
-    elif path.exists():
-      path.unlink()
-  _write(out / "map.html", render_html(data))
-  return out
-
-
-def render_html(data: dict) -> str:
-  blob = json.dumps(data, separators=(",", ":")).replace("</", "<\\/")
-  return HTML.replace("__DATA__", blob).replace("__HOLD_DAYS__", str(STOP_HOLD_DAYS))
-
-
-HTML = """<!doctype html>
-<html lang="en">
-<head>
-<meta charset="utf-8">
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<title>What your car would share</title>
-<link rel="stylesheet" href="https://unpkg.com/maplibre-gl@4.7.1/dist/maplibre-gl.css">
-<script src="https://unpkg.com/maplibre-gl@4.7.1/dist/maplibre-gl.js"></script>
-<script src="https://unpkg.com/h3-js@4.1.0/dist/h3-js.umd.js"></script>
-<style>
-  :root { --ink:#1f2328; --muted:#59636e; --line:#d1d9e0; --bg:#f6f8fa; --send:#2563eb; --held:#9ca3af;
-          --never:#dc2626; --hidden:#7c3aed; }
-  * { box-sizing: border-box; }
-  body { margin:0; font:15px/1.5 Inter, system-ui, sans-serif; color:var(--ink); background:#fff; }
-  header { padding:20px 24px 8px; }
-  h1 { font-size:22px; margin:0 0 4px; }
-  .warn { background:#fff8c5; border:1px solid #d4a72c66; border-radius:8px; padding:8px 12px; margin:8px 0 0; color:#3b2300; }
-  .stats { display:flex; flex-wrap:wrap; gap:8px; padding:8px 24px; }
-  .stat { border:1px solid var(--line); border-radius:8px; padding:8px 12px; min-width:150px; }
-  .stat b { display:block; font-size:20px; }
-  .dot { display:inline-block; width:10px; height:10px; border-radius:2px; margin-right:6px; vertical-align:middle; }
-  .bar { display:flex; flex-wrap:wrap; gap:8px; align-items:center; padding:8px 24px; }
-  button { font:inherit; border:1px solid var(--line); background:#fff; border-radius:6px; padding:6px 12px; cursor:pointer; }
-  button.on { background:var(--ink); color:#fff; border-color:var(--ink); }
-  #map { height:62vh; min-height:360px; margin:0 24px; border:1px solid var(--line); border-radius:8px; }
-  main { padding:8px 24px 40px; display:grid; align-items:start; grid-template-columns:repeat(auto-fit, minmax(320px, 1fr)); gap:16px; }
-  section { border:1px solid var(--line); border-radius:8px; padding:12px 16px; }
-  h2 { font-size:16px; margin:0 0 6px; }
-  p { margin:4px 0; color:var(--muted); }
-  pre { background:var(--bg); border-radius:6px; padding:10px; overflow:auto; font-size:12px; max-height:340px; }
-</style>
-</head>
-<body>
-<header>
-  <h1>What your car would share</h1>
-  <div id="sub"></div>
-  <div class="warn">Dry run: nothing has been sent. This page marks your frequent stops, so keep it to yourself.</div>
-</header>
-<div class="stats" id="stats"></div>
-<div class="bar">
-  <button id="mine" class="on">Your map (6 km tiles)</button>
-  <button id="others">What others see (45 km blocks)</button>
-  <label><input type="checkbox" id="kept" checked> Show what stays on the car</label>
-</div>
-<div id="map"></div>
-<main>
-  <section><h2>Home region</h2><div id="region"></div></section>
-  <section><h2>Latest daily report</h2>
-    <p>Level 1 sends <code>unlocks</code> and <code>totals</code>. Level 2 adds <code>daily</code> and <code>profile</code>.</p>
-    <pre id="daily"></pre></section>
-  <section><h2>Next weekly tile batch (level 3)</h2>
-    <p>Sorted tile ids, no dates, sent separately from the daily report.</p><pre id="tiles"></pre></section>
-  <section><h2>Delete requests</h2>
-    <p>Tiles already sent that became private later (moved house, new job, hidden).</p><pre id="delete"></pre></section>
-</main>
-<script>
-const D = __DATA__;
-const M = D.map;
-const held = Object.keys(M.held);
-const never = M.ring;
-document.getElementById('sub').textContent =
-  `As of ${D.today}. Sharing level on this car: ${D.level} (0 = off). The preview always shows level 3.`;
-const stat = (color, n, label) =>
-  `<div class="stat"><b>${n}</b><span class="dot" style="background:${color}"></span>${label}</div>`;
-document.getElementById('stats').innerHTML =
-  stat('#6e7781', M.driven, 'tiles driven') +
-  stat('var(--send)', M.shareable.length, 'would be shared') +
-  stat('var(--held)', held.length, 'drive start/end tiles waiting __HOLD_DAYS__ days') +
-  stat('var(--never)', never.length, `never leave the car (${M.frequent.length} frequent stops + the tiles around them)`) +
-  stat('var(--hidden)', M.hidden.length, 'hidden by you') +
-  stat('var(--send)', M.blocks.length, '45 km blocks others would see');
-
-const r = D.region;
-const days = Object.entries(r.days).map(([k, v]) => `${k}: ${v} day${v === 1 ? '' : 's'}`).join(', ') || 'no engaged days yet';
-document.getElementById('region').innerHTML =
-  `<p>Detected: <b>${r.home || 'none yet'}</b> (${days}, last 90 days).</p>` +
-  `<p>Would be shared as: <b>${r.shared || 'nothing'}</b> (setting: ${r.choice}).</p>`;
-const latest = D.daily.length ? D.daily[D.daily.length - 1] : null;
-document.getElementById('daily').textContent = latest ? JSON.stringify(latest, null, 2) : 'No driving yet.';
-const t = D.tiles;
-document.getElementById('tiles').textContent = t ?
-  JSON.stringify({...t, tiles: t.tiles.slice(0, 12).concat(t.tiles.length > 12 ? [`... ${t.tiles.length - 12} more`] : [])}, null, 2) :
-  'Nothing new to send.';
-document.getElementById('delete').textContent = D.delete ? JSON.stringify(D.delete, null, 2) : 'None.';
-
-const fc = (cells, kind) => ({type: 'FeatureCollection', features: cells.map(c => {
-  const ring = h3.cellToBoundary(c, true); ring.push(ring[0]);
-  return {type: 'Feature', properties: {kind, cell: c, until: M.held[c] || ''}, geometry: {type: 'Polygon', coordinates: [ring]}};
-})});
-const all = [...M.shareable, ...held, ...never, ...M.hidden];
-const map = new maplibregl.Map({
-  container: 'map',
-  style: {version: 8, sources: {osm: {type: 'raster', tiles: ['https://tile.openstreetmap.org/{z}/{x}/{y}.png'],
-          tileSize: 256, attribution: '&copy; OpenStreetMap contributors'}},
-          layers: [{id: 'osm', type: 'raster', source: 'osm', paint: {'raster-saturation': -0.8, 'raster-opacity': 0.8}}]},
-  center: [-83, 40], zoom: 5,
-});
-map.on('load', () => {
-  const add = (id, data, color, fill, dash) => {
-    map.addSource(id, {type: 'geojson', data});
-    map.addLayer({id: id + '-fill', type: 'fill', source: id, paint: {'fill-color': color, 'fill-opacity': fill}});
-    map.addLayer({id: id + '-line', type: 'line', source: id,
-                  paint: {'line-color': color, 'line-width': 1.2, ...(dash ? {'line-dasharray': [2, 2]} : {})}});
-  };
-  add('blocks', fc(M.blocks, 'block'), '#2563eb', 0.35);
-  add('mine', fc(M.shareable, 'shared'), '#2563eb', 0.35);
-  add('held', fc(held, 'held'), '#9ca3af', 0.45, true);
-  add('never', fc(never, 'never'), '#dc2626', 0.25, true);
-  add('hidden', fc(M.hidden, 'hidden'), '#7c3aed', 0.3, true);
-  const kept = ['held', 'never', 'hidden'];
-  const show = (id, on) => ['-fill', '-line'].forEach(s => map.setLayoutProperty(id + s, 'visibility', on ? 'visible' : 'none'));
-  const fit = cells => {
-    if (!cells.length) return;
-    const pts = cells.flatMap(c => h3.cellToBoundary(c));
-    const lats = pts.map(p => p[0]), lngs = pts.map(p => p[1]);
-    map.fitBounds([[Math.min(...lngs), Math.min(...lats)], [Math.max(...lngs), Math.max(...lats)]], {padding: 40, duration: 0});
-  };
-  let mode = 'mine';
-  const refresh = () => {
-    show('mine', mode === 'mine'); show('blocks', mode === 'others');
-    const k = document.getElementById('kept').checked && mode === 'mine';
-    kept.forEach(id => show(id, k));
-    document.getElementById('mine').classList.toggle('on', mode === 'mine');
-    document.getElementById('others').classList.toggle('on', mode === 'others');
-  };
-  document.getElementById('mine').onclick = () => { mode = 'mine'; refresh(); fit(all); };
-  document.getElementById('others').onclick = () => { mode = 'others'; refresh(); fit(M.blocks); };
-  document.getElementById('kept').onchange = refresh;
-  refresh();
-  fit(all);
-  const label = {shared: 'Would be shared', held: 'Waiting until', never: 'Never leaves the car', hidden: 'Hidden by you',
-                 block: 'What others see'};
-  map.on('click', e => {
-    const f = map.queryRenderedFeatures(e.point).find(x => x.properties.kind);
-    if (!f) return;
-    new maplibregl.Popup().setLngLat(e.lngLat)
-      .setHTML(`${label[f.properties.kind]} ${f.properties.until}<br><code>${f.properties.cell}</code>`).addTo(map);
-  });
-});
-</script>
-</body>
-</html>
-"""

openpilot/sunnypilot/achievements/regions.py

@@ -1,74 +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.
-
-Home region lookup: map tile -> region code (US-OH, CA-ON, or a country code
-like GB), from the table in regions.json.gz. Works offline on the car; no
-geocoding service is ever called. See tools/build_regions.py for how the table
-is made.
-"""
-from __future__ import annotations
-
-import gzip
-import json
-from functools import lru_cache
-from pathlib import Path
-
-import numpy as np
-
-from openpilot.sunnypilot.achievements import h3lite
-
-TABLE_PATH = Path(__file__).parent / "regions.json.gz"
-
-
-class RegionTable:
-  def __init__(self, path: Path = TABLE_PATH):
-    with gzip.open(path, "rt") as f:
-      data = json.load(f)
-    self.tile_res: int = data["tile_res"]
-    self.base_res: int = data["base_res"]
-    self.codes: list[str] = sorted(set(data["regions"]) | set(data["exceptions"]))
-    index = {c: i for i, c in enumerate(self.codes)}
-    self._base = self._arrays(data["regions"], index)
-    self._exceptions = self._arrays(data["exceptions"], index)
-
-  @staticmethod
-  def _arrays(groups: dict[str, list[str]], index: dict[str, int]) -> tuple[np.ndarray, np.ndarray]:
-    pairs = sorted((int(cell, 16), index[code]) for code, cells in groups.items() for cell in cells)
-    keys = np.array([p[0] for p in pairs], dtype=np.int64)
-    vals = np.array([p[1] for p in pairs], dtype=np.uint16)
-    return keys, vals
-
-  @staticmethod
-  def _find(arrays: tuple[np.ndarray, np.ndarray], cell: int) -> int | None:
-    keys, vals = arrays
-    i = int(np.searchsorted(keys, cell))
-    if i < len(keys) and int(keys[i]) == cell:
-      return int(vals[i])
-    return None
-
-  def lookup_cell(self, cell: int) -> str | None:
-    """Region for a tile at tile_res (or finer). None at sea or off the map."""
-    res = h3lite.get_resolution(cell)
-    if res > self.tile_res:
-      cell, res = h3lite.cell_to_parent(cell, self.tile_res), self.tile_res
-    for table, top in ((self._exceptions, res), (self._base, min(res, self.base_res))):
-      for r in range(top, -1, -1):
-        hit = self._find(table, h3lite.cell_to_parent(cell, r))
-        if hit is not None:
-          return self.codes[hit]
-    return None
-
-  def lookup(self, lat: float, lng: float) -> str | None:
-    return self.lookup_cell(h3lite.latlng_to_cell(lat, lng, self.tile_res))
-
-
-@lru_cache(maxsize=1)
-def table() -> RegionTable:
-  return RegionTable()
-
-
-def country_of(region: str) -> str:
-  return region.split("-", 1)[0]

openpilot/sunnypilot/achievements/replay.py

@@ -1,162 +0,0 @@
-#!/usr/bin/env python3
-"""
-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.
-
-Runs achievements and the privacy filter over the drives already saved on the
-car, then writes the dry-run preview. It uses its own folder, so live progress
-is not touched, and it sends nothing.
-
-On the car (over SSH):
-  cd /data/openpilot && python -m openpilot.sunnypilot.achievements.replay
-Then on your computer:
-  scp comma@<car ip>:/data/media/0/achievements/replay/preview/map.html .
-
-Reads qlogs from /data/media/0/realdata by default (--rlog for full logs, which
-also count lane changes; much slower). Each route counts as one drive.
-"""
-from __future__ import annotations
-
-import argparse
-import collections
-import datetime
-import re
-import shutil
-import sys
-import time
-from pathlib import Path
-
-from openpilot.sunnypilot.achievements.community import CommunityLog, Settings
-from openpilot.sunnypilot.achievements.engine import (MAX_GPS_ACCURACY_M, AchievementEngine, Sample, State,
-                                                      achievements_root)
-from openpilot.sunnypilot.achievements.preview import write_preview
-
-SEGMENT = re.compile(r"^(?P<route>.+)--(?P<seg>\d+)$")
-GPS_MAX_AGE_S = 2.0
-MIN_VALID_UNIX = 1.6e9  # anything earlier is a clock that wasn't set yet
-
-
-def _now() -> float:
-  return datetime.datetime.now(datetime.UTC).timestamp()
-
-
-def find_routes(log_root: Path, rlog: bool, days: int | None) -> list[list[Path]]:
-  names = ("rlog.zst", "rlog.bz2", "rlog") if rlog else ("qlog.zst", "qlog.bz2", "qlog")
-  cutoff = _now() - days * 86400 if days else 0
-  routes: dict[str, list[tuple[int, float, Path]]] = collections.defaultdict(list)
-  for d in log_root.iterdir():
-    m = SEGMENT.match(d.name)
-    if not m or not d.is_dir():
-      continue
-    f = next((d / n for n in names if (d / n).exists()), None)
-    if f is None or f.stat().st_mtime < cutoff:
-      continue
-    routes[m["route"]].append((int(m["seg"]), f.stat().st_mtime, f))
-  ordered = sorted(routes.values(), key=lambda segs: min(s[1] for s in segs))
-  return [[f for _, _, f in sorted(segs)] for segs in ordered]
-
-
-class RouteFeeder:
-  """Turns one route's log messages into Samples, the way achievementsd does live."""
-
-  def __init__(self, engine: AchievementEngine, log: CommunityLog):
-    self.engine, self.log = engine, log
-    self.op_active = self.mads_active = False
-    self.lane_change = self.dm_alert = 0
-    self.gps: tuple[float, float, int] | None = None
-    self.clock: tuple[int, float] | None = None  # (logMonoTime, unix seconds)
-    self.car: str | None = None
-    self.samples = 0
-
-  def feed(self, ev) -> None:
-    w = ev.which()
-    if w == "carState":
-      self._sample(ev.logMonoTime, ev.carState.vEgo)
-    elif w == "selfdriveState":
-      self.op_active = ev.selfdriveState.active
-    elif w == "selfdriveStateSP":
-      self.mads_active = ev.selfdriveStateSP.mads.active
-    elif w == "modelV2":
-      self.lane_change = ev.modelV2.meta.laneChangeState.raw
-    elif w == "driverMonitoringState":
-      self.dm_alert = ev.driverMonitoringState.alertLevel.raw
-    elif w in ("gpsLocationExternal", "gpsLocation"):
-      g = getattr(ev, w)
-      if g.hasFix and 0 < g.horizontalAccuracy < MAX_GPS_ACCURACY_M:
-        self.gps = (g.latitude, g.longitude, ev.logMonoTime)
-        if g.unixTimestampMillis / 1000.0 > MIN_VALID_UNIX:
-          self.clock = (ev.logMonoTime, g.unixTimestampMillis / 1000.0)
-    elif w == "initData" and self.clock is None:
-      if ev.initData.wallTimeNanos / 1e9 > MIN_VALID_UNIX:
-        self.clock = (ev.logMonoTime, ev.initData.wallTimeNanos / 1e9)
-    elif w == "carParams" and not self.car:
-      self.car = ev.carParams.carFingerprint or None
-
-  def _sample(self, mono: int, v_ego: float) -> None:
-    fix = self.gps if self.gps and (mono - self.gps[2]) / 1e9 < GPS_MAX_AGE_S else None
-    wall = self.clock[1] + (mono - self.clock[0]) / 1e9 if self.clock else None
-    s = Sample(t=mono / 1e9, v_ego=v_ego, op_active=self.op_active, mads_active=self.mads_active,
-               lane_change_state=self.lane_change, dm_alert_level=self.dm_alert,
-               lat=fix[0] if fix else None, lon=fix[1] if fix else None, wall=wall)
-    self.engine.update(s)
-    self.log.update(s, self.engine.last_step)
-    self.samples += 1
-
-
-def main(argv: list[str] | None = None) -> int:
-  from openpilot.common.hardware.hw import Paths
-  from openpilot.tools.lib.logreader import LogReader
-
-  ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[1], formatter_class=argparse.RawDescriptionHelpFormatter)
-  ap.add_argument("--logs", type=Path, default=Path(Paths.log_root()), help="folder with route segments")
-  ap.add_argument("--out", type=Path, default=achievements_root() / "replay", help="where to write (wiped first)")
-  ap.add_argument("--days", type=int, default=None, help="only routes from the last N days")
-  ap.add_argument("--rlog", action="store_true", help="read full rlogs instead of qlogs")
-  args = ap.parse_args(argv)
-
-  routes = find_routes(args.logs, args.rlog, args.days)
-  if not routes:
-    print(f"no {'rlogs' if args.rlog else 'qlogs'} found in {args.logs}")
-    return 1
-  if args.out.exists():
-    shutil.rmtree(args.out)
-  args.out.mkdir(parents=True)
-
-  engine = AchievementEngine(State())
-  log = CommunityLog(args.out / "community.db")
-  car = None
-  n_segs = sum(len(r) for r in routes)
-  done = 0
-  start = time.monotonic()
-  for segments in routes:
-    feeder = RouteFeeder(engine, log)
-    for path in segments:
-      try:
-        for ev in LogReader(str(path), sort_by_time=True):
-          feeder.feed(ev)
-      except Exception as e:  # one bad segment shouldn't stop the rest
-        print(f"skipping {path}: {e}", file=sys.stderr)
-      done += 1
-      print(f"\r{done}/{n_segs} segments", end="", file=sys.stderr, flush=True)
-    engine.end_drive()
-    log.end_drive(engine.utc_offset_h)
-    car = feeder.car or car
-  print(file=sys.stderr)
-
-  today = engine.local_date(_now())
-  out = write_preview(log, engine.state, today, car, Settings.load(), args.out / "preview")
-  view = log.tile_view(today)
-  print(f"{len(routes)} drives, {n_segs} segments in {time.monotonic() - start:.0f} s")
-  print(f"engaged: {engine.state.engaged_m / 1609.344:.0f} mi over {len(engine.state.days)} days")
-  kept = len(view.ring & view.driven)
-  print(f"tiles: {len(view.driven)} driven, {len(view.shareable)} would be shared, {len(view.held)} waiting, {kept} kept on the car")
-  print(f"frequent stops (never sent, with the tiles around them): {len(view.frequent)}")
-  print(f"home region: {log.home_region(today)}")
-  print(f"preview: {out / 'map.html'}")
-  return 0
-
-
-if __name__ == "__main__":
-  sys.exit(main())

openpilot/sunnypilot/achievements/simulate.py

@@ -1,113 +0,0 @@
-#!/usr/bin/env python3
-"""
-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.
-
-Made-up drives for the tests and for a demo preview without a car:
-
-  python -m openpilot.sunnypilot.achievements.simulate /tmp/demo
-
-writes /tmp/demo/preview/map.html for two weeks of a commute from Hilliard to
-Fairborn, Ohio, plus two weekend trips.
-"""
-from __future__ import annotations
-
-import datetime as dt
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-from openpilot.sunnypilot.achievements.community import CommunityLog
-from openpilot.sunnypilot.achievements.engine import AchievementEngine, Sample, State
-
-HOME = (40.0334, -83.1588)          # Hilliard
-WORK = (39.8209, -84.0194)          # Fairborn
-SPRINGFIELD = (39.9242, -83.8088)
-CINCINNATI = (39.1031, -84.5120)
-DAYTON = (39.7589, -84.1916)
-CLEVELAND = (41.4993, -81.6944)
-MANSFIELD = (40.7584, -82.5154)
-COLUMBUS = (39.9612, -82.9988)
-
-
-@dataclass
-class Drive:
-  day: dt.date
-  route: list[tuple[float, float]]
-  start_utc_h: float = 13.0         # 8 am in Ohio
-  engaged: bool = True
-
-
-def _km(a: tuple[float, float], b: tuple[float, float]) -> float:
-  la1, lo1, la2, lo2 = map(math.radians, (*a, *b))
-  h = math.sin((la2 - la1) / 2) ** 2 + math.cos(la1) * math.cos(la2) * math.sin((lo2 - lo1) / 2) ** 2
-  return 2 * 6371.0 * math.asin(math.sqrt(h))
-
-
-def drive_samples(drive: Drive, t0: float, speed_ms: float = 30.0):
-  """1 Hz samples along straight lines between the route's points."""
-  wall = dt.datetime(drive.day.year, drive.day.month, drive.day.day, tzinfo=dt.UTC).timestamp() + drive.start_utc_h * 3600
-  t = t0
-  for a, b in zip(drive.route, drive.route[1:], strict=False):
-    n = max(1, int(_km(a, b) * 1000 / speed_ms))
-    for i in range(n):
-      f = i / n
-      lat, lon = a[0] + (b[0] - a[0]) * f, a[1] + (b[1] - a[1]) * f
-      yield Sample(t=t, v_ego=speed_ms, op_active=drive.engaged, lat=lat, lon=lon, wall=wall)
-      t += 1.0
-      wall += 1.0
-  end = drive.route[-1]
-  yield Sample(t=t, v_ego=0.0, op_active=False, lat=end[0], lon=end[1], wall=wall)
-
-
-def run(drives: list[Drive], engine: AchievementEngine, log: CommunityLog, speed_ms: float = 30.0) -> None:
-  t = 1000.0
-  for d in drives:
-    for s in drive_samples(d, t, speed_ms):
-      engine.update(s)
-      log.update(s, engine.last_step)
-      t = s.t
-    engine.end_drive()
-    log.end_drive(engine.utc_offset_h)
-    t += 3600.0
-
-
-def commute_weeks(first_monday: dt.date, weeks: int = 2) -> list[Drive]:
-  drives = []
-  for w in range(weeks):
-    monday = first_monday + dt.timedelta(weeks=w)
-    for i in range(5):
-      day = monday + dt.timedelta(days=i)
-      drives.append(Drive(day, [HOME, SPRINGFIELD, WORK], 12.5))
-      drives.append(Drive(day, [WORK, SPRINGFIELD, HOME], 21.5))
-    saturday = monday + dt.timedelta(days=5)
-    trip = [HOME, DAYTON, CINCINNATI] if w % 2 == 0 else [HOME, COLUMBUS, MANSFIELD, CLEVELAND]
-    drives.append(Drive(saturday, trip, 14.0))
-    drives.append(Drive(saturday, list(reversed(trip)), 20.0))
-  return drives
-
-
-def main(out: str) -> None:
-  from openpilot.sunnypilot.achievements.community import Settings
-  from openpilot.sunnypilot.achievements.preview import write_preview
-
-  root = Path(out)
-  root.mkdir(parents=True, exist_ok=True)
-  db = root / "community.db"
-  if db.exists():
-    os.remove(db)
-  first_monday = dt.date(2026, 10, 26)
-  engine = AchievementEngine(State())
-  log = CommunityLog(db)
-  run(commute_weeks(first_monday), engine, log)
-  today = first_monday + dt.timedelta(days=15)
-  path = write_preview(log, engine.state, today, "HYUNDAI_IONIQ_5", Settings(level=0), root / "preview")
-  print(f"wrote {path / 'map.html'}")
-
-
-if __name__ == "__main__":
-  main(sys.argv[1] if len(sys.argv) > 1 else "/tmp/achievements_demo")

openpilot/sunnypilot/achievements/tests/test_community.py

@@ -1,195 +0,0 @@
-"""
-The privacy filter, on made-up drives: two weeks of a Hilliard -> Fairborn
-commute plus two Saturday trips (see simulate.py).
-"""
-import datetime as dt
-import re
-import sqlite3
-
-import pytest
-
-from openpilot.sunnypilot.achievements import h3lite
-from openpilot.sunnypilot.achievements.community import (LEVEL_ACHIEVEMENTS, LEVEL_DAILY, LEVEL_MAP, LEVEL_OFF,
-                                                         CommunityLog, Settings, public_block, ring_of, tile_of)
-from openpilot.sunnypilot.achievements.engine import AchievementEngine, State
-from openpilot.sunnypilot.achievements.preview import build_preview, write_preview
-from openpilot.sunnypilot.achievements.regions import table
-from openpilot.sunnypilot.achievements.simulate import (CINCINNATI, CLEVELAND, HOME, WORK, Drive, commute_weeks,
-                                                        run)
-
-FIRST_MONDAY = dt.date(2026, 10, 26)
-TODAY = FIRST_MONDAY + dt.timedelta(days=15)  # Tuesday after the second week
-HEX = re.compile(r"^86[0-9a-f]{13}$")
-
-
-@pytest.fixture(scope="module")
-def world(tmp_path_factory):
-  engine = AchievementEngine(State())
-  log = CommunityLog(tmp_path_factory.mktemp("community") / "community.db")
-  run(commute_weeks(FIRST_MONDAY), engine, log, speed_ms=60.0)
-  return engine, log
-
-
-def test_home_and_work_never_leave(world):
-  _, log = world
-  view = log.tile_view(TODAY)
-  home, work = tile_of(*HOME), tile_of(*WORK)
-  assert view.frequent == {home, work}
-  assert ring_of(home) | ring_of(work) <= view.ring
-  assert len(ring_of(home)) == 7
-  assert not view.shareable & view.ring
-  batch = log.tile_batch(TODAY)
-  assert not set(batch["tiles"]) & view.ring
-
-
-def test_trip_ends_wait_14_days(world):
-  _, log = world
-  cincinnati = tile_of(*CINCINNATI)  # Saturday Oct 31
-  cleveland = tile_of(*CLEVELAND)    # Saturday Nov 7
-  view = log.tile_view(TODAY)
-  assert view.held == {cincinnati: "2026-11-14", cleveland: "2026-11-21"}
-  assert cincinnati not in view.shareable
-
-  later = log.tile_view(dt.date(2026, 11, 14))
-  assert cincinnati in later.shareable
-  assert cleveland in later.held
-
-
-def test_tile_batch_has_no_dates(world):
-  _, log = world
-  batch = log.tile_batch(TODAY)
-  assert set(batch) == {"v", "device", "tiles"}
-  assert batch["tiles"] == sorted(batch["tiles"])
-  assert all(HEX.match(t) for t in batch["tiles"])
-  assert len(batch["tiles"]) == len(log.tile_view(TODAY).shareable)
-
-
-def test_nothing_finer_than_a_tile_is_stored(world):
-  _, log = world
-  db = sqlite3.connect(log.path)
-  assert all(HEX.match(c) for (c,) in db.execute("SELECT cell FROM tiles UNION SELECT cell FROM stops"))
-  days = {d for (d,) in db.execute("SELECT first_day FROM tiles UNION SELECT day FROM stops UNION SELECT day FROM days")}
-  assert all(re.fullmatch(r"\d{4}-\d\d-\d\d", d) for d in days)
-
-
-def test_others_see_45km_blocks(world):
-  _, log = world
-  data = build_preview(log, world[0].state, TODAY, None, Settings())
-  shareable = log.tile_view(TODAY).shareable
-  assert set(data["map"]["blocks"]) == {public_block(t) for t in shareable}
-  assert all(h3lite.get_resolution(h3lite.str_to_cell(b)) == 4 for b in data["map"]["blocks"])
-  # the commute fills in the blocks around home and work, so no hole points at them
-  home_block, work_block = public_block(tile_of(*HOME)), public_block(tile_of(*WORK))
-  assert {home_block, work_block} <= set(data["map"]["blocks"])
-
-
-def test_daily_report_levels(world):
-  engine, log = world
-  day = "2026-11-06"
-  assert log.daily_report(day, engine.state, LEVEL_OFF) is None
-
-  r1 = log.daily_report(day, engine.state, LEVEL_ACHIEVEMENTS)
-  assert set(r1) == {"v", "device", "day", "unlocks", "totals"}
-  assert r1["totals"]["engaged_mi"] % 10 == 0 and r1["totals"]["engaged_h"] % 10 == 0
-
-  r2 = log.daily_report(day, engine.state, LEVEL_DAILY, profile={"region": "US-OH"})
-  assert set(r2) == {"v", "device", "day", "unlocks", "totals", "daily", "profile"}
-  assert set(r2["daily"]) == {"engaged_mi", "engaged_min", "new_places"}
-  assert all(isinstance(v, int) for v in r2["daily"].values())
-  assert 80 < r2["daily"]["engaged_mi"] < 110  # two ~47 mile legs
-  assert LEVEL_MAP > LEVEL_DAILY
-
-
-def test_unlocks_go_in_the_report_for_their_day(world):
-  engine, log = world
-  days = {}
-  for uid in engine.state.unlocked:
-    for day in log.driven_days():
-      if any(u["id"] == uid for u in log.daily_report(day, engine.state, LEVEL_ACHIEVEMENTS)["unlocks"]):
-        days.setdefault(uid, []).append(day)
-  assert days and all(len(v) == 1 for v in days.values())
-
-
-def test_home_region(world):
-  _, log = world
-  assert log.home_region(TODAY) == "US-OH"
-  assert log.shared_region(TODAY, Settings(region="country")) == "US"
-  assert log.shared_region(TODAY, Settings(region="hidden")) is None
-  assert log.shared_region(TODAY, Settings(region="US-KY")) == "US-KY"
-
-
-def test_profile_only_when_changed(tmp_path):
-  engine, log = AchievementEngine(State()), CommunityLog(tmp_path / "c.db")
-  run([Drive(dt.date(2026, 11, 2), [HOME, WORK])], engine, log, speed_ms=60.0)
-  today = dt.date(2026, 11, 3)
-  auto = Settings()
-  first = log.profile_update(today, "HYUNDAI_IONIQ_5", auto)
-  assert first == {"car": "HYUNDAI_IONIQ_5", "region": "US-OH"}
-  log.mark_profile_sent(today, first, auto)
-  assert log.profile_update(today, "HYUNDAI_IONIQ_5", auto) is None
-
-  # a road trip that moves the automatic home region waits 30 days after the last send
-  for i in range(3):
-    run([Drive(dt.date(2026, 11, 4 + i), [CINCINNATI, (38.25, -85.76)])], engine, log, speed_ms=60.0)  # into Kentucky
-  assert log.home_region(dt.date(2026, 11, 7)) != "US-OH"
-  assert log.profile_update(dt.date(2026, 11, 7), "HYUNDAI_IONIQ_5", auto) is None
-  assert "region" in log.profile_update(dt.date(2026, 12, 3), "HYUNDAI_IONIQ_5", auto)
-  # a region the driver picks goes right away; hiding sends an empty region
-  assert log.profile_update(today, "HYUNDAI_IONIQ_5", Settings(region="US-MI")) == {"region": "US-MI"}
-  assert log.profile_update(today, "HYUNDAI_IONIQ_5", Settings(region="hidden")) == {"region": None}
-
-
-def test_late_catches_and_hidden_tiles_are_deleted(tmp_path):
-  engine, log = AchievementEngine(State()), CommunityLog(tmp_path / "c.db")
-  friend = (39.95, -82.85)  # east Columbus
-  run([Drive(dt.date(2026, 10, 1), [HOME, friend])], engine, log, speed_ms=60.0)
-  today = dt.date(2026, 10, 20)
-  view = log.tile_view(today)
-  assert tile_of(*friend) in view.shareable  # one visit, held 14 days, then shared
-  log.mark_sent(view.to_send)
-  assert log.tile_batch(today) is None
-
-  # three more days ending there: it's a regular stop now, so ask the server to delete it
-  run([Drive(dt.date(2026, 10, 21 + i), [HOME, friend]) for i in range(3)], engine, log, speed_ms=60.0)
-  deletes = log.tile_deletes(dt.date(2026, 10, 25))
-  assert tile_of(*friend) in deletes["delete_tiles"]
-  assert set(deletes["delete_tiles"]) <= ring_of(tile_of(*friend)) | ring_of(tile_of(*HOME))
-
-  middle = sorted(log.tile_view(dt.date(2026, 10, 25)).shareable)[0]
-  log.hide_tile(middle)
-  view = log.tile_view(dt.date(2026, 10, 25))
-  assert middle not in view.shareable and middle in view.to_delete
-
-
-def test_no_gps_no_tiles(tmp_path):
-  engine, log = AchievementEngine(State()), CommunityLog(tmp_path / "c.db")
-  drive = Drive(dt.date(2026, 11, 2), [HOME, WORK])
-  from openpilot.sunnypilot.achievements.simulate import drive_samples
-  for s in drive_samples(drive, 0.0, 60.0):
-    s.lat = s.lon = None
-    engine.update(s)
-    log.update(s, engine.last_step)
-  log.end_drive()
-  assert log.tile_view(dt.date(2026, 11, 3)).driven == set()
-  m, secs, _ = log.day_stats("2026-11-02")
-  assert m > 50_000 and secs > 0  # engaged miles still count
-
-
-def test_write_preview(world, tmp_path):
-  engine, log = world
-  out = write_preview(log, engine.state, TODAY, "HYUNDAI_IONIQ_5", Settings(), tmp_path / "preview")
-  names = sorted(p.name for p in out.iterdir())
-  assert "map.html" in names and "tiles.json" in names
-  assert "daily-2026-11-07.json" in names
-  html = (out / "map.html").read_text()
-  assert "What your car would share" in html and tile_of(*HOME) in html
-
-
-def test_region_table():
-  t = table()
-  assert t.lookup(*HOME) == "US-OH"
-  assert t.lookup(43.65, -79.38) == "CA-ON"     # Toronto
-  assert t.lookup(40.76, -73.98) == "US-NY"     # Manhattan, next to New Jersey
-  assert t.lookup(38.90, -77.04) == "US-DC"
-  assert t.lookup(51.50, -0.12) == "GB"         # countries without subdivisions in the table
-  assert t.lookup(35.0, -40.0) is None          # mid-Atlantic

openpilot/sunnypilot/achievements/tests/test_engine.py

@@ -1,219 +0,0 @@
-import datetime as dt
-import json
-
-import pytest
-
-from openpilot.sunnypilot.achievements.catalog import CATALOG_PATH, load_catalog, parse_catalog, statuses
-from openpilot.sunnypilot.achievements.engine import (AchievementEngine, LANE_CHANGE_FINISHING, LANE_CHANGE_STARTING, Sample, State,
-                                                      geohash, load_seen, load_state, save_seen, save_state, season)
-
-T0 = dt.datetime(2026, 6, 1, 16, 0, tzinfo=dt.UTC).timestamp()  # noon in New York
-
-
-def drive(engine, seconds, v=20.0, t0=T0, hz=10, **kw):
-  """Feed `seconds` of driving at `v` m/s; returns every unlock id along the way."""
-  new = []
-  n = int(seconds * hz)
-  for i in range(n + 1):
-    extra = {k: val for k, val in kw.items() if k != "op_active"}
-    new += engine.update(Sample(t=t0 + i / hz, wall=t0 + i / hz, v_ego=v, op_active=kw.get("op_active", True), **extra))
-  return new
-
-
-def test_catalog_loads_and_ids_are_unique():
-  cat = load_catalog()
-  ids = cat.all_unlock_ids()
-  assert len(ids) == len(set(ids))
-  assert "odometer.silver" in ids and "first_light" in ids
-  engine_metrics = set(State().metrics())
-  assert cat.metrics <= engine_metrics, f"catalog uses metrics the engine doesn't compute: {cat.metrics - engine_metrics}"
-
-
-def test_catalog_rejects_decreasing_tiers():
-  data = json.loads(CATALOG_PATH.read_text())
-  data["achievements"][1]["tiers"][1]["threshold"] = 1
-  with pytest.raises(ValueError):
-    parse_catalog(data)
-
-
-def test_engaged_distance_and_first_light():
-  e = AchievementEngine()
-  new = drive(e, 10, v=20.0)
-  assert e.state.engaged_m == pytest.approx(200.0, rel=1e-6)
-  assert e.state.engaged_s == pytest.approx(10.0, rel=1e-6)
-  assert new == ["first_light"]
-
-
-def test_not_engaged_counts_nothing():
-  e = AchievementEngine()
-  drive(e, 10, op_active=False)
-  assert e.state.engaged_m == 0.0
-  assert e.state.unlocked == {}
-
-
-def test_gaps_and_bad_speeds_are_ignored():
-  e = AchievementEngine()
-  e.update(Sample(t=T0, v_ego=20.0, op_active=True))
-  e.update(Sample(t=T0 + 30.0, v_ego=20.0, op_active=True))  # 30 s gap: process stalled
-  e.update(Sample(t=T0 + 30.1, v_ego=500.0, op_active=True))  # implausible speed
-  assert e.state.engaged_m == 0.0
-
-
-def test_odometer_tiers_unlock_in_order():
-  e = AchievementEngine()
-  e.state.engaged_m = 99_999.0
-  new = drive(e, 1, v=10.0)
-  assert "odometer.bronze" in new and "odometer.silver" not in new
-  assert set(e.state.unlocked) >= {"first_light", "odometer.bronze"}
-
-
-def test_unlocks_only_once():
-  e = AchievementEngine()
-  assert drive(e, 5) == ["first_light"]
-  assert drive(e, 5, t0=T0 + 100) == []
-
-
-def test_mads_only_distance():
-  e = AchievementEngine()
-  drive(e, 10, v=10.0, op_active=False, mads_active=True)
-  drive(e, 10, v=10.0, t0=T0 + 60, op_active=True, mads_active=True)
-  assert e.state.mads_m == pytest.approx(100.0, rel=1e-6)
-  assert e.state.engaged_m == pytest.approx(200.0, rel=1e-6)
-
-
-def test_lane_change_counted_once_when_engaged():
-  e = AchievementEngine()
-  seq = [0, 1, 2, 2, 3, 3, 0, 0, 2, 3, 0]
-  for i, lc in enumerate(seq):
-    e.update(Sample(t=T0 + i * 0.1, v_ego=25.0, op_active=True, lane_change_state=lc))
-  assert e.state.lane_changes == 2
-  e.update(Sample(t=T0 + 5, v_ego=25.0, op_active=False, lane_change_state=LANE_CHANGE_STARTING))
-  e.update(Sample(t=T0 + 5.1, v_ego=25.0, op_active=False, lane_change_state=LANE_CHANGE_FINISHING))
-  assert e.state.lane_changes == 2
-
-
-def test_days_streak_and_best_day():
-  e = AchievementEngine()
-  for d in range(8):
-    drive(e, 2, t0=T0 + d * 86400)
-  assert len(e.state.days) == 8
-  assert e.state.best_streak_days == 8
-  assert "streak.bronze" in e.state.unlocked and "regular.bronze" in e.state.unlocked
-  # a gap day resets the run but keeps the best
-  drive(e, 2, t0=T0 + 10 * 86400)
-  assert e.state.best_streak_days == 8
-
-
-def test_local_date_follows_gps_longitude():
-  e = AchievementEngine()
-  late = dt.datetime(2026, 6, 2, 2, 0, tzinfo=dt.UTC).timestamp()  # 10 pm on June 1 in New York
-  e.update(Sample(t=late, wall=late, v_ego=10.0, op_active=True, lat=40.7, lon=-74.0))
-  e.update(Sample(t=late + 0.1, wall=late + 0.1, v_ego=10.0, op_active=True, lat=40.7, lon=-74.0))
-  assert e.state.days == ["2026-06-01"]
-
-
-def test_invalid_clock_counts_distance_but_not_days():
-  e = AchievementEngine()
-  for i in range(11):
-    e.update(Sample(t=i / 10, v_ego=10.0, op_active=True))  # wall=None: clock not set yet
-  assert e.state.engaged_m == pytest.approx(10.0, rel=1e-6)
-  assert e.state.days == [] and e.state.today_m == 0.0
-  assert e.state.unlocked == {}
-
-
-def test_attentive_run_resets_on_red_alert():
-  e = AchievementEngine()
-  drive(e, 100)
-  drive(e, 1, t0=T0 + 200, dm_alert_level=3)
-  assert e.state.attentive_run_s < 1.0
-  assert e.state.attentive_best_s == pytest.approx(100.0, rel=1e-3)
-
-
-def test_areas_are_hashed_and_counted():
-  e = AchievementEngine()
-  drive(e, 1, lat=40.70, lon=-74.00)
-  drive(e, 1, t0=T0 + 10, lat=40.701, lon=-74.001)   # same ~5 km cell
-  drive(e, 1, t0=T0 + 20, lat=41.50, lon=-73.00)     # different cell
-  assert len(e.state.areas) == 2
-  raw = json.dumps(e.state.__dict__)
-  assert "40.7" not in raw and geohash(40.70, -74.00) not in raw
-
-
-def test_model_hopper_counts_models_over_50km():
-  e = AchievementEngine()
-  e.state.model_m = {"a": 50_000.0, "b": 50_000.0, "c": 10.0}
-  drive(e, 1, model_ref="c", model_name="Model C")
-  assert e.state.metrics()["models_50km"] == 2
-  e.state.model_m["c"] = 50_000.0
-  assert "model_hopper.bronze" in drive(e, 1, t0=T0 + 10, model_ref="c")
-  assert e.state.model_names["c"] == "Model C"
-
-
-def test_dev_build_and_seasons():
-  e = AchievementEngine()
-  drive(e, 1, dev_build=True)
-  assert e.state.dev_m > 0
-  assert season(dt.date(2026, 1, 5)) == "winter"
-  assert season(dt.date(2026, 1, 5), southern=True) == "summer"
-
-
-def test_sunnylink_flag_sticks():
-  e = AchievementEngine()
-  assert e.set_sunnylink_linked(True, T0) == ["linked_up"]
-  e.set_sunnylink_linked(False, T0 + 1)
-  assert e.state.sunnylink_linked
-
-
-def test_state_round_trip(tmp_path):
-  e = AchievementEngine()
-  drive(e, 10, lat=40.7, lon=-74.0, model_ref="x")
-  path = tmp_path / "state.json"
-  save_state(e.state, path)
-  loaded = load_state(path)
-  assert loaded == e.state
-
-
-def test_corrupt_state_is_moved_aside(tmp_path):
-  path = tmp_path / "state.json"
-  path.write_text("{not json")
-  assert load_state(path).engaged_m == 0.0
-  assert (tmp_path / "state.corrupt.json").exists()
-  assert not path.exists()
-
-
-def test_unknown_fields_are_ignored(tmp_path):
-  path = tmp_path / "state.json"
-  path.write_text(json.dumps({"engaged_m": 5.0, "from_the_future": 1}))
-  assert load_state(path).engaged_m == 5.0
-
-
-def test_seen_round_trip(tmp_path):
-  path = tmp_path / "seen.json"
-  assert load_seen(path) == set()
-  save_seen({"a", "b"}, path)
-  assert load_seen(path) == {"a", "b"}
-
-
-def test_status_summaries():
-  cat = load_catalog()
-  st = State(engaged_m=1_240_000.0)
-  e = AchievementEngine(st)
-  e.check_unlocks(T0)
-  by_id = {s.achievement.id: s for s in statuses(cat, st.metrics(), st.unlocked)}
-  assert by_id["odometer"].summary() == "silver · 1,240 / 10,000 km"
-  assert by_id["odometer"].summary(is_metric=False) == "silver · 770 / 6,213 mi"
-  assert by_id["first_light"].summary() == "done"
-  assert by_id["regular"].summary() == "locked · 0 / 7 days"
-  assert by_id["linked_up"].summary() == "locked"
-
-
-def test_last_step_for_the_community_log():
-  e = AchievementEngine(State())
-  wall = 1_762_000_000.0
-  e.update(Sample(t=0.0, v_ego=20.0, op_active=True, wall=wall))
-  e.update(Sample(t=0.5, v_ego=20.0, op_active=True, wall=wall + 0.5))
-  assert e.last_step.dt_s == 0.5 and e.last_step.engaged_m == 10.0 and e.last_step.day is not None
-  e.update(Sample(t=1.0, v_ego=20.0, op_active=False, wall=wall + 1.0))
-  assert e.last_step.dt_s == 0.5 and e.last_step.engaged_m == 0.0
-  e.update(Sample(t=9.0, v_ego=20.0, op_active=True, wall=None))  # a gap and no clock
-  assert e.last_step.dt_s == 0.0 and e.last_step.day is None

openpilot/sunnypilot/achievements/tests/test_h3lite.py

@@ -1,125 +0,0 @@
-"""
-h3lite must give the same cell ids as Uber's H3, because the site and the
-server use h3-js and h3-pg on the ids the car sends. The vectors below come
-from h3-py 4.1.2; with h3 installed, the last test also compares random points.
-"""
-import random
-
-import pytest
-
-from openpilot.sunnypilot.achievements import h3lite
-
-RESOLUTIONS = (0, 4, 6, 9, 15)
-CELLS = [
-  (40.0334, -83.1588, ("802bfffffffffff", "842a90bffffffff", "862a90b4fffffff", "892a90b4917ffff", "8f2a90b4915d388")),
-  (37.7749, -122.4194, ("8029fffffffffff", "8428309ffffffff", "86283082fffffff", "89283082803ffff", "8f283082800b390")),
-  (51.5007, -0.1246, ("8019fffffffffff", "84194adffffffff", "86194ad17ffffff", "89194ad14c3ffff", "8f194ad14c254d3")),
-  (-33.8688, 151.2093, ("80bffffffffffff", "84be0e3ffffffff", "86be0e35fffffff", "89be0e35cbbffff", "8fbe0e35cbad0a8")),
-  (35.6762, 139.6503, ("802ffffffffffff", "842f5a3ffffffff", "862f5a367ffffff", "892f5a363bbffff", "8f2f5a363ba005a")),
-  (64.8378, -147.7164, ("800dfffffffffff", "840d5a9ffffffff", "860d5a9afffffff", "890d5a9add3ffff", "8f0d5a9add25781")),
-  (-54.8019, -68.303, ("80dffffffffffff", "84df451ffffffff", "86df45177ffffff", "89df4517557ffff", "8fdf45175542186")),
-  (0.0, 0.0, ("8075fffffffffff", "84754a9ffffffff", "86754e64fffffff", "89754e64993ffff", "8f754e64992d6d8")),
-  (89.9, 45.0, ("8001fffffffffff", "8403263ffffffff", "86032630fffffff", "89032630ac3ffff", "8f032630ac0311a")),
-  (-89.9, -45.0, ("80f3fffffffffff", "84f2939ffffffff", "86f2938efffffff", "89f2938ec7bffff", "8ff2938ec78c80e")),
-  (52.0, 179.999, ("8017fffffffffff", "841659bffffffff", "861659aefffffff", "891659acc9bffff", "8f1659acc9ad193")),
-  (-16.5, -179.999, ("809bfffffffffff", "849b5ddffffffff", "869b5dc57ffffff", "899b5dc5597ffff", "8f9b5dc5596a500")),
-  (-28.18676, -125.6943, ("80b1fffffffffff", "84b1713ffffffff", "86b171247ffffff", "89b1712423bffff", "8fb171242396a80")),
-  (24.14952, -153.92294, ("805dfffffffffff", "845d35bffffffff", "865d35b0fffffff", "895d35b0b23ffff", "8f5d35b0b200c24")),
-  (5.74112, -48.35199, ("805ffffffffffff", "845fa25ffffffff", "865fa248fffffff", "895fa248b23ffff", "8f5fa248b218936")),
-  (-70.72017, 2.67686, ("80e7fffffffffff", "84e749dffffffff", "86e749c47ffffff", "89e749c44c3ffff", "8fe749c44c216ec")),
-  (-74.00069, -23.88755, ("80effffffffffff", "84ee139ffffffff", "86ee13967ffffff", "89ee1396293ffff", "8fee139629208d2")),
-  (-68.82313, -147.34332, ("80e3fffffffffff", "84e334dffffffff", "86e334c9fffffff", "89e334c983bffff", "8fe334c9839a3b1")),
-  (-12.07693, 117.66676, ("8095fffffffffff", "849581dffffffff", "869581d97ffffff", "899581d9487ffff", "8f9581d9486a96e")),
-  (-60.19169, -99.63397, ("80e9fffffffffff", "84e95c1ffffffff", "86e95c107ffffff", "89e95c1000bffff", "8fe95c1000b639c")),
-]
-PARENTS = [
-  ("8f2a90b4915d388", ("802bfffffffffff", "842a90bffffffff", "862a90b4fffffff", "892a90b4917ffff", "8f2a90b4915d388")),
-  ("8f283082800b390", ("8029fffffffffff", "8428309ffffffff", "86283082fffffff", "89283082803ffff", "8f283082800b390")),
-  ("8f194ad14c254d3", ("8019fffffffffff", "84194adffffffff", "86194ad17ffffff", "89194ad14c3ffff", "8f194ad14c254d3")),
-  ("8fbe0e35cbad0a8", ("80bffffffffffff", "84be0e3ffffffff", "86be0e35fffffff", "89be0e35cbbffff", "8fbe0e35cbad0a8")),
-  ("8f2f5a363ba005a", ("802ffffffffffff", "842f5a3ffffffff", "862f5a367ffffff", "892f5a363bbffff", "8f2f5a363ba005a")),
-  ("8f0d5a9add25781", ("800dfffffffffff", "840d5a9ffffffff", "860d5a9afffffff", "890d5a9add3ffff", "8f0d5a9add25781")),
-  ("8fdf45175542186", ("80dffffffffffff", "84df451ffffffff", "86df45177ffffff", "89df4517557ffff", "8fdf45175542186")),
-  ("8f754e64992d6d8", ("8075fffffffffff", "84754e7ffffffff", "86754e64fffffff", "89754e64993ffff", "8f754e64992d6d8")),
-  ("8f032630ac0311a", ("8003fffffffffff", "8403263ffffffff", "86032630fffffff", "89032630ac3ffff", "8f032630ac0311a")),
-  ("8ff2938ec78c80e", ("80f3fffffffffff", "84f2939ffffffff", "86f2938efffffff", "89f2938ec7bffff", "8ff2938ec78c80e")),
-  ("8f1659acc9ad193", ("8017fffffffffff", "841659bffffffff", "861659acfffffff", "891659acc9bffff", "8f1659acc9ad193")),
-  ("8f9b5dc5596a500", ("809bfffffffffff", "849b5ddffffffff", "869b5dc57ffffff", "899b5dc5597ffff", "8f9b5dc5596a500")),
-  ("8fb171242396a80", ("80b1fffffffffff", "84b1713ffffffff", "86b171247ffffff", "89b1712423bffff", "8fb171242396a80")),
-  ("8f5d35b0b200c24", ("805dfffffffffff", "845d35bffffffff", "865d35b0fffffff", "895d35b0b23ffff", "8f5d35b0b200c24")),
-  ("8f5fa248b218936", ("805ffffffffffff", "845fa25ffffffff", "865fa248fffffff", "895fa248b23ffff", "8f5fa248b218936")),
-  ("8fe749c44c216ec", ("80e7fffffffffff", "84e749dffffffff", "86e749c47ffffff", "89e749c44c3ffff", "8fe749c44c216ec")),
-  ("8fee139629208d2", ("80effffffffffff", "84ee139ffffffff", "86ee13967ffffff", "89ee1396293ffff", "8fee139629208d2")),
-  ("8fe334c9839a3b1", ("80e3fffffffffff", "84e334dffffffff", "86e334c9fffffff", "89e334c983bffff", "8fe334c9839a3b1")),
-  ("8f9581d9486a96e", ("8095fffffffffff", "849581dffffffff", "869581d97ffffff", "899581d9487ffff", "8f9581d9486a96e")),
-  ("8fe95c1000b639c", ("80e9fffffffffff", "84e95c1ffffffff", "86e95c107ffffff", "89e95c1000bffff", "8fe95c1000b639c")),
-  ("8f2a90b4915d388", ("802bfffffffffff", "842a90bffffffff", "862a90b4fffffff", "892a90b4917ffff", "8f2a90b4915d388")),
-]
-CENTERS = [
-  ("862a90b4fffffff", 40.05041861648768, -83.181315523919),
-  ("842a90bffffffff", 40.08105106496825, -83.41180170584032),
-  ("864c00007ffffff", 23.71792527122296, -67.13232636643565),
-  ("8f2a90b4915d388", 40.03339893697043, -83.1588004749386),
-  ("8001fffffffffff", 79.24239850975903, 38.02340700796989),
-]
-DISKS = {
-  "862a90b4fffffff": ['862a90a67ffffff', '862a90b47ffffff', '862a90b4fffffff', '862a90b5fffffff', '862a90b6fffffff', '862a95697ffffff', '862a956b7ffffff'],
-  # a pentagon: 5 neighbors
-  "864c00007ffffff": [
-    '864c00007ffffff',
-    '864c00017ffffff',
-    '864c0001fffffff',
-    '864c00027ffffff',
-    '864c0002fffffff',
-    '864c00037ffffff',
-  ],
-}
-
-
-@pytest.mark.parametrize("lat,lng,expected", CELLS)
-def test_latlng_to_cell(lat, lng, expected):
-  for res, want in zip(RESOLUTIONS, expected, strict=True):
-    assert h3lite.cell_to_str(h3lite.latlng_to_cell(lat, lng, res)) == want
-
-
-@pytest.mark.parametrize("cell,expected", PARENTS)
-def test_cell_to_parent(cell, expected):
-  # a parent isn't always the cell that holds the same point: H3 children stick out a little
-  for res, want in zip(RESOLUTIONS, expected, strict=True):
-    assert h3lite.cell_to_str(h3lite.cell_to_parent(h3lite.str_to_cell(cell), res)) == want
-    assert h3lite.get_resolution(h3lite.str_to_cell(want)) == res
-
-
-@pytest.mark.parametrize("cell,lat,lng", CENTERS)
-def test_cell_to_latlng(cell, lat, lng):
-  got = h3lite.cell_to_latlng(h3lite.str_to_cell(cell))
-  assert got == pytest.approx((lat, lng), abs=1e-9)
-
-
-@pytest.mark.parametrize("cell,expected", DISKS.items())
-def test_grid_disk1(cell, expected):
-  got = {h3lite.cell_to_str(c) for c in h3lite.grid_disk1(h3lite.str_to_cell(cell))}
-  assert got == set(expected)
-
-
-def test_bad_input():
-  with pytest.raises(ValueError):
-    h3lite.latlng_to_cell(40.0, -83.0, 16)
-  with pytest.raises(ValueError):
-    h3lite.latlng_to_cell(float("nan"), -83.0, 6)
-  with pytest.raises(ValueError):
-    h3lite.cell_to_parent(h3lite.str_to_cell("862a90b4fffffff"), 7)
-
-
-def test_matches_h3_on_random_points():
-  h3 = pytest.importorskip("h3")
-  rnd = random.Random(0)
-  for _ in range(1500):
-    lat, lng = rnd.uniform(-90, 90), rnd.uniform(-180, 180)
-    for res in range(16):
-      want = h3.latlng_to_cell(lat, lng, res)
-      cell = h3lite.latlng_to_cell(lat, lng, res)
-      assert h3lite.cell_to_str(cell) == want
-      assert h3lite.cell_to_latlng(cell) == pytest.approx(h3.cell_to_latlng(want), abs=1e-9)
-    want_disk = {h3.str_to_int(c) for c in h3.grid_disk(h3.latlng_to_cell(lat, lng, 6), 1)}
-    assert h3lite.grid_disk1(h3lite.latlng_to_cell(lat, lng, 6)) == want_disk

openpilot/sunnypilot/achievements/tests/test_replay.py

@@ -1,68 +0,0 @@
-"""The replay tool, fed fake log messages (the real LogReader needs the full openpilot build)."""
-import datetime as dt
-import os
-from types import SimpleNamespace as NS
-
-from openpilot.sunnypilot.achievements.community import CommunityLog, tile_of
-from openpilot.sunnypilot.achievements.engine import AchievementEngine, State
-from openpilot.sunnypilot.achievements.replay import RouteFeeder, find_routes
-from openpilot.sunnypilot.achievements.simulate import HOME, WORK
-
-T0 = int(dt.datetime(2026, 11, 2, 13, 0, tzinfo=dt.UTC).timestamp() * 1e3)
-
-
-class Ev:
-  def __init__(self, kind: str, mono_s: float, **fields):
-    self._kind, self.logMonoTime = kind, int(mono_s * 1e9)
-    setattr(self, kind, NS(**fields))
-
-  def which(self):
-    return self._kind
-
-
-def fake_route(start, end, seconds=600):
-  yield Ev("carParams", 0.0, carFingerprint="HYUNDAI_IONIQ_5")
-  yield Ev("selfdriveState", 0.0, active=True)
-  yield Ev("selfdriveStateSP", 0.0, mads=NS(active=False))
-  yield Ev("driverMonitoringState", 0.0, alertLevel=NS(raw=0))
-  for i in range(seconds * 10):  # carState at 10 Hz, GPS at 1 Hz, like a qlog
-    t = i / 10
-    if i % 10 == 0:
-      f = t / seconds
-      yield Ev("gpsLocationExternal", t, hasFix=True, horizontalAccuracy=5.0,
-               latitude=start[0] + (end[0] - start[0]) * f, longitude=start[1] + (end[1] - start[1]) * f,
-               unixTimestampMillis=T0 + int(t * 1000))
-    yield Ev("carState", t, vEgo=30.0)
-
-
-def test_route_feeder_counts_a_drive(tmp_path):
-  engine, log = AchievementEngine(State()), CommunityLog(tmp_path / "c.db")
-  feeder = RouteFeeder(engine, log)
-  for ev in fake_route(HOME, WORK):
-    feeder.feed(ev)
-  engine.end_drive()
-  log.end_drive(engine.utc_offset_h)
-
-  assert feeder.car == "HYUNDAI_IONIQ_5"
-  assert 17_000 < engine.state.engaged_m < 18_500  # 600 s at 30 m/s
-  assert engine.state.days == ["2026-11-02"]
-  view = log.tile_view(dt.date(2026, 11, 3))
-  assert tile_of(*HOME) in view.held  # where the drive started
-  assert len(view.driven) > 3
-  assert log.home_region(dt.date(2026, 11, 3)) == "US-OH"
-
-
-def test_find_routes(tmp_path):
-  for name, mtime in (("00000002--bbbb--0", 200), ("00000002--bbbb--1", 260), ("00000001--aaaa--0", 100),
-                      ("00000001--aaaa--10", 160), ("00000001--aaaa--2", 130), ("boot", 0)):
-    d = tmp_path / name
-    d.mkdir()
-    if name != "boot":
-      (d / "qlog.zst").write_bytes(b"")
-      os.utime(d / "qlog.zst", (mtime, mtime))
-  routes = find_routes(tmp_path, rlog=False, days=None)
-  assert [[p.parent.name for p in r] for r in routes] == [
-    ["00000001--aaaa--0", "00000001--aaaa--2", "00000001--aaaa--10"],
-    ["00000002--bbbb--0", "00000002--bbbb--1"],
-  ]
-  assert find_routes(tmp_path, rlog=True, days=None) == []

openpilot/sunnypilot/achievements/tools/build_regions.py

@@ -1,136 +0,0 @@
-#!/usr/bin/env python3
-"""
-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.
-
-Builds regions.json.gz, the table the car uses to turn a map tile into a home
-region code. Dev tool only: it is not run on the car.
-
-  pip install h3 shapely
-  curl -LO https://raw.githubusercontent.com/nvkelso/natural-earth-vector/master/geojson/ne_10m_admin_1_states_provinces.geojson
-  python openpilot/sunnypilot/achievements/tools/build_regions.py \
-    ne_10m_admin_1_states_provinces.geojson openpilot/sunnypilot/achievements/regions.json.gz
-
-Rules:
-- Region codes are ISO 3166-2 (US-OH) in the countries in SUBDIVISIONS, and the
-  ISO 3166-1 country code (GB) everywhere else.
-- A resolution-6 tile (about 6 km) belongs to the region its center is in.
-  Coastal tiles whose center is in the water go to the region whose coastline
-  passes through them most.
-- Stored as the majority region of each resolution-4 cell ("regions") plus the
-  resolution-6 tiles that differ from it ("exceptions"), each compacted. That
-  keeps 6 km accuracy at borders in about 200 KB.
-
-Boundaries: Natural Earth 1:10m admin 1, public domain.
-"""
-import collections
-import gzip
-import json
-import re
-import sys
-
-import h3
-from shapely.geometry import box, shape
-
-SUBDIVISIONS = {"US", "CA", "MX", "BR", "AU", "DE"}
-TILE_RES = 6
-BASE_RES = 4
-CUT_DEG = 10.0  # H3 can't fill huge polygons at resolution 6, so cut them into squares first
-ISO_3166_2 = re.compile(r"^[A-Z]{2}-[A-Z0-9]{1,3}$")
-
-
-def region_code(props: dict) -> str | None:
-  country = props.get("iso_a2") or ""
-  if not re.fullmatch(r"[A-Z]{2}", country):
-    return None
-  code = props.get("iso_3166_2") or ""
-  if country in SUBDIVISIONS and ISO_3166_2.match(code):
-    return code
-  return country
-
-
-def pieces(geom: dict):
-  """Polygon rings, as (lng, lat) lists, of the geometry cut into CUT_DEG squares."""
-  g = shape(geom)
-  if not g.is_valid:
-    g = g.buffer(0)
-  minx, miny, maxx, maxy = g.bounds
-  x = minx
-  while x < maxx:
-    y = miny
-    while y < maxy:
-      part = g.intersection(box(x, y, x + CUT_DEG, y + CUT_DEG))
-      for poly in getattr(part, "geoms", [part]):
-        if poly.geom_type == "Polygon" and not poly.is_empty:
-          yield [list(poly.exterior.coords)] + [list(r.coords) for r in poly.interiors]
-      y += CUT_DEG
-    x += CUT_DEG
-
-
-def outer_rings(geom: dict):
-  polys = [geom["coordinates"]] if geom["type"] == "Polygon" else geom["coordinates"]
-  for rings in polys:
-    yield rings[0]
-
-
-def winner(counter: collections.Counter) -> str:
-  return max(sorted(counter), key=lambda k: counter[k])
-
-
-def main(src: str, dst: str) -> None:
-  features = json.load(open(src))["features"]
-  by_center: dict[str, str] = {}
-  by_coast: dict[str, collections.Counter] = collections.defaultdict(collections.Counter)
-  for n, f in enumerate(features):
-    code = region_code(f["properties"])
-    if code is None or f["geometry"] is None:
-      continue
-    for rings in pieces(f["geometry"]):
-      outer, holes = rings[0], rings[1:]
-      poly = h3.LatLngPoly([(lat, lng) for lng, lat in outer], *[[(lat, lng) for lng, lat in r] for r in holes])
-      for cell in h3.polygon_to_cells(poly, TILE_RES):
-        by_center[cell] = code
-    for ring in outer_rings(f["geometry"]):
-      for lng, lat in ring:
-        by_coast[h3.latlng_to_cell(lat, lng, TILE_RES)][code] += 1
-    if n % 500 == 0:
-      print(f"{n}/{len(features)} boundaries", file=sys.stderr)
-
-  tiles = dict(by_center)
-  for cell, votes in by_coast.items():
-    tiles.setdefault(cell, winner(votes))
-
-  base_votes: dict[str, collections.Counter] = collections.defaultdict(collections.Counter)
-  for cell, code in tiles.items():
-    base_votes[h3.cell_to_parent(cell, BASE_RES)][code] += 1
-  base = {cell: winner(votes) for cell, votes in base_votes.items()}
-
-  regions: dict[str, list[str]] = collections.defaultdict(list)
-  for cell, code in base.items():
-    regions[code].append(cell)
-  exceptions: dict[str, list[str]] = collections.defaultdict(list)
-  for cell, code in tiles.items():
-    if base[h3.cell_to_parent(cell, BASE_RES)] != code:
-      exceptions[code].append(cell)
-
-  data = {
-    "v": 1,
-    "source": "Natural Earth 1:10m admin 1 (public domain); built by tools/build_regions.py",
-    "subdivisions": sorted(SUBDIVISIONS),
-    "tile_res": TILE_RES,
-    "base_res": BASE_RES,
-    "regions": {k: sorted(h3.compact_cells(v)) for k, v in sorted(regions.items())},
-    "exceptions": {k: sorted(h3.compact_cells(v)) for k, v in sorted(exceptions.items())},
-  }
-  raw = json.dumps(data, separators=(",", ":"), sort_keys=True).encode()
-  with gzip.GzipFile(dst, "wb", mtime=0) as out:
-    out.write(raw)
-  n_regions = sum(map(len, data["regions"].values()))
-  n_exceptions = sum(map(len, data["exceptions"].values()))
-  print(f"{len(tiles)} tiles, {len(data['regions'])} regions, {n_regions} base cells, {n_exceptions} exceptions", file=sys.stderr)
-
-
-if __name__ == "__main__":
-  main(sys.argv[1], sys.argv[2])

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -371,7 +371,7 @@ def _compile_warp_resolution_worker(cam_w, cam_h, model_w, model_h, benchmark_ru
 
 
 if __name__ == "__main__":
-  if ('USB' in os.getenv('DEV', '') or os.getenv('CHESTNUT')) and not os.getenv('DEV', '').startswith('MOCK'):
+  if 'USB' in os.getenv('DEV', '') or os.getenv('CHESTNUT'):
     from openpilot.system.hardware.chestnut.flash import link_up
     for _ in range(10):
       if link_up():

openpilot/sunnypilot/modeld_v2/compile_warp.py

@@ -17,18 +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("--light", action="store_true")
   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))
-  n = 1 if args.light else 2
-  run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(n))), prune=True)
+  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)
   inputs = {"input_frame": Tensor(rng.integers(0, 256, (2, frame.size), dtype=np.uint8), device=Device.DEFAULT).realize(),
-            "M_inv": Tensor((rng.standard_normal((n, 3, 3)) * 8).astype(np.float32), 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)
@@ -36,7 +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": ((n, 3, 3), "<f4", Device.DEFAULT)}
+  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/convert_upstream_pkl.py

@@ -10,7 +10,6 @@ import dataclasses
 import inspect
 import itertools
 import mmap
-import os
 import re
 import struct
 import tempfile
@@ -67,75 +66,47 @@ def _patched(buf, topo) -> tuple[bytearray, dict]:
   return blob, rows
 
 
-def _packed_args(program) -> dict[int, int]:
-  from tinygrad.device import TinyELF
-  params = getattr(program.arg, "params", None) or ()
-  return {off: p.arg.slot for (off, _), p in zip(TinyELF.iter_sig(tuple((None, p.addrspace, p.dtype, ()) for p in params)), params, strict=True)}
-
-
-def _outer_slot(u, packed: dict[int, int]) -> int | None:
-  from tinygrad.uop.ops import Ops
-  if u.op is Ops.PARAM:
-    return None if packed else u.arg.slot
-  if u.op.name == "REFPARAM":
-    return u.arg.slot
-  if packed and u.op is Ops.LOAD and u.src[0].op is Ops.INDEX and _root(u.src[0].src[0]).op is Ops.PARAM:
-    index = _evaluate(u.src[0].src[1], {}, packed)
-    return None if index is None else packed.get(index * u.dtype.itemsize)
-  return None
-
-
-def _evaluate(u, env, packed: dict[int, int]):
+def _evaluate(u, env):
   from tinygrad.uop.ops import GroupOp, Ops, exec_alu
   if u.op in (Ops.AFTER, Ops.CAST, Ops.BITCAST):
-    return _evaluate(u.src[0], env, packed)
+    return _evaluate(u.src[0], env)
   if u.op is Ops.CONST:
     return u.arg
-  if u.op is Ops.RANGE:
-    return env.get(u)
-  if (slot := _outer_slot(u, packed)) is not None:
-    return env.get(slot)
+  if u.op in (Ops.PARAM, Ops.RANGE):
+    return env.get(u.arg.slot if u.op is Ops.PARAM else u)
   if u.op is Ops.LOAD:
-    table, index = _root(u.src[0].src[0]), _evaluate(u.src[0].src[1], env, packed)
+    table, index = _root(u.src[0].src[0]), _evaluate(u.src[0].src[1], env)
     return struct.unpack_from(u.dtype.fmt, table.arg, index * u.dtype.itemsize)[0] if table.op is Ops.BINARY and index is not None else None
-  if u.op in GroupOp.ALU and None not in (values := [_evaluate(x, env, packed) for x in u.src]):
+  if u.op in GroupOp.ALU and None not in (values := [_evaluate(x, env) for x in u.src]):
     return exec_alu(u.op, u.dtype, values, *([False] if "truncate_output" in inspect.signature(exec_alu).parameters else []))
   return None
 
 
 def _input_pokes(submit, kernargs) -> dict[int, tuple[int, int]]:
   from tinygrad.uop.ops import Ops
-  outer, packed = dict(enumerate(submit.src[1:])), _packed_args(submit.src[0])
+  outer = dict(enumerate(submit.src[1:]))
   kernargs_params = {i for i, a in outer.items() if a.op is Ops.GETADDR and _root(a.src[0]) is kernargs}
   inputs = {i: _root(a.src[0]).arg.slot for i, a in outer.items() if a.op is Ops.GETADDR and _root(a.src[0]).op is Ops.PARAM}
   pokes = {}
   for call in (u for u in submit.src[0].src[0].toposort() if u.op is Ops.CALL and len(u.src) > 3):
     _, address, value, *_ = call.src[1:]
-    used = list({slot for x in value.toposort() if (slot := _outer_slot(x, packed)) is not None} & inputs.keys())
-    if len(used) != 1 or not kernargs_params & {_outer_slot(x, packed) for x in address.toposort()}:
+    used = list({x.arg.slot for x in value.toposort() if x.op is Ops.PARAM} & inputs.keys())
+    if len(used) != 1 or not kernargs_params & {x.arg.slot for x in address.toposort() if x.op is Ops.PARAM}:
       continue
     ranges = list(dict.fromkeys(x for x in (*address.toposort(), *value.toposort()) if x.op is Ops.RANGE))
     for trip in itertools.product(*[range(int(r.vmax) + 1) for r in ranges]):
       env = dict.fromkeys(outer, 0) | dict(zip(ranges, trip, strict=True))
-      if (offset := _evaluate(address, env, packed)) % 8 == 0:
-        pokes[offset] = (inputs[used[0]], _evaluate(value, env, packed))
+      if (offset := _evaluate(address, env)) % 8 == 0:
+        pokes[offset] = (inputs[used[0]], _evaluate(value, env))
   return pokes
 
 
-def _elf(image: bytes, rodata: int, entry: int) -> bytes:
-  spans = [(".text", 0, rodata), (".rodata", rodata, len(image))] if entry < rodata else \
-          [(".data", 0, rodata), (".rodata", rodata, entry), (".text", entry, len(image))]
-  sections, names = [(0, 0, 0, 0, b"")], b"\0"
-  for name, start, end in (span for span in spans if span[1] < span[2]):
-    sections.append((len(names), 1, 6 if name == ".text" else 2, ALIGNMENT + start, image[start:end]))
-    names += name.encode() + b"\0"
-  sections.append((len(names), 3, 0, 0, names + b".shstrtab\0"))
-  offset, data, headers = 64, b"", []
-  for name, kind, flags, address, content in sections:
-    headers.append(struct.pack("<IIQQQQIIQQ", name, kind, flags, address, offset, len(content), 0, 0, 1, 0))
+def _elf(image: bytes, rodata: int) -> bytes:
+  names, offset, data, headers = b"\0.text\0.rodata\0.shstrtab\0", 64, b"", []
+  for name, kind, address, content in [(0, 0, 0, b""), (1, 1, ALIGNMENT, image[:rodata]), (7, 1, ALIGNMENT + rodata, image[rodata:]), (15, 3, 0, names)]:
+    headers.append(struct.pack("<IIQQQQIIQQ", name, kind, 2 if kind == 1 else 0, address, offset, len(content), 0, 0, 1, 0))
     data, offset = data + content, offset + len(content)
-  header = struct.pack("<HHIQQQIHHHHHH", 1, 0xe0, 1, 0, 0, offset, 0, 64, 0, 0, 64, len(sections), len(sections) - 1)
-  return b"\x7fELF\x02\x01\x01" + bytes(9) + header + data + b"".join(headers)
+  return b"\x7fELF\x02\x01\x01" + bytes(9) + struct.pack("<HHIQQQIHHHHHH", 1, 0xe0, 1, 0, 0, offset, 0, 64, 0, 0, 64, 4, 3) + data + b"".join(headers)
 
 
 def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
@@ -184,7 +155,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
     if image_alloc not in programs:
       image = bytes(_patched(image_alloc, topo)[0])
       rodata = next(r for r in range(0, len(image) - 24, 64) if r + struct.unpack_from("<q", image, r + 16)[0] == entry)
-      programs[image_alloc] = blob.add(_elf(image, rodata, entry))
+      programs[image_alloc] = blob.add(_elf(image, rodata))
     start, size = _view(arguments.src[0])
     args = []
     for slot in range(start, start + unwrap(size), 8):
@@ -195,8 +166,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
         base, at, nbytes = _address(argument_words[slot])
         args.append({"buffer": buffers.setdefault(base, len(buffers)), "offset": at, "nbytes": nbytes or base.max_numel() * base.dtype.itemsize, "dtype": u8})
     outs, ins = kernel[6]
-    device_target = dataclasses.asdict(dataclasses.replace(target, interface=target.interface.removeprefix("MOCK")))
-    calls.append({"kind": "program", "name": re.sub(r"\x1b\[[0-9;]*m", "", kernel[1]), "lib": programs[image_alloc], "target": device_target,
+    calls.append({"kind": "program", "name": re.sub(r"\x1b\[[0-9;]*m", "", kernel[1]), "lib": programs[image_alloc], "target": dataclasses.asdict(target),
                   "signature": [[f"data{i}", i, u8, [a.get("nbytes", 1)]] for i, a in enumerate(args)], "global_size": grid, "local_size": local,
                   "globals": list(range(len(args))), "outs": list(outs), "ins": list(ins), "args": args})
     needs_init |= {args[i]["buffer"] for i in ins if "buffer" in args[i] and args[i]["buffer"] not in written}
@@ -237,16 +207,14 @@ def main():
   frame, _ = capture_frame(artifact["run"], kwargs, "output_buffers")
   part = convert(artifact["run"], kwargs, frame, Device[Device.DEFAULT].renderer.target)
 
-  if not os.getenv("MOCKUSB_SOCKET"):
-    plain = PlainJit(*part)
-    replay = {path[0]: Tensor(array, device=device).realize() for path, array, device in frame["inputs"] if len(path) == 1}
-    replay["output_buffers"] = {path[1]: Tensor(array, device=device).realize() for path, array, device in frame["inputs"] if len(path) == 2}
-    flatten(plain(**replay))
-    for index, (got, expected) in enumerate(zip([t.numpy() for t in replay["output_buffers"].values()], frame["outputs"], strict=True)):
-      assert np.array_equal(got, expected), f"output {index} of the plain artifact differs from the pickle"
+  plain = PlainJit(*part)  # replays the frame, within tolerance
+  replay = {path[0]: Tensor(array, device=device).realize() for path, array, device in frame["inputs"] if len(path) == 1}
+  replay["output_buffers"] = {path[1]: Tensor(array, device=device).realize() for path, array, device in frame["inputs"] if len(path) == 2}
+  flatten(plain(**replay))
+  for index, (got, expected) in enumerate(zip([t.numpy() for t in replay["output_buffers"].values()], frame["outputs"], strict=True)):
+    assert np.array_equal(got, expected), f"output {index} of the plain artifact differs from the pickle"
   write_bundle(args.output, {"run": part}, {key: artifact[key] for key in ("metadata", "input_specs", "output_specs")})
-  checked = "left to mock_parity" if os.getenv("MOCKUSB_SOCKET") else "bit-exact with the pickle"
-  print(f"converted {len(part[0]['calls'])} kernels, {checked}: {args.output}")
+  print(f"converted {len(part[0]['calls'])} kernels, bit-exact with the pickle: {args.output}")
 
 
 if __name__ == "__main__":

openpilot/sunnypilot/modeld_v2/frame_fusion.py

@@ -20,11 +20,6 @@ def pack_layout(shapes: dict[str, tuple], frame_size: int) -> tuple[dict[str, in
   return offsets | {"frames": offset}, offset + 2 * frame_size
 
 
-def host_shapes(input_shapes: dict[str, tuple], states) -> dict[str, tuple]:
-  shapes = {name: shape for name, shape in input_shapes.items() if name not in states and name not in ("new_img", "light_img")}
-  return shapes | ({"light_tfm": (1, 3, 3)} if "light_img" in input_shapes else {})
-
-
 class _Blobs:  # the model's and the warp's blobs as one address space, for a part whose ranges span both files
   def __init__(self, *blobs):
     self.blobs, self.starts = blobs, list(itertools.accumulate([0] + [len(blob) for blob in blobs[:-1]]))
@@ -35,23 +30,18 @@ class _Blobs:  # the model's and the warp's blobs as one address space, for a pa
 
 
 def fused_with_warp(cam_w: int, cam_h: int, chestnut: bool):  # load_model's extend: a native model runs upload, warp and model as one submit
-  models = f"{BASEDIR}/openpilot/sunnypilot/modeld_v2/models"
-  return partial(frame_part, f"{models}/{'big_' if chestnut else ''}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl",
-                 light_warp_path=f"{models}/driving_lightwarp_{cam_w}x{cam_h}_tinygrad.pkl")
+  return partial(frame_part, f"{BASEDIR}/openpilot/sunnypilot/modeld_v2/models/{'big_' if chestnut else ''}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl")
 
 
-def frame_part(warp_path: str, parts: dict, extras: dict, light_warp_path: str | None = None) -> dict:
+def frame_part(warp_path: str, parts: dict, extras: dict) -> dict:
   if "input_specs" not in extras:  # a legacy model warps in its own parts
     return {}
   (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 = host_shapes({name: shape for name, (shape, _, _) in extras["input_specs"].items()}, states)
-  light = "light_img" in extras["input_specs"]
-  light_warp, light_blob = read_parts(light_warp_path)[0]["run"] if light else ({"buffers": [], "calls": [], "inputs": []}, memoryview(b""))
+  host = {name: shape for name, (shape, _, _) in extras["input_specs"].items() if name not in states and name != "new_img"}
   frame_size = next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2
   offsets, packed = pack_layout(host, frame_size)
-  shift, light_shift = len(model_blob), len(model_blob) + len(warp_blob)
-  upload, u8 = len(model["buffers"]) + len(warp["buffers"]) + len(light_warp["buffers"]), repr(_dtype("dtypes.uint8"))
+  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}
@@ -59,15 +49,12 @@ def frame_part(warp_path: str, parts: dict, extras: dict, light_warp_path: str |
   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)}
-  def warped(part: dict, base: int) -> dict:
-    returned = part["returns"]["tensors"][0]
-    return {k: v for k, v in returned.items() if k != "shape"} | {"buffer": returned["buffer"] + base}
+  returned = warp["returns"]["tensors"][0]
   model_inputs = {s["slot"]: {"input": slots[s["slot"]]} if s["slot"] in slots else
-                  warped(warp, len(model["buffers"])) if s["name"] == "new_img" else
-                  warped(light_warp, len(model["buffers"]) + len(warp["buffers"])) if s["name"] == "light_img" 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"]}
-  def warp_inputs(part: dict, tfm: str) -> dict:
-    return {s["slot"]: view("frames" if s["name"] == "input_frame" else tfm, s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in part["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 {}) |
@@ -75,11 +62,8 @@ def frame_part(warp_path: str, parts: dict, extras: dict, light_warp_path: str |
   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],
-            "buffers": model["buffers"] + [b | ({"init": [b["init"][0] + d, b["init"][1] + d]} if "init" in b else {})
-                                           for part, d in ((warp, shift), (light_warp, light_shift)) for b in part["buffers"]] +
+            "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")}]}] +
-                     remap(warp["calls"], warp_inputs(warp, "tfm"), len(model["buffers"]), shift) +
-                     remap(light_warp["calls"], warp_inputs(light_warp, "light_tfm"), len(model["buffers"]) + len(warp["buffers"]), light_shift) +
-                     remap(model["calls"], model_inputs, 0, 0)}
-  return {"run": (header, _Blobs(model_blob, warp_blob, light_blob) if light else _Blobs(model_blob, warp_blob))}
+                     remap(warp["calls"], warp_inputs, len(model["buffers"]), shift) + remap(model["calls"], model_inputs, 0, 0)}
+  return {"run": (header, _Blobs(model_blob, warp_blob))}  # replaces the model's run: one set of buffers, no separate warp

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -264,8 +264,8 @@ def _program_uop(call: dict, lib: bytes):
     parameter = UOp.param(call["globals"][compact_slot], _dtype(dtype), math.prod(shape))
     image = (shape[0], shape[1]) if len(shape) == 3 and shape[2] == 4 else None
     parameters.append(parameter.replace(arg=_fields(parameter.arg, name=name, image=image)))
-  info = _fields(ProgramInfo, global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), params=tuple(parameters),
-                 globals=tuple(call["globals"]), outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=_fields(Target, **call["target"]))
+  info = _fields(ProgramInfo, global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), globals=tuple(call["globals"]),
+                 outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=_fields(Target, **call["target"]))
   return UOp(Ops.PROGRAM, src=(UOp(Ops.SINK, arg=KernelInfo(name=call["name"])), UOp(Ops.LINEAR, src=tuple(parameters)),
                                UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
 

openpilot/sunnypilot/modeld_v2/light_frame.py

@@ -1,22 +0,0 @@
-"""
-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.
-"""
-import numpy as np
-
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
-from openpilot.common.transformations.orientation import rot_from_euler
-
-LIGHT_INPUT_SIZE = (512, 256)
-light_intrinsics = np.array([
-  [1000.0, 0.0, 256.0],
-  [0.0, 1000.0, 200.0],
-  [0.0, 0.0, 1.0]])
-calib_from_light = np.linalg.inv((light_intrinsics @ get_view_frame_from_calib_frame(0, 0, 0, 0))[:, :3])
-
-
-def get_light_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray) -> np.ndarray:
-  camera_from_calib = intrinsics @ view_frame_from_device_frame @ rot_from_euler(device_from_calib_euler)
-  return (camera_from_calib @ calib_from_light).astype(np.float32)

openpilot/sunnypilot/modeld_v2/mock_parity.py

@@ -1,153 +0,0 @@
-import json
-import os
-import shutil
-import struct
-import sys
-import tempfile
-import time
-
-os.environ.setdefault("DEV", "MOCKUSB+AMD")
-QCOM = "QCOM" in os.environ["DEV"]
-ON_MOCK = os.environ["DEV"].startswith("MOCK")
-ARCH, HARDWARE = ("a630", "comma 3x/4 (a630)") if QCOM else ("gfx1200", "chestnut")
-os.environ.setdefault("CHECK_OOB", "0")
-os.environ.setdefault("GMMU", "0")
-if sys.platform == "darwin" and os.environ["DEV"].startswith("MOCKUSB"):  # the mock's VRAM is a memfd, which macOS lacks: an unlinked file is the same
-  from tinygrad.runtime.autogen import libc
-
-  def _memfd_create(name, flags):
-    fd, path = tempfile.mkstemp()
-    os.unlink(path)
-    return fd
-  libc.memfd_create = _memfd_create
-
-import numpy as np
-
-from openpilot.sunnypilot.modeld_v2.helpers import ALIGNMENT, MAGIC, PlainJit, _device, read_parts
-
-
-class ParityError(RuntimeError):
-  pass
-
-
-def _emulator():
-  try:
-    if QCOM:
-      from test.mockgpu.qcom import emu
-    else:
-      from test.mockgpu.amd import emu
-  except ImportError as e:
-    raise ParityError(f"tinygrad's {'qcom' if QCOM else 'amd'} mock is not importable: put tinygrad_repo on PYTHONPATH") from e
-  if not hasattr(emu, "hw_unverified"):
-    raise ParityError(f"this tinygrad's emulator has no {ARCH} rounding model, its check frames would not match a {HARDWARE}")
-  return emu
-
-
-def unverified(header: dict, blob: memoryview) -> dict[str, int]:
-  emu, out = _emulator(), {}
-  for call in header["calls"]:
-    if call["kind"] != "program":
-      continue
-    if (arch := call["target"].get("arch", "")).split(",")[0] != ARCH:  # IMAGE builds append ",IMAGE_PITCH_ALIGNMENT=64"
-      out[f"arch={arch}"] = out.get(f"arch={arch}", 0) + 1
-      continue
-    for sig, n in emu.hw_unverified(bytes(blob[slice(*call["lib"])])).items():
-      out[sig] = out.get(sig, 0) + n
-  return out
-
-
-def _array(blob: memoryview, stored: dict) -> np.ndarray:
-  return np.frombuffer(blob[slice(*stored["data"])], dtype=np.dtype(stored["dtype"])).reshape(stored["shape"]).copy()
-
-
-def replay(header: dict, blob: memoryview, shared: dict) -> list[np.ndarray]:
-  from tinygrad import Tensor
-  check = header["check"]
-  jit = PlainJit(header, blob, None, verify=False, shared=shared)
-  kwargs: dict = {}
-  for path, stored, device in check["inputs"]:
-    tensor = Tensor(_array(blob, stored), device=_device(device, None)).realize()
-    kwargs[path[0]] = tensor if len(path) == 1 else {**kwargs.get(path[0], {}), path[1]: tensor}
-  result = jit(**kwargs)
-  outputs = kwargs[check["output_container"]].values() if check["output_container"] else result
-  return [t.numpy() for t in (outputs if isinstance(outputs, (list, tuple)) or check["output_container"] else [outputs])]
-
-
-def _parts_with_offsets(path: str) -> tuple[dict, dict]:
-  parts, _ = read_parts(path)
-  with open(path, "rb") as f:
-    head = f.read(len(MAGIC) + 8)
-    start = len(MAGIC) + 8 + struct.unpack_from("<Q", head, len(MAGIC))[0]
-    f.seek(len(MAGIC) + 8)
-    entries = json.loads(f.read(start - len(MAGIC) - 8))["parts"]
-  base = start + -start % ALIGNMENT
-  offsets = {tuple(e["key"]) if isinstance(e["key"], list) else e["key"]: base + e["blob"][0] for e in entries}
-  return parts, offsets
-
-
-def _gate(parts: dict) -> None:
-  missing: dict[str, int] = {}
-  for header, blob in parts.values():
-    if "check" not in header:
-      raise ParityError("artifact has no check frame")
-    for sig, n in unverified(header, blob).items():
-      missing[sig] = missing.get(sig, 0) + n
-  if missing:
-    raise ParityError(f"kernels use instructions the emulator is not verified against a {HARDWARE} for: " +
-                      ", ".join(f"{s} ({n}x)" for s, n in sorted(missing.items(), key=lambda kv: -kv[1])))
-
-
-def check(path: str) -> None:
-  parts, _ = read_parts(path)
-  if ON_MOCK:
-    _gate(parts)
-  shared: dict = {}
-  for key, (header, blob) in parts.items():
-    got = replay(header, blob, shared)
-    for i, (g, stored) in enumerate(zip(got, header["check"]["outputs"], strict=True)):
-      want = _array(blob, stored)
-      if g.shape != want.shape or not np.array_equal(g.view(np.uint8), want.view(np.uint8)):
-        n = int(np.count_nonzero(g != want)) if g.shape == want.shape else -1
-        where = "mock" if ON_MOCK else "device"
-        raise ParityError(f"part {key} output {i}: the {where}'s check frame differs from the stored one in {n} of {want.size} values")
-
-
-def record(path: str, out: str) -> None:
-  parts, offsets = _parts_with_offsets(path)
-  _gate(parts)
-  shared, writes = {}, []
-  for key, (header, blob) in parts.items():
-    for g, stored in zip(replay(header, blob, shared), header["check"]["outputs"], strict=True):
-      want = np.dtype(stored["dtype"])
-      if tuple(g.shape) != tuple(stored["shape"]) or g.dtype != want:
-        raise ParityError(f"part {key}: replayed output {g.dtype}{g.shape} does not fit the stored {want}{tuple(stored['shape'])}")
-      writes.append((offsets[key] + stored["data"][0], np.ascontiguousarray(g).tobytes()))
-  shutil.copyfile(path, out)
-  with open(out, "r+b") as f:
-    for offset, data in writes:
-      f.seek(offset)
-      f.write(data)
-
-
-def main(argv: list[str]) -> int:
-  if len(argv) < 2 or argv[0] not in ("check", "record") or (argv[0] == "record" and len(argv) != 3):
-    print("usage: mock_parity check ARTIFACT... | record ARTIFACT OUT", file=sys.stderr)
-    return 2
-  try:
-    if argv[0] == "record":
-      st = time.perf_counter()
-      record(argv[1], argv[2])
-      print(f"{argv[2]}: check frame recorded on the mock in {time.perf_counter() - st:.0f}s")
-      return 0
-    for path in argv[1:]:
-      st = time.perf_counter()
-      check(path)
-      print(f"{os.path.basename(path)}: bit-identical to its {HARDWARE} check frame on the {'mock' if ON_MOCK else 'device'} ({time.perf_counter() - st:.0f}s)")
-    return 0
-  except ParityError as e:
-    print(f"PARITY FAIL: {e}", file=sys.stderr)
-    return 1
-
-
-if __name__ == "__main__":
-  sys.exit(main(sys.argv[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 host_shapes, pack_layout
+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)
@@ -172,7 +172,7 @@ class NativeTinygradAdapter(BaseModelAdapter):
 
     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 = host_shapes({name: shape for name, (shape, _) in self.input_shapes.items()}, 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, self.warp_frame_size)
     self.packed_input = np.zeros(packed, dtype=np.uint8)
     self.host = Tensor(self.packed_input, device='NPY')

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -44,7 +44,6 @@ from openpilot.sunnypilot.modeld_v2.blendful import Blendful
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, 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.light_frame import get_light_warp_matrix
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.modeld_v2.helpers import load_model
@@ -172,7 +171,7 @@ class ModelState(ModelStateBase):
       np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
     self.prev_desire[:] = inputs[desire_key]
 
-    for key in ('traffic_convention', 'lateral_control_params', 'action_t', 'speed_limit'):
+    for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
       if key in self.numpy_inputs and key in inputs:
         self.numpy_inputs[key][:] = inputs[key]
 
@@ -180,8 +179,6 @@ class ModelState(ModelStateBase):
       for i, key in enumerate(self._vision_input_names):
         if key in transforms:
           self.numpy_inputs['tfm'][i] = transforms[key].reshape(3, 3)
-      if 'light_tfm' in self.numpy_inputs and 'light' in transforms:
-        self.numpy_inputs['light_tfm'][0] = transforms['light'].reshape(3, 3)
     else:
       self.numpy_inputs['tfm'][:, :] = transforms[self._road_key].reshape(3, 3)
       self.numpy_inputs['big_tfm'][:, :] = transforms[self._wide_key].reshape(3, 3)
@@ -245,7 +242,7 @@ class ModelState(ModelStateBase):
       desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
     else:
       desired_accel = model_output['action'][0, 1]
-      desired_curvature = model_output['action'][0, 0] / (max(2.5, v_ego))**2
+      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
     if blendful is not None:
       desired_curvature += blendful(desired_curvature)
 
@@ -341,7 +338,7 @@ def main(demo=False):
   pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutGpuState"] if CHESTNUT else [])
   pm = PubMaster(pub_socks)
   sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState",
-                  "carControl", "controlsState", "lateralDelay", "longitudinalPlanSP"])
+                  "carControl", "controlsState", "lateralDelay"])
 
   publish_state = PublishState()
   chestnut_state = ChestnutGpuState(pm, model.chestnut) if CHESTNUT else None
@@ -354,7 +351,6 @@ def main(demo=False):
 
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  model_transform_light = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
@@ -373,9 +369,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  desire_frames = [q.shape[0] for m in (model, small_model) if m is not None for name, q in m.adapter.input_queues.items() if 'desire' in name]
-  if desire_frames:
-    DH.turn_repulse = min(desire_frames) - 2
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
   blendful = Blendful()
@@ -432,7 +425,6 @@ def main(demo=False):
       model_transform_main = get_warp_matrix(device_from_calib_euler, main_intrinsics, False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.wide_road.intrinsics, True).astype(np.float32)
       model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
-      model_transform_light = get_light_warp_matrix(device_from_calib_euler, main_intrinsics)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
@@ -454,7 +446,6 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    transforms['light'] = model_transform_light
 
     frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
     action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
@@ -472,10 +463,6 @@ def main(demo=False):
     if 'action_t' in model.numpy_inputs:
       inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
 
-    if 'speed_limit' in model.numpy_inputs:
-      resolver = sm['longitudinalPlanSP'].speedLimit.resolver
-      inputs['speed_limit'] = np.array([resolver.speedLimitFinal if resolver.speedLimitValid else 0.0], dtype=np.float32)
-
     mt1 = time.perf_counter()
     try:
       send_chestnut = (chestnut_state is not None and

openpilot/sunnypilot/modeld_v2/models/driving_lightwarp_1344x760_tinygrad.pkl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c08cffa27671d6773e316fdf4dcab80ffce2c4cc6fa28775615bc6726a63d7ba
-size 3473263

openpilot/sunnypilot/modeld_v2/models/driving_lightwarp_1928x1208_tinygrad.pkl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6cddff2e3320057735fd4812d1ef9cc7d6d9fe405e3b6e7c4df85ee654a0e886
-size 7699823

openpilot/sunnypilot/modeld_v2/plain_artifact_compiler.py

@@ -80,8 +80,7 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,
     if ast.op is Ops.PROGRAM:
       elf, info = ast.to_elf(), ast.arg
       global_size, local_size = info.launch_dims({})
-      device_target = dataclasses.asdict(dataclasses.replace(elf.target, interface=elf.target.interface.removeprefix("MOCK")))
-      calls.append({"kind": "program", "name": elf.name, "lib": blob.add(bytes(elf.lib)), "target": device_target,
+      calls.append({"kind": "program", "name": elf.name, "lib": blob.add(bytes(elf.lib)), "target": dataclasses.asdict(elf.target),
                     "signature": kernel_signature(ast, elf),
                     "global_size": [int(x) for x in global_size], "local_size": [int(x) for x in local_size],
                     "globals": list(info.globals), "outs": list(info.outs), "ins": list(info.ins), "args": arguments})

openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py

@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 import os
 import re
-import struct
 import sys
 import tempfile
 import unittest
@@ -26,8 +25,8 @@ if sys.platform == "darwin" and os.environ.get("DEV", "").startswith("MOCKUSB"):
 
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.sunnypilot.modeld_v2 import convert_upstream_pkl
-from openpilot.sunnypilot.modeld_v2.convert_upstream_pkl import _elf, convert
-from openpilot.sunnypilot.modeld_v2.helpers import ALIGNMENT, PlainJit, load_model
+from openpilot.sunnypilot.modeld_v2.convert_upstream_pkl import convert
+from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, load_model
 from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame
 
 IMG, DESIRE, STATE, OUT = (6, 8, 8), (8,), (4, 16), (1, 32)
@@ -120,18 +119,3 @@ class TestConvertUpstreamPkl(OpenpilotTestCase):
     bundle = load_model(out, cache=False, verify=True)
     assert bundle["metadata"] == {"name": "tiny"} and bundle["input_specs"] == self.input_specs and bundle["output_specs"] == self.output_specs
     self.assert_matches_eager(bundle["run"], 6)
-
-
-class TestKernelElf(OpenpilotTestCase):
-  def test_sections_follow_the_code(self):
-    from tinygrad.runtime.support.elf import elf_loader
-    code = bytes(range(1, 129))
-    for rodata, entry in ((len(code), 0), (0, 256)):
-      image = bytearray(code + bytes(64) if entry < rodata else bytes(256) + code)
-      struct.pack_into("<q", image, rodata + 16, entry - rodata)
-      loaded, sections, _ = elf_loader(_elf(bytes(image), rodata, entry))
-      headers = {section.name: section.header for section in sections}
-      assert bytes(loaded[ALIGNMENT:]) == bytes(image), "the uploaded program differs from the pickle's"
-      assert headers[".rodata"].sh_addr == ALIGNMENT + rodata, "the loader reads the kernel descriptor at .rodata"
-      text = headers[".text"]
-      assert text.sh_addr <= ALIGNMENT + entry < text.sh_addr + text.sh_size, "the amd mock sizes the code from the entry to the end of .text"

openpilot/sunnypilot/modeld_v2/tests/test_models.py

@@ -17,4 +17,4 @@ class TestRegistryModels(unittest.TestCase):
       self.skipTest("MODEL_BASE_NAME env var not set, skipping integration test.")
     bundle = load_model(os.path.join(os.environ.get("MODEL_DIR", "/tmp/models"), base_name), {"QCOM": "CPU", "AMD": "CPU"}, verify=False, cache=False)
     jits = [value for value in bundle.values() if isinstance(value, PlainJit)]
-    assert "metadata" in bundle and jits and all(len(jit.captured._linear.src) > 0 for jit in jits)
+    assert "metadata" in bundle and jits and all(len(jit.captured.linear.src) > 0 for jit in jits)

openpilot/sunnypilot/selfdrive/controls/lib/accel_boost.py

@@ -1,67 +0,0 @@
-"""
-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.
-"""
-import numpy as np
-
-from openpilot.cereal import log
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
-
-ACCEL_BOOST_MIN_SPEED = 1.0
-ACCEL_BOOST_MAX = (0.4, 0.25, 0.1)  # aggressive, standard, relaxed, m/s^2
-ACCEL_BOOST_BUILD, ACCEL_BOOST_RELEASE = 0.2, 1.0  # m/s^3
-BRAKE_PROB = (0.1, 0.3)  # the model's brake press in 4 s: it wants to slow
-GAS_PROB = (0.6, 0.8)  # predicts a human gas press at this hypothesis at about 23%
-CURVE_LAT_ACCEL = (1.5, 2.5)
-
-
-def get_boost_max(personality=log.LongitudinalPersonality.standard):
-  if personality == log.LongitudinalPersonality.relaxed:
-    return ACCEL_BOOST_MAX[2]
-  elif personality == log.LongitudinalPersonality.standard:
-    return ACCEL_BOOST_MAX[1]
-  elif personality == log.LongitudinalPersonality.aggressive:
-    return ACCEL_BOOST_MAX[0]
-  else:
-    raise NotImplementedError("Longitudinal personality not supported")
-
-
-class AccelBoostSP:
-  def __init__(self):
-    self.params = Params()
-    self.frame = -1
-    self.enabled = False
-    self.boost = 0.0
-    self.total_boost = 0.0
-
-  def update_params(self):
-    self.frame += 1
-    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) != 0:
-      return False
-    enabled = self.params.get_bool("AccelBoostSP")
-    if enabled == self.enabled:
-      return False
-    self.enabled = enabled
-    self.boost = self.total_boost = 0.0
-    return True
-
-  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
-    model = sm['modelV2']
-    brake_probs = model.meta.disengagePredictions.brakePressProbs
-    gas_probs = model.meta.disengagePredictions.gasPressProbs
-    if not sm['selfdriveState'].enabled or len(brake_probs) < 2 or len(gas_probs) < 2:
-      self.boost = self.total_boost = 0.0
-      return output_a_target_e2e
-
-    want = max(float(np.interp(brake_probs[1], BRAKE_PROB, [1.0, 0.0])), float(np.interp(gas_probs[1], GAS_PROB, [0.0, 1.0])))
-    want = 0.0 if model.action.shouldStop else want
-    want *= float(np.interp(abs(model.action.desiredCurvature) * sm['carState'].vEgo ** 2, CURVE_LAT_ACCEL, [1.0, 0.0]))
-    target = want * get_boost_max(sm['selfdriveState'].personality)
-    self.boost = float(np.clip(target, self.boost - ACCEL_BOOST_RELEASE * DT_MDL, self.boost + ACCEL_BOOST_BUILD * DT_MDL))
-    speed_scale = np.interp(sm['carState'].vEgo, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
-    self.total_boost = self.boost * speed_scale * np.interp(output_a_target_e2e, [-0.7, -0.2, 5.0], [0.0, 1.0, 1.0], right=0.0)
-    return output_a_target_e2e + self.total_boost

openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -9,8 +9,6 @@ from openpilot.cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
-from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost import AccelBoostSP
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
@@ -31,8 +29,6 @@ class LongitudinalPlannerSP:
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()
-    self.accel_boost_sp = AccelBoostSP()
-    self.openpilot_longitudinal = CP.openpilotLongitudinalControl
 
     self.output_v_target = 0.
     self.output_a_target = 0.
@@ -68,9 +64,6 @@ class LongitudinalPlannerSP:
     return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
-    if self.accel_boost_sp.update_params():
-      self.accel_boost = self.accel_boost_sp if self.accel_boost_sp.enabled and self.openpilot_longitudinal else AccelBoost()
-
     self.events_sp.clear()
     self.e2e_alerts_helper.update(sm, self.events_sp)
 

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_accel_boost.py

@@ -1,81 +0,0 @@
-"""
-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 types import SimpleNamespace
-
-from openpilot.common.parameterized import parameterized
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.test import OpenpilotTestCase
-
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost import AccelBoostSP, ACCEL_BOOST_MAX
-
-
-def make_sm(brake_prob=0.05, gas_prob=0.3, lat_accel=0.0, v_ego=30.0, personality=0, enabled=True, should_stop=False):
-  meta = SimpleNamespace(disengagePredictions=SimpleNamespace(brakePressProbs=[0.0, brake_prob, 0.0, 0.0, 0.0, 0.0],
-                                                              gasPressProbs=[0.0, gas_prob, 0.0, 0.0, 0.0, 0.0]))
-  action = SimpleNamespace(shouldStop=should_stop, desiredCurvature=lat_accel / v_ego ** 2)
-  return {'modelV2': SimpleNamespace(meta=meta, action=action), 'carState': SimpleNamespace(vEgo=v_ego),
-          'selfdriveState': SimpleNamespace(enabled=enabled, personality=personality)}
-
-
-def settle(sm, frames=100):
-  boost = AccelBoostSP()
-  for _ in range(frames):
-    boost.update(sm, 0.0, 9.0, 9.0)
-  return boost.total_boost
-
-
-class TestAccelBoostSP(OpenpilotTestCase):
-  @parameterized.expand([(0,), (1,), (2,)])
-  def test_personality_max(self, personality):
-    assert abs(settle(make_sm(personality=personality)) - ACCEL_BOOST_MAX[personality]) < 1e-6
-
-  def test_brake_gate_closes(self):
-    assert settle(make_sm(brake_prob=0.5)) == 0.0
-
-  def test_gas_reopens(self):
-    assert abs(settle(make_sm(brake_prob=0.5, gas_prob=0.9)) - ACCEL_BOOST_MAX[0]) < 1e-6
-
-  def test_should_stop(self):
-    assert settle(make_sm(gas_prob=0.9, should_stop=True)) == 0.0
-
-  @parameterized.expand([(1.5, 1.0), (2.0, 0.5), (2.5, 0.0), (-2.0, 0.5)])
-  def test_curve_fade(self, lat_accel, scale):
-    assert abs(settle(make_sm(lat_accel=lat_accel)) - scale * ACCEL_BOOST_MAX[0]) < 1e-6
-
-  def test_low_speed(self):
-    assert settle(make_sm(v_ego=0.5)) == 0.0
-
-  def test_disabled_resets(self):
-    boost = AccelBoostSP()
-    for _ in range(100):
-      boost.update(make_sm(), 0.0, 9.0, 9.0)
-    assert boost.update(make_sm(enabled=False), 0.0, 9.0, 9.0) == 0.0
-    assert boost.boost == 0.0 and boost.total_boost == 0.0
-
-  def test_build_and_release_rates(self):
-    boost = AccelBoostSP()
-    boost.update(make_sm(), 0.0, 9.0, 9.0)
-    assert abs(boost.total_boost - 0.01) < 1e-6
-    for _ in range(100):
-      boost.update(make_sm(), 0.0, 9.0, 9.0)
-    boost.update(make_sm(brake_prob=0.5), 0.0, 9.0, 9.0)
-    assert abs(boost.total_boost - (ACCEL_BOOST_MAX[0] - 0.05)) < 1e-6
-
-  def test_param_switch(self):
-    params = Params()
-    boost = AccelBoostSP()
-    params.put_bool("AccelBoostSP", True, block=True)
-    assert boost.update_params() and boost.enabled
-    for _ in range(100):
-      boost.update(make_sm(), 0.0, 9.0, 9.0)
-    params.put_bool("AccelBoostSP", False, block=True)
-    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL) - 1):
-      assert not boost.update_params()
-    assert boost.update_params() and not boost.enabled
-    assert boost.boost == 0.0 and boost.total_boost == 0.0

openpilot/sunnypilot/sunnylink/athena/local_app_rows.py

@@ -0,0 +1,64 @@
+from __future__ import annotations
+
+from collections.abc import Mapping
+from dataclasses import dataclass
+
+from openpilot.sunnypilot.sunnylink.athena.local_auth import MAX_GRANTS
+
+MAX_LOCAL_APP_ROWS = MAX_GRANTS
+DEFAULT_APP_NAME = "sunnylink mobile"
+NEVER_CONNECTED = "not connected yet"
+
+
+@dataclass(frozen=True)
+class LocalAppRow:
+  app_id: str
+  title: str
+  subtitle: str
+
+
+def short_key(app_id: str, length: int = 10) -> str:
+  return app_id if len(app_id) <= length else app_id[:length] + "…"
+
+
+def format_age(seconds: float) -> str:
+  if seconds < 60:
+    return "just now"
+  if seconds < 3600:
+    return f"{int(seconds // 60)}m ago"
+  if seconds < 86_400:
+    return f"{int(seconds // 3600)}h ago"
+  return f"{int(seconds // 86_400)}d ago"
+
+
+def last_seen_text(entry: Mapping[str, object] | None, now: float) -> str:
+  seen = entry.get("last_seen") if isinstance(entry, Mapping) else None
+  if not isinstance(seen, (int, float)) or isinstance(seen, bool) or now - float(seen) < 0:
+    return NEVER_CONNECTED
+  return format_age(now - float(seen))
+
+
+def _title(app_id: str, grant: dict, entry: Mapping[str, object] | None) -> str:
+  alias = entry.get("alias") if isinstance(entry, Mapping) else None
+  if isinstance(alias, str) and alias.strip():
+    return alias.strip()
+  name = grant.get("app_name")
+  return name if isinstance(name, str) and name else DEFAULT_APP_NAME
+
+
+def build_local_app_rows(grants: list[dict[str, str]],
+                         meta: Mapping[str, Mapping[str, object]] | None = None,
+                         now: float = 0.0) -> list[LocalAppRow]:
+  entries = meta or {}
+  rows = []
+  for grant in grants:
+    if not isinstance(grant, dict):
+      continue
+    app_id = grant.get("app_id")
+    if not isinstance(app_id, str) or not app_id:
+      continue
+    entry = entries.get(app_id)
+    entry = entry if isinstance(entry, Mapping) else None
+    rows.append(LocalAppRow(app_id, _title(app_id, grant, entry),
+                            f"{last_seen_text(entry, now)}"))
+  return rows[:MAX_LOCAL_APP_ROWS]

openpilot/sunnypilot/sunnylink/athena/local_auth.py

@@ -0,0 +1,386 @@
+"""Local trust: keys, grants, cloud enrollment, pinned TLS dial.
+
+Pairing is automatic: the app pushes a self-signed enrollment for this phone's
+key through the existing authenticated cloud settings-write transport (the same
+channel all settings writes already trust). The device stages it and commits
+the grant only after the phone's key proves itself over pinned TLS on the LAN.
+There is no code, window, or presence check: account write access authorizes
+enrollment, and the paired-devices list on this screen is the audit trail.
+"""
+from __future__ import annotations
+
+import base64
+import hashlib
+import json
+import re
+import secrets
+import socket
+import ssl
+import threading
+import ipaddress
+from collections.abc import Callable, Mapping
+from dataclasses import dataclass
+from enum import Enum
+from typing import Any
+from urllib.parse import urlsplit
+
+from websocket import WebSocket, create_connection
+from cryptography import x509
+from cryptography.exceptions import InvalidSignature
+from cryptography.hazmat.primitives import hashes, serialization
+from cryptography.hazmat.primitives.asymmetric import ec, padding, rsa
+
+VERSION = 3
+AUTHENTICATE_PURPOSE = "sunnylink-local-authenticate"
+MAX_ENROLL_BYTES = 4096
+MAX_GRANTS = 8
+
+LOCAL_METHODS = frozenset({"getParams", "getParamsAllKeys", "getParamsMetadata", "getMessage", "saveParams",
+                           "updateLocalAppAlias", "unpairLocalApp"})
+_TOKEN = re.compile(r"[A-Za-z0-9_-]+\Z")
+
+
+class AuthorizationError(ValueError):
+  pass
+
+
+class Origin(Enum):
+  CLOUD = "cloud"
+  LOCAL = "local"
+
+
+def encode64(data: bytes) -> str:
+  return base64.urlsafe_b64encode(data).rstrip(b"=").decode("ascii")
+
+
+def decode64(value: Any, *, max_bytes: int = MAX_ENROLL_BYTES) -> bytes:
+  if not isinstance(value, str) or not value or len(value) > (max_bytes * 4 + 2) // 3 or not _TOKEN.fullmatch(value):
+    raise AuthorizationError("invalid encoding")
+  try:
+    raw = base64.b64decode(value + "=" * (-len(value) % 4), altchars=b"-_", validate=True)
+  except ValueError as e:
+    raise AuthorizationError("invalid encoding") from e
+  if len(raw) > max_bytes or encode64(raw) != value:
+    raise AuthorizationError("noncanonical encoding")
+  return raw
+
+
+def load_app_key(value: str) -> ec.EllipticCurvePublicKey:
+  raw = decode64(value, max_bytes=128)
+  try:
+    key = serialization.load_der_public_key(raw)
+  except ValueError as e:
+    raise AuthorizationError("invalid key") from e
+  if not isinstance(key, ec.EllipticCurvePublicKey) or not isinstance(key.curve, ec.SECP256R1):
+    raise AuthorizationError("unsupported key")
+  if key.public_bytes(serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo) != raw:
+    raise AuthorizationError("noncanonical key")
+  return key
+
+
+def key_id(key: ec.EllipticCurvePublicKey | rsa.RSAPublicKey) -> str:
+  """App id is the hash of its key."""
+  raw = key.public_bytes(serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo)
+  return encode64(hashlib.sha256(raw).digest())
+
+
+def text_field(value: Any, maximum: int = 128) -> str:
+  if not isinstance(value, str) or not value or len(value.encode("utf-8")) > maximum or any(ord(c) < 32 or ord(c) == 127 for c in value):
+    raise AuthorizationError("invalid field")
+  return value
+
+
+def statement(purpose: str, *fields: str) -> bytes:
+  """Length-bounded fields joined by LF."""
+  return ("sunnylink-local\n" + purpose + "\n" + "\n".join(text_field(f, 1024) for f in fields) + "\n").encode("utf-8")
+
+
+def _unique_object(pairs: list[tuple[str, Any]]) -> dict[str, Any]:
+  result: dict[str, Any] = {}
+  for key, value in pairs:
+    if key in result:
+      raise AuthorizationError("duplicate field")
+    result[key] = value
+  return result
+
+
+def parse_object(raw: str) -> dict[str, Any]:
+  if not isinstance(raw, str) or len(raw.encode("utf-8")) > MAX_ENROLL_BYTES:
+    raise AuthorizationError("message too large")
+  try:
+    obj = json.loads(raw, object_pairs_hook=_unique_object)
+  except (ValueError, UnicodeError) as e:
+    raise AuthorizationError("invalid message") from e
+  if not isinstance(obj, dict):
+    raise AuthorizationError("invalid message")
+  return obj
+
+
+@dataclass(frozen=True)
+class Grant:
+  app_id: str
+  public_key: str
+  app_name: str
+
+  @staticmethod
+  def from_dict(data: Mapping[str, Any]) -> Grant:
+    if not isinstance(data, Mapping) or set(data) != {"app_id", "public_key", "app_name"}:
+      raise AuthorizationError("invalid grant")
+    public = text_field(data["public_key"], 256)
+    if data["app_id"] != key_id(load_app_key(public)):
+      raise AuthorizationError("key mismatch")
+    return Grant(data["app_id"], public, text_field(data["app_name"], 80))
+
+  def to_dict(self) -> dict[str, str]:
+    return {"app_id": self.app_id, "public_key": self.public_key, "app_name": self.app_name}
+
+
+class LocalAuthority:
+  """All trust changes go through here."""
+
+  def __init__(self, cloud_device_id: str, comma_device_id: str, device_private_key: ec.EllipticCurvePrivateKey | rsa.RSAPrivateKey,
+               persist: Callable[[dict[str, Any]], None], registry: Any = None):
+    self.cloud_device_id = text_field(cloud_device_id)
+    self.comma_device_id = text_field(comma_device_id)
+    self.device_key = device_private_key
+    self.device_key_id = key_id(device_private_key.public_key())
+    self.persist = persist
+    self.lock = threading.RLock()
+    self.pending: dict[str, Grant] = {}
+    self.sessions: dict[str, set[AuthorizedSession]] = {}
+    self.grants = _load_grants(registry)
+
+  def enroll(self, raw: str, origin: Origin) -> Grant:
+    if origin is not Origin.CLOUD:
+      raise AuthorizationError("cloud authorization required")
+    data = parse_object(raw)
+    required = {"v", "cloud_device_id", "comma_device_id", "device_key_id", "public_key", "key_id", "app_name", "signature"}
+    if set(data) != required or type(data["v"]) is not int or data["v"] != VERSION:
+      raise AuthorizationError("invalid enrollment")
+    if (data["cloud_device_id"], data["comma_device_id"], data["device_key_id"]) != \
+       (self.cloud_device_id, self.comma_device_id, self.device_key_id):
+      raise AuthorizationError("wrong device")
+    public = text_field(data["public_key"], 256)
+    key = load_app_key(public)
+    app_id = key_id(key)
+    if data["key_id"] != app_id:
+      raise AuthorizationError("wrong key")
+    name = text_field(data["app_name"], 80)
+    signed = statement("enroll", self.cloud_device_id, self.comma_device_id, self.device_key_id, public, app_id, name)
+    try:
+      key.verify(decode64(data["signature"], max_bytes=72), signed, ec.ECDSA(hashes.SHA256()))
+    except InvalidSignature as e:
+      raise AuthorizationError("invalid proof") from e
+    with self.lock:
+      stored = self.grants.get(app_id)
+      if stored is not None:
+        if stored.public_key != public:
+          raise AuthorizationError("key mismatch")
+        return stored
+      staged = self.pending.get(app_id)
+      if staged is not None:
+        if (staged.public_key, staged.app_name) != (public, name):
+          raise AuthorizationError("enrollment in progress")
+        return staged
+      if len(self.grants) + len(self.pending) >= MAX_GRANTS:
+        raise AuthorizationError("grant limit")
+      self.pending[app_id] = Grant(app_id, public, name)
+      return self.pending[app_id]
+
+  def confirm(self, grant: Grant, tls_peer_key_id: str) -> Grant:
+    with self.lock:
+      if not secrets.compare_digest(grant.app_id, tls_peer_key_id):
+        raise AuthorizationError("wrong TLS peer")
+      if self.pending.get(grant.app_id) != grant:
+        raise AuthorizationError("no pending enrollment")
+      updated = self.grants | {grant.app_id: grant}
+      self.persist(_registry(updated))
+      self.grants = updated
+      self.pending.pop(grant.app_id, None)
+      return grant
+
+  def authenticate_device(self, phone_key_id: str, challenge: str) -> dict[str, str]:
+    if len(decode64(challenge, max_bytes=32)) != 32:
+      raise AuthorizationError("invalid challenge")
+    fields = (self.cloud_device_id, self.comma_device_id, self.device_key_id,
+              text_field(phone_key_id, 128), text_field(challenge, 128))
+    proof = statement("authenticate-device", *fields)
+    if isinstance(self.device_key, ec.EllipticCurvePrivateKey):
+      signature = self.device_key.sign(proof, ec.ECDSA(hashes.SHA256()))
+    else:
+      signature = self.device_key.sign(proof, padding.PKCS1v15(), hashes.SHA256())
+    return {"cloud_device_id": self.cloud_device_id, "comma_device_id": self.comma_device_id,
+            "device_key_id": self.device_key_id, "phone_key_id": phone_key_id,
+            "challenge": challenge, "signature": encode64(signature)}
+
+  def revoke_by_self_proof(self, raw: str, origin: Origin) -> str:
+    if origin is not Origin.CLOUD:
+      raise AuthorizationError("cloud authorization required")
+    data = parse_object(raw)
+    if set(data) != {"v", "cloud_device_id", "comma_device_id", "key_id", "signature"} \
+       or type(data["v"]) is not int or data["v"] != VERSION:
+      raise AuthorizationError("invalid revocation")
+    if (data["cloud_device_id"], data["comma_device_id"]) != (self.cloud_device_id, self.comma_device_id):
+      raise AuthorizationError("wrong device")
+    app_id = text_field(data["key_id"], 128)
+    if len(decode64(app_id, max_bytes=32)) != 32:
+      raise AuthorizationError("invalid key id")
+
+    with self.lock:
+      grant = self.grants.get(app_id)
+    if grant is None:
+      self.revoke(app_id)
+      return app_id
+
+    proof = statement("revoke", self.cloud_device_id, self.comma_device_id, app_id)
+    try:
+      load_app_key(grant.public_key).verify(decode64(data["signature"], max_bytes=72), proof, ec.ECDSA(hashes.SHA256()))
+    except InvalidSignature as e:
+      raise AuthorizationError("invalid proof") from e
+    self.revoke(app_id)
+    return app_id
+
+  def revoke_all(self) -> int:
+    with self.lock:
+      removed = len(self.grants)
+      sessions = [session for group in self.sessions.values() for session in group]
+      self.sessions = {}
+      self.pending = {}
+      if removed == 0:
+        return 0
+      self.persist(_registry({}))
+      self.grants = {}
+    for session in sessions:
+      session.close()
+    return removed
+
+  def revoke(self, app_id: str) -> bool:
+    with self.lock:
+      self.pending.pop(app_id, None)
+      if app_id not in self.grants:
+        return False
+      updated = {k: g for k, g in self.grants.items() if k != app_id}
+      self.persist(_registry(updated))
+      self.grants = updated
+      sessions = list(self.sessions.pop(app_id, ()))
+    for session in sessions:
+      session.close()
+    return True
+
+  def session(self, grant: Grant, tls_peer_key_id: str) -> AuthorizedSession:
+    with self.lock:
+      if self.grants.get(grant.app_id) != grant or not secrets.compare_digest(grant.app_id, tls_peer_key_id):
+        raise AuthorizationError("unauthorized peer")
+      session = AuthorizedSession(self, grant)
+      self.sessions.setdefault(grant.app_id, set()).add(session)
+      return session
+
+  def forget_session(self, session: AuthorizedSession) -> None:
+    with self.lock:
+      group = self.sessions.get(session.grant.app_id)
+      if group is not None:
+        group.discard(session)
+        if not group:
+          self.sessions.pop(session.grant.app_id, None)
+
+
+def _registry(grants: Mapping[str, Grant]) -> dict[str, Any]:
+  return {"v": VERSION, "grants": [g.to_dict() for g in grants.values()]}
+
+
+def _load_grants(registry: Any) -> dict[str, Grant]:
+  """Bad storage loads as no grants."""
+  if not isinstance(registry, dict) or registry.get("v") != VERSION or set(registry) != {"v", "grants"}:
+    return {}
+  entries = registry["grants"]
+  if not isinstance(entries, list) or len(entries) > MAX_GRANTS:
+    return {}
+  try:
+    grants = [Grant.from_dict(entry) for entry in entries]
+  except AuthorizationError:
+    return {}
+  if len({g.app_id for g in grants}) != len(grants):
+    return {}
+  return {g.app_id: g for g in grants}
+
+
+class AuthorizedSession:
+
+  def __init__(self, authority: LocalAuthority, grant: Grant):
+    self.authority = authority
+    self.grant = grant
+    self.closed = False
+    self.transport_closer: Callable[[], None] | None = None
+
+  def bind_transport(self, closer: Callable[[], None]) -> None:
+    with self.authority.lock:
+      self.transport_closer = closer
+      closed = self.closed
+    if closed:
+      closer()
+
+  def close(self) -> None:
+    with self.authority.lock:
+      if self.closed:
+        return
+      self.closed = True
+      closer = self.transport_closer
+      self.authority.forget_session(self)
+    if closer is not None:
+      try:
+        closer()
+      except Exception:
+        pass
+
+  def invoke(self, method: str, handler: Callable[..., Any], *args: Any, **kwargs: Any) -> Any:
+    with self.authority.lock:
+      if self.closed or self.authority.grants.get(self.grant.app_id) != self.grant or method not in LOCAL_METHODS:
+        raise AuthorizationError("request denied")
+      return handler(*args, **kwargs)
+
+
+def connect_pinned(endpoint: str, expected_key_id: str, timeout_s: float = 10) -> WebSocket:
+  """Dial with an exact public-key pin. Local sockets only."""
+  parsed = urlsplit(endpoint)
+  if parsed.scheme != "wss" or parsed.username is not None or parsed.password is not None \
+     or parsed.query or parsed.fragment or parsed.path not in ("", "/") or parsed.hostname is None:
+    raise AuthorizationError("invalid local endpoint")
+  try:
+    address = ipaddress.ip_address(parsed.hostname)
+    port = parsed.port
+  except ValueError as e:
+    raise AuthorizationError("invalid local endpoint") from e
+  if port is None or address.is_unspecified or address.is_multicast:
+    raise AuthorizationError("invalid local endpoint")
+  context = ssl.SSLContext(ssl.PROTOCOL_TLS_CLIENT)
+  context.check_hostname = False
+  context.verify_mode = ssl.CERT_NONE
+  context.minimum_version = ssl.TLSVersion.TLSv1_3
+  context.maximum_version = ssl.TLSVersion.TLSv1_3
+  # A new context and no supplied session prevent client resumption/early data.
+  connection = socket.create_connection((str(address), port), timeout=timeout_s)
+  tls: ssl.SSLSocket | None = None
+  try:
+    tls = context.wrap_socket(connection, server_hostname=None)
+    certificate = tls.getpeercert(binary_form=True)
+    if certificate is None:
+      raise AuthorizationError("missing peer certificate")
+    verify_tls_peer(certificate, expected_key_id)
+    return create_connection(endpoint, socket=tls, enable_multithread=True, timeout=timeout_s,
+                             subprotocols=["sunnylink-local"])
+  except Exception:
+    (tls or connection).close()
+    raise
+
+
+def verify_tls_peer(certificate_der: bytes, expected_key_id: str) -> str:
+  try:
+    key = x509.load_der_x509_certificate(certificate_der).public_key()
+  except ValueError as e:
+    raise AuthorizationError("invalid peer certificate") from e
+  if not isinstance(key, ec.EllipticCurvePublicKey) or not isinstance(key.curve, ec.SECP256R1):
+    raise AuthorizationError("unsupported peer key")
+  actual = key_id(key)
+  if not secrets.compare_digest(actual, expected_key_id):
+    raise AuthorizationError("wrong TLS peer")
+  return actual

openpilot/sunnypilot/sunnylink/athena/local_auth_daemon.py

@@ -0,0 +1,304 @@
+from __future__ import annotations
+
+import threading
+import time
+from typing import Any
+
+from cryptography.hazmat.primitives import serialization
+from cryptography.hazmat.primitives.asymmetric import ec, rsa
+
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.api.base import BaseApi
+from openpilot.sunnypilot.sunnylink.athena.local_app_rows import LocalAppRow, build_local_app_rows
+from openpilot.sunnypilot.sunnylink.athena.local_auth import (
+  VERSION,
+  AuthorizationError,
+  LocalAuthority,
+  Origin,
+  text_field,
+)
+from openpilot.sunnypilot.sunnylink.athena.local_params import ENROLL as CLOUD_ENROLL_KEY, REVOKE as CLOUD_REVOKE_KEY
+from openpilot.sunnypilot.sunnylink.athena.local_state import (
+  LOCAL_APPS_KEY,
+  LOCAL_APPS_META_KEY,
+  REVOKE_ALL,
+  REVOKE_KEY,
+)
+
+MAX_ALIAS_BYTES = 80
+
+_params = Params()
+_authority: LocalAuthority | None = None
+_authority_lock = threading.Lock()
+_meta_lock = threading.Lock()
+
+
+def _text(value: Any) -> Any:
+  return value.decode("utf-8", errors="replace") if isinstance(value, bytes) else value
+
+
+def _get(params: Params, key: str) -> Any:
+  try:
+    return _text(params.get(key))
+  except Exception:
+    cloudlog.exception(f"sunnylinkd.local_auth.{key}_unreadable")
+    return None
+
+
+def _put(params: Params, key: str, value: Any) -> None:
+  try:
+    if value is None:
+      params.remove(key)
+    elif isinstance(value, bool):
+      params.put_bool(key, value, block=True)
+    else:
+      params.put(key, value, block=True)
+  except Exception:
+    cloudlog.exception(f"sunnylinkd.local_auth.{key}_write_failed")
+
+
+def _run(name: str, action: Any) -> Any:
+  try:
+    return action()
+  except Exception:
+    cloudlog.exception(f"sunnylinkd.local_auth.{name}_failed")
+    return None
+
+
+def _persist_registry(registry: dict[str, Any]) -> None:
+  _params.put(LOCAL_APPS_KEY, registry, block=True)
+
+
+def _read_registry() -> dict[str, Any] | None:
+  value = _get(_params, LOCAL_APPS_KEY)
+  return value if isinstance(value, dict) else None
+
+
+def _build_authority() -> LocalAuthority | None:
+  try:
+    algorithm, private_pem, _ = BaseApi.get_key_pair()
+    if algorithm is None or private_pem is None:
+      return None
+    pem = private_pem if isinstance(private_pem, bytes) else str(private_pem).encode()
+    device_key = serialization.load_pem_private_key(pem, password=None)
+    cloud_device_id, comma_device_id = (_get(_params, k) for k in ("SunnylinkDongleId", "DongleId"))
+    if not isinstance(device_key, (ec.EllipticCurvePrivateKey, rsa.RSAPrivateKey)) or not cloud_device_id or not comma_device_id:
+      return None
+    return LocalAuthority(cloud_device_id=cloud_device_id, comma_device_id=comma_device_id,
+                          device_private_key=device_key, persist=_persist_registry, registry=_read_registry())
+  except Exception:
+    cloudlog.exception("sunnylinkd.local_auth.identity_unavailable")
+    return None
+
+
+def get_authority() -> LocalAuthority | None:
+  global _authority
+  with _authority_lock:
+    if _authority is None:
+      _authority = _build_authority()
+    return _authority
+
+
+def reset_authority() -> None:
+  global _authority
+  with _authority_lock:
+    _authority = None
+
+
+def _meta_write(apps: dict[str, Any]) -> None:
+  _params.put(LOCAL_APPS_META_KEY, {"v": VERSION, "apps": apps}, block=True)
+
+
+def _meta_read() -> dict[str, Any]:
+  try:
+    raw = _params.get(LOCAL_APPS_META_KEY)
+  except Exception:
+    cloudlog.exception("sunnylinkd.local_auth.meta_unreadable")
+    return {}
+  apps = raw.get("apps") if isinstance(raw, dict) else None
+  return dict(apps) if isinstance(apps, dict) else {}
+
+
+def _meta_update(app_key_id: str, **fields: Any) -> None:
+  with _meta_lock:
+    apps = _meta_read()
+    apps[app_key_id] = dict(apps.get(app_key_id) or {}) | fields
+    _meta_write(apps)
+
+
+def read_grant_meta() -> dict[str, dict[str, Any]]:
+  return {k: dict(v) for k, v in _meta_read().items() if isinstance(v, dict)}
+
+
+def set_grant_alias(app_key_id: str, alias: str) -> None:
+  cleaned = alias.strip() if isinstance(alias, str) else ""
+  if cleaned:
+    text_field(cleaned, MAX_ALIAS_BYTES)
+  _meta_update(app_key_id, alias=cleaned)
+
+
+def note_grant_seen(app_key_id: str) -> None:
+  _run("meta_seen", lambda: _meta_update(app_key_id, last_seen=time.monotonic()))
+
+
+def clear_grant_meta(app_key_id: str) -> None:
+  try:
+    with _meta_lock:
+      apps = _meta_read()
+      if apps.pop(app_key_id, None) is not None:
+        _meta_write(apps)
+  except Exception:
+    cloudlog.exception("sunnylinkd.local_auth.meta_clear_failed")
+
+
+def clear_all_grant_meta() -> None:
+  try:
+    with _meta_lock:
+      if _meta_read():
+        _meta_write({})
+  except Exception:
+    cloudlog.exception("sunnylinkd.local_auth.meta_clear_failed")
+
+
+def _require_authority(kind: str) -> LocalAuthority:
+  authority = get_authority()
+  if authority is None:
+    raise AuthorizationError(f"{kind} unavailable")
+  return authority
+
+
+def cloud_enroll(raw_enrollment: str) -> dict[str, Any]:
+  grant = _require_authority("enrollment").enroll(raw_enrollment, Origin.CLOUD)
+  return {"app_id": grant.app_id, "app_name": grant.app_name}
+
+
+def cloud_revoke(raw_revocation: str) -> dict[str, Any]:
+  return {"app_id": _require_authority("revocation").revoke_by_self_proof(raw_revocation, Origin.CLOUD)}
+
+
+def _take(params: Params, key: str) -> str | None:
+  try:
+    value = params.get(key)
+    params.remove(key)
+  except Exception:
+    cloudlog.exception("sunnylinkd.local_auth.command_unreadable")
+    return None
+  value = _text(value)
+  return value if isinstance(value, str) and value else None
+
+
+def claim_cloud_commands(params: Params | None = None) -> None:
+  params = params or _params
+  for key, apply in ((CLOUD_ENROLL_KEY, cloud_enroll), (CLOUD_REVOKE_KEY, cloud_revoke)):
+    value = _take(params, key)
+    if value is None:
+      continue
+    try:
+      summary = apply(value)
+    except AuthorizationError as e:
+      cloudlog.warning(f"sunnylinkd.local_auth.{key}_rejected: {e}")
+      continue
+    except Exception:
+      cloudlog.exception(f"sunnylinkd.local_auth.{key}_failed")
+      continue
+    cloudlog.event(f"sunnylinkd.local_auth.{key}_accepted", app_name=summary.get("app_name"))
+
+
+def clear_pending_enrollment(app_key_id: str | None = None) -> None:
+  authority = get_authority()
+  if authority is not None:
+    with authority.lock:
+      if app_key_id is None:
+        authority.pending.clear()
+      else:
+        authority.pending.pop(app_key_id, None)
+
+
+def confirm_enrollment_tls(grant_key_id: str) -> dict[str, Any]:
+  authority = _require_authority("enrollment")
+  with authority.lock:
+    pending = authority.pending.get(grant_key_id)
+  if pending is None:
+    raise AuthorizationError("no pending enrollment for this key")
+  committed = authority.confirm(pending, grant_key_id)
+  return {"app_id": committed.app_id, "app_name": committed.app_name}
+
+
+def revoke_local_app(app_key_id: str) -> bool:
+  authority = get_authority()
+  if authority is None:
+    return False
+  revoked = authority.revoke(app_key_id)
+  if revoked:
+    clear_grant_meta(app_key_id)
+  return revoked
+
+
+def revoke_all() -> int:
+  authority = get_authority()
+  if authority is None:
+    return 0
+  removed = authority.revoke_all()
+  if not authority.grants:
+    clear_all_grant_meta()
+  return removed
+
+
+def request_revoke(app_key_id: str, params: Params | None = None) -> None:
+  if isinstance(app_key_id, str) and app_key_id:
+    _put(params or _params, REVOKE_KEY, app_key_id)
+
+
+def request_revoke_all(params: Params | None = None) -> None:
+  _put(params or _params, REVOKE_KEY, REVOKE_ALL)
+
+
+def service_revoke_requests(params: Params | None = None) -> bool:
+  params = params or _params
+  app_key_id = _take(params, REVOKE_KEY)
+  if not app_key_id:
+    return False
+  if app_key_id == REVOKE_ALL:
+    removed = _run("revoke_all", revoke_all)
+    if removed:
+      cloudlog.event("sunnylinkd.local_auth.grants_revoked", count=removed)
+    return bool(removed)
+  revoked = bool(_run("revoke", lambda: revoke_local_app(app_key_id)))
+  if revoked:
+    cloudlog.event("sunnylinkd.local_auth.grant_revoked", app_id=app_key_id)
+  return revoked
+
+
+def grants() -> list[dict[str, str]]:
+  authority = get_authority()
+  return [g.to_dict() for g in authority.grants.values()] if authority is not None else []
+
+
+def read_granted_apps() -> list[dict[str, str]]:
+  raw = _read_registry()
+  entries = raw.get("grants") if raw is not None else None
+  if not isinstance(entries, list):
+    return []
+  return [{"app_id": e["app_id"], "app_name": e["app_name"]} for e in entries
+          if isinstance(e, dict) and isinstance(e.get("app_id"), str) and e["app_id"]
+          and isinstance(e.get("app_name"), str)]
+
+
+def app_rows() -> list[LocalAppRow]:
+  return build_local_app_rows(read_granted_apps(), read_grant_meta(), time.monotonic())
+
+
+def pending_enrollments() -> list[dict[str, str]]:
+  authority = get_authority()
+  return [staged.to_dict() for staged in authority.pending.values()] if authority is not None else []
+
+
+def pending_app_ids() -> list[str]:
+  authority = get_authority()
+  return list(authority.pending) if authority is not None else []
+
+
+def pending_enrollment() -> dict[str, str] | None:
+  staged = pending_enrollments()
+  return staged[-1] if staged else None

openpilot/sunnypilot/sunnylink/athena/local_discovery.py

@@ -0,0 +1,110 @@
+from __future__ import annotations
+
+import json
+import socket
+import threading
+import time
+from dataclasses import dataclass
+
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.sunnypilot.sunnylink.athena.local_state import (
+  BEACON_PREFIX,
+  SUNNYLINK_LOCAL_UDP_PORT,
+  format_endpoint,
+)
+
+LOCAL_BEACON_FRESH_S = 30
+
+
+@dataclass
+class AppBeacon:
+  app_id: str
+  ws_port: int
+  source_ip: str
+
+  @property
+  def endpoint(self) -> str:
+    return format_endpoint(self.source_ip, self.ws_port)
+
+
+def parse_beacon(raw: str | bytes, source_ip: str = "") -> AppBeacon | None:
+  if isinstance(raw, bytes):
+    raw = raw.decode("utf-8", errors="replace")
+  raw = raw.strip()
+  if not raw.startswith(BEACON_PREFIX + " "):
+    return None
+  try:
+    data = json.loads(raw[len(BEACON_PREFIX) + 1:])
+  except ValueError:
+    return None
+  if not isinstance(data, dict) or data.get("role") != "app" or data.get("v") != 1:
+    return None
+  app_id, ws_port = data.get("app_id"), data.get("ws_port")
+  if not isinstance(app_id, str) or not app_id or not isinstance(ws_port, int) or not 0 < ws_port <= 65535:
+    return None
+  return AppBeacon(app_id=app_id, ws_port=ws_port, source_ip=source_ip)
+
+
+class LocalDiscovery(threading.Thread):
+  def __init__(self, port: int = SUNNYLINK_LOCAL_UDP_PORT, sock: socket.socket | None = None):
+    super().__init__(name="local_discovery_listener", daemon=True)
+    self.port = port
+    self._sock = sock
+    self._recent: dict[str, tuple[float, str]] = {}
+    self._recent_lock = threading.Lock()
+    self._stop_event = threading.Event()
+
+  def stop(self) -> None:
+    self._stop_event.set()
+    if self._sock is not None:
+      try:
+        self._sock.close()
+      except OSError:
+        pass
+
+  def fresh_peers(self, max_age_s: float = LOCAL_BEACON_FRESH_S) -> list[tuple[str, str]]:
+    now = time.monotonic()
+    with self._recent_lock:
+      self._recent = {e: v for e, v in self._recent.items() if now - v[0] <= max_age_s}
+      return [(e, app_id) for e, (_, app_id) in sorted(self._recent.items(), key=lambda kv: kv[1][0], reverse=True)]
+
+  def fresh_endpoints(self, max_age_s: float = LOCAL_BEACON_FRESH_S) -> list[str]:
+    return [endpoint for endpoint, _ in self.fresh_peers(max_age_s)]
+
+  def _handle(self, raw: bytes, source_ip: str) -> None:
+    beacon = parse_beacon(raw, source_ip)
+    if beacon is None:
+      return
+    with self._recent_lock:
+      self._recent[beacon.endpoint] = (time.monotonic(), beacon.app_id)
+    cloudlog.debug(f"local_discovery.app_found {beacon.app_id} at {beacon.endpoint}")
+
+  def _bind(self) -> socket.socket:
+    if self._sock is not None:
+      return self._sock
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    sock.bind(("0.0.0.0", self.port))
+    sock.settimeout(0.5)
+    return sock
+
+  def run(self) -> None:
+    sock = self._bind()
+    try:
+      while not self._stop_event.is_set():
+        try:
+          data, addr = sock.recvfrom(4096)
+          self._handle(data, addr[0] if len(addr) > 0 else "")
+        except TimeoutError:
+          continue
+        except OSError:
+          if self._stop_event.is_set():
+            break
+          cloudlog.exception("local_discovery.recv.exception")
+          break
+    finally:
+      try:
+        sock.close()
+      except OSError:
+        pass

openpilot/sunnypilot/sunnylink/athena/local_params.py

@@ -0,0 +1,16 @@
+"""Params owned by the local daemon."""
+from __future__ import annotations
+
+ENROLL = "SunnylinkLocalEnroll"
+REVOKE = "SunnylinkLocalCloudRevoke"
+
+CLOUD_COMMANDS = frozenset({ENROLL, REVOKE})
+_PREFIXES = ("SunnylinkLocal", "_sec_")
+
+
+def is_local_param(key: str) -> bool:
+  return key.startswith(_PREFIXES)
+
+
+def cloud_may_write(key: str) -> bool:
+  return key in CLOUD_COMMANDS or not is_local_param(key)

openpilot/sunnypilot/sunnylink/athena/local_state.py

@@ -0,0 +1,24 @@
+"""Local mode params and shared wire constants."""
+from __future__ import annotations
+
+from openpilot.common.params import Params
+
+SUNNYLINK_LOCAL_UDP_PORT = 53133
+SUNNYLINK_LOCAL_WS_PORT = 8443
+
+BEACON_PREFIX = "SUNNYLINK1"
+
+LOCAL_APPS_KEY = "SunnylinkLocalApps"
+LOCAL_APPS_META_KEY = "SunnylinkLocalAppsMeta"
+
+REVOKE_KEY = "SunnylinkLocalRevoke"
+# Value of REVOKE_KEY that drops every grant instead of one.
+REVOKE_ALL = "ALL"
+
+
+def is_locally_paired(params: Params | None = None) -> bool:
+  return bool((params or Params()).get(LOCAL_APPS_KEY))
+
+
+def format_endpoint(host: str, ws_port: int = SUNNYLINK_LOCAL_WS_PORT) -> str:
+  return f"ws://{host}:{ws_port}"

openpilot/sunnypilot/sunnylink/athena/localsunnylinkd.py

@@ -0,0 +1,388 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import json
+import threading
+import time
+
+from collections.abc import Callable
+from urllib.parse import urlsplit
+
+from websocket import WebSocket, WebSocketTimeoutException
+
+from openpilot.system.athena.rpc import dispatcher
+from openpilot.system.athena import rpc as rpc_module
+from openpilot.common.realtime import set_core_affinity
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.sunnylink.athena import local_auth_daemon
+from openpilot.sunnypilot.sunnylink.athena.local_auth import (
+  AUTHENTICATE_PURPOSE,
+  LOCAL_METHODS,
+  VERSION,
+  AuthorizationError,
+  AuthorizedSession,
+  LocalAuthority,
+  connect_pinned,
+  parse_object,
+)
+from openpilot.sunnypilot.sunnylink.athena.local_discovery import LocalDiscovery
+from openpilot.sunnypilot.sunnylink.athena.local_params import is_local_param
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import SUNNYLINK_RECONNECT_TIMEOUT_S, Sunnylinkd, log_connection_error
+
+LOCAL_ENABLED_PARAM = "SunnylinkLocalEnabled"
+SESSION_READ_TIMEOUT_S = 5
+TICK_INTERVAL_S = 1.0
+ENDPOINT_BACKOFF_S = float(TICK_INTERVAL_S)
+ENDPOINT_BACKOFF_MAX_S = 60.0
+BACKOFF_FORGET_S = 12.0
+MAX_LOCAL_SESSIONS = 8
+
+
+class LocalSunnylinkd(Sunnylinkd):
+  def __init__(self, params=None, discovery: LocalDiscovery | None = None):
+    super().__init__(params)
+    self.discovery = discovery if discovery is not None else LocalDiscovery()
+    self.backoffs: dict[str, float] = {}
+    self.failures: dict[str, int] = {}
+    self._session_apps: dict[str, str] = {}
+    self._session_sockets: dict[str, WebSocket] = {}
+    self._last_unknown_beacons: set[str] = set()
+    self.stop_event = threading.Event()
+    self._state_lock = threading.Lock()
+    self._workers: dict[str, threading.Thread] = {}
+
+  def enrolled(self) -> bool:
+    return bool(local_auth_daemon.grants()) or bool(local_auth_daemon.pending_enrollments())
+
+  def saveParams(self, params_to_update: dict[str, str], compression: bool = False) -> None:
+    allowed = {k: v for k, v in params_to_update.items() if not is_local_param(k)}
+    if len(allowed) != len(params_to_update):
+      cloudlog.warning("sunnylinkd.local.saveParams.refused_local_params")
+    if allowed:
+      super().saveParams(allowed, compression)
+
+  def serviceable(self) -> bool:
+    return self.params.get_bool("SunnylinkEnabled") and not self.params.get_bool("SunnylinkTempFault") \
+       and self.params.get_bool(LOCAL_ENABLED_PARAM)
+
+  def run(self, exit_event: threading.Event | None = None) -> None:
+    self.discovery.start()
+    threading.Thread(target=self._tick_loop, name="localsunnylinkd_tick", daemon=True).start()
+
+    try:
+      while (exit_event is None or not exit_event.is_set()) and self.serviceable():
+        for endpoint in self.pick_targets():
+          self.start_session(endpoint, exit_event)
+        time.sleep(TICK_INTERVAL_S)
+    finally:
+      self.stop_event.set()
+      self.discovery.stop()
+
+  def _tick_loop(self) -> None:
+    while not self.stop_event.wait(TICK_INTERVAL_S) and self.serviceable():
+      try:
+        local_auth_daemon.service_revoke_requests()
+        local_auth_daemon.claim_cloud_commands()
+      except Exception:
+        cloudlog.exception("sunnylinkd.local.tick_failed")
+
+  def known_app_ids(self) -> set[str]:
+    ids = {g["app_id"] for g in local_auth_daemon.grants()}
+    ids.update(local_auth_daemon.pending_app_ids())
+    return ids
+
+  def granted_app_ids(self) -> set[str]:
+    return {g["app_id"] for g in local_auth_daemon.grants()}
+
+  def pending_app_ids(self) -> set[str]:
+    return set(local_auth_daemon.pending_app_ids())
+
+  def _session_app(self, endpoint: str) -> str | None:
+    with self._state_lock:
+      return self._session_apps.get(endpoint)
+
+  def stop_session(self, endpoint: str) -> bool:
+    with self._state_lock:
+      ws = self._session_sockets.get(endpoint)
+    if ws is None:
+      return False
+    close_quietly(ws)
+    return True
+
+  def pick_targets(self) -> list[str]:
+    """Every endpoint worth dialing right now, a phone that is still PAIRING ahead of the rest.
+
+    A car knows more than one phone (an iPhone and an Android side by side is the normal case)
+    and each of them is an independent session, so "the next target" is a list rather than one
+    address. The pending enrollment goes first: that is the phone whose app is showing
+    "registration sent", and it must not queue behind phones that are already paired.
+    """
+    if not self.enrolled():
+      return []
+    known = self.known_app_ids()
+    granted = self.granted_app_ids()
+    pending_ids = self.pending_app_ids()
+    self.forget_absent_endpoints(set(pinned_endpoints(self.discovery.fresh_endpoints(BACKOFF_FORGET_S))))
+    now = time.monotonic()
+    pairing: list[str] = []
+    others: list[str] = []
+    unknown: list[str] = []
+    for endpoint, app_id in self.discovery.fresh_peers():
+      if app_id not in known:
+        unknown.append(app_id)
+        continue
+      pinned = pinned_endpoint(endpoint)
+      if pinned is None or self.is_backed_off(pinned, now):
+        continue
+      if self.has_session(pinned):
+        session_app = self._session_app(pinned)
+        if session_app is None or session_app in granted:
+          continue
+        self.stop_session(pinned)
+        continue
+      (pairing if app_id in pending_ids else others).append(pinned)
+    if unknown:
+      seen = {a[:8] for a in unknown}
+      if seen != self._last_unknown_beacons:
+        self._last_unknown_beacons = seen
+        cloudlog.debug(f"sunnylinkd.local.no_known_peer beacons={len(unknown)} unknown={sorted(seen)}")
+    else:
+      self._last_unknown_beacons = set()
+    return pairing + others
+
+  def pick_target(self) -> str | None:
+    targets = self.pick_targets()
+    return targets[0] if targets else None
+
+  def is_backed_off(self, endpoint: str, now: float) -> bool:
+    with self._state_lock:
+      return self.backoffs.get(endpoint, 0.0) > now
+
+  def has_session(self, endpoint: str) -> bool:
+    with self._state_lock:
+      worker = self._workers.get(endpoint)
+      return worker is not None and worker.is_alive()
+
+  def start_session(self, endpoint: str, exit_event: threading.Event | None) -> bool:
+    """Serve [endpoint] on its own thread, unless one is already serving it.
+
+    Sessions are long-lived: the phone keeps the connection for as long as its app is open so
+    its reads can be answered over the LAN. They therefore cannot share the dial loop, or the
+    first phone to connect is the only phone that ever will be.
+    """
+    with self._state_lock:
+      existing = self._workers.get(endpoint)
+      if existing is not None and existing.is_alive():
+        return False
+      if len(self._workers) >= MAX_LOCAL_SESSIONS:
+        cloudlog.warning("sunnylinkd.local.sessions.saturated")
+        return False
+      worker = threading.Thread(
+        target=self._session_thread,
+        args=(endpoint, exit_event),
+        name=f"localsunnylinkd_session_{endpoint}",
+        daemon=True,
+      )
+      self._workers[endpoint] = worker
+    worker.start()
+    return True
+
+  def _session_thread(self, endpoint: str, exit_event: threading.Event | None) -> None:
+    try:
+      self.serve(endpoint, exit_event)
+    except Exception:
+      cloudlog.exception("sunnylinkd.local.session_thread_failed")
+    finally:
+      with self._state_lock:
+        if self._workers.get(endpoint) is threading.current_thread():
+          del self._workers[endpoint]
+
+  def forget_absent_endpoints(self, present: set[str]) -> None:
+    with self._state_lock:
+      for endpoint in [k for k in self.backoffs if k not in present]:
+        self.backoffs.pop(endpoint, None)
+        self.failures.pop(endpoint, None)
+
+  def _note_failure(self, endpoint: str) -> None:
+    with self._state_lock:
+      failures = self.failures.get(endpoint, 0) + 1
+      self.failures[endpoint] = failures
+      self.backoffs[endpoint] = time.monotonic() + min(ENDPOINT_BACKOFF_S * (2 ** (failures - 1)), ENDPOINT_BACKOFF_MAX_S)
+
+  def _note_success(self, endpoint: str) -> None:
+    with self._state_lock:
+      self.backoffs.pop(endpoint, None)
+      self.failures.pop(endpoint, None)
+
+  def serve(self, endpoint: str, exit_event: threading.Event | None) -> None:
+    try:
+      self.dial(endpoint, exit_event)
+    except Exception as e:
+      self._note_failure(endpoint)
+      # LastSunnylinkPingTime belongs to the CLOUD link: sunnylinkd's pong handler and SunnylinkApi
+      # own it, and the sidebar reads it to decide ONLINE/ERROR/OFFLINE. Clearing it here on a
+      # failed LOCAL dial made a perfectly healthy cloud connection read as offline on the device
+      # for as long as the next cloud ping took — which is what switching local mode off on the
+      # phone looked like from the car.
+      log_connection_error(e)
+      return
+    self._note_success(endpoint)
+
+  def serve_rpc(self, ws: WebSocket, methods: dict[str, Callable[..., object]],
+                exit_event: threading.Event | None = None) -> None:
+    ws.settimeout(SESSION_READ_TIMEOUT_S)
+    while exit_event is None or not exit_event.is_set():
+      try:
+        raw = ws.recv()
+      except WebSocketTimeoutException:
+        continue
+      except Exception as e:
+        cloudlog.warning(f"sunnylinkd.session.{type(e).__name__}")
+        return
+      try:
+        msg = rpc_module.loads(raw)
+      except Exception:
+        continue
+      if not rpc_module.is_call(msg):
+        continue
+      try:
+        response = rpc_module.handle(msg, methods)
+      except ValueError:
+        continue
+      try:
+        ws.send(response)
+      except Exception as e:
+        cloudlog.warning(f"sunnylinkd.send.{type(e).__name__}")
+        return
+
+  def dial(self, endpoint: str, exit_event: threading.Event | None) -> None:
+    authority = local_auth_daemon.get_authority()
+    if authority is None:
+      raise AuthorizationError("enrollment unavailable")
+
+    with authority.lock:
+      pending_keys = list(authority.pending)
+      candidates = list(dict.fromkeys(pending_keys + list(authority.grants)))
+
+    ws: WebSocket | None = None
+    matched: str | None = None
+    last_error: Exception | None = None
+    cloudlog.debug(f"sunnylinkd.local.dial {endpoint} candidates={len(candidates)}")
+    for key_id in candidates:
+      try:
+        ws = connect_pinned(endpoint, key_id)
+        matched = key_id
+        break
+      except Exception as e:
+        last_error = e
+    if ws is None or matched is None:
+      raise last_error or AuthorizationError("no enrolled app at this endpoint")
+
+    with self._state_lock:
+      self._session_apps[endpoint] = matched
+      self._session_sockets[endpoint] = ws
+
+    session: AuthorizedSession | None = None
+    try:
+      self.authenticate_phone(ws, authority, matched)
+      if matched in pending_keys:
+        try:
+          local_auth_daemon.confirm_enrollment_tls(matched)
+        except Exception:
+          cloudlog.exception("sunnylinkd.local.confirm_failed")
+          local_auth_daemon.clear_pending_enrollment(matched)
+          raise
+      with authority.lock:
+        grant = authority.grants.get(matched)
+      if grant is None:
+        raise AuthorizationError("peer is not enrolled")
+      session = authority.session(grant, matched)
+      session.bind_transport(lambda: close_quietly(ws))
+      local_auth_daemon.note_grant_seen(grant.app_id)
+      cloudlog.event("sunnylinkd.local.session_opened", endpoint=endpoint, app_id=grant.app_id)
+      self.serve_rpc(ws, self.session_methods(session), exit_event)
+    finally:
+      with self._state_lock:
+        if self._session_sockets.get(endpoint) is ws:
+          self._session_sockets.pop(endpoint, None)
+        if self._session_apps.get(endpoint) == matched:
+          self._session_apps.pop(endpoint, None)
+      if session is not None:
+        session.close()
+      if ws is not None:
+        try:
+          ws.close()
+        except Exception:
+          pass
+
+  def authenticate_phone(self, ws: WebSocket, authority: LocalAuthority, phone_key_id: str) -> None:
+    ws.settimeout(SUNNYLINK_RECONNECT_TIMEOUT_S)
+    raw = ws.recv()
+    if not isinstance(raw, str):
+      raise AuthorizationError("invalid challenge")
+    data = parse_object(raw)
+    if set(data) != {"v", "purpose", "phone_key_id", "challenge"} \
+       or type(data["v"]) is not int or data["v"] != VERSION \
+       or data["purpose"] != AUTHENTICATE_PURPOSE \
+       or data["phone_key_id"] != phone_key_id:
+      raise AuthorizationError("invalid challenge")
+    ws.send(json.dumps(authority.authenticate_device(phone_key_id, data["challenge"]), separators=(",", ":")))
+
+  def session_methods(self, session: AuthorizedSession) -> dict[str, Callable[..., object]]:
+    def gated(name: str, handler: Callable[..., object]) -> Callable[..., object]:
+      def call(*args: object, **kwargs: object) -> object:
+        return session.invoke(name, handler, *args, **kwargs)
+      return call
+
+    def unpair_local_app(app_id: str = "") -> dict[str, bool]:
+      removed = local_auth_daemon.revoke_local_app(session.grant.app_id)
+      return {"success": bool(removed), "removed": bool(removed)}
+
+    def update_local_app_alias(app_id: str = "", alias: str = "") -> dict[str, bool | str]:
+      try:
+        local_auth_daemon.set_grant_alias(session.grant.app_id, alias)
+      except AuthorizationError:
+        return {"success": False, "error": "invalid alias"}
+      return {"success": True, "updated": True}
+
+    local = {"unpairLocalApp": unpair_local_app, "updateLocalAppAlias": update_local_app_alias}
+    surface = self.methods()
+    methods: dict[str, Callable[..., object]] = {}
+    for name in LOCAL_METHODS:
+      handler = local.get(name) or surface.get(name) or dispatcher.get(name)
+      if handler is not None:
+        methods[name] = gated(name, handler)
+    return methods
+
+
+def pinned_endpoint(beacon_endpoint: str) -> str | None:
+  parsed = urlsplit(beacon_endpoint)
+  if parsed.scheme != "ws" or parsed.hostname is None or parsed.port is None:
+    return None
+  return f"wss://{parsed.hostname}:{parsed.port}"
+
+
+def pinned_endpoints(beacons: list[str]) -> list[str]:
+  return [pinned for pinned in map(pinned_endpoint, beacons) if pinned is not None]
+
+
+def close_quietly(ws: WebSocket | None) -> None:
+  if ws is None:
+    return
+  try:
+    ws.close()
+  except Exception:
+    pass
+
+
+def main(exit_event: threading.Event | None = None):
+  try:
+    set_core_affinity([0, 1, 2, 3])
+  except Exception:
+    cloudlog.exception("failed to set core affinity")
+
+  LocalSunnylinkd().run(exit_event)
+
+
+if __name__ == "__main__":
+  main()

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -16,6 +16,7 @@ import ssl
 import threading
 import time
 
+from collections.abc import Callable
 from functools import partial
 from openpilot.system.athena.rpc import dispatcher
 from openpilot.common.params import Params, ParamKeyType
@@ -34,6 +35,7 @@ from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS, CAR_CAPABILITY_FIELDS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
+from openpilot.sunnypilot.sunnylink.athena.local_params import cloud_may_write, is_local_param
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -42,8 +44,6 @@ SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
 
-params = Params()
-
 # Parameters that should never be remotely modified
 BLOCKED_PARAMS = {
   "AdbEnabled",
@@ -58,60 +58,6 @@ BLOCKED_PARAMS = {
 }
 
 
-def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
-  cloudlog.info("sunnylinkd.handle_long_poll started")
-  sm = messaging.SubMaster(['deviceState'])
-  end_event = threading.Event()
-  comma_prime_cellular_end_event = threading.Event()
-
-  threads = [
-              threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
-              threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
-              threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
-              threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
-              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-              threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
-              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
-            ] + [
-              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
-              for x in range(HANDLER_THREADS)
-            ]
-
-  for thread in threads:
-    thread.start()
-  try:
-    while not end_event.wait(0.1):
-      if not sunnylink_ready(params):
-        cloudlog.warning("Exiting sunnylinkd.handle_long_poll as SunnylinkEnabled is False")
-        break
-
-      sm.update(0)
-      if exit_event is not None and exit_event.is_set():
-        end_event.set()
-        comma_prime_cellular_end_event.set()
-
-      prime_type = params.get("PrimeType") or 0
-      metered = sm['deviceState'].networkMetered
-
-      if DISALLOW_LOG_UPLOAD.is_set() and not comma_prime_cellular_end_event.is_set():
-        cloudlog.debug("sunnylinkd.handle_long_poll: DISALLOW_LOG_UPLOAD, setting comma_prime_cellular_end_event")
-        comma_prime_cellular_end_event.set()
-      elif metered and int(prime_type) > 2:
-        cloudlog.debug(f"sunnylinkd.handle_long_poll: PrimeType({prime_type}) > 2 and networkMetered({metered})")
-        comma_prime_cellular_end_event.set()
-      elif comma_prime_cellular_end_event.is_set() and not DISALLOW_LOG_UPLOAD.is_set():
-        cloudlog.debug(
-          f"sunnylinkd.handle_long_poll: comma_prime_cellular_end_event is set and not PrimeType({prime_type}) > 2 or not networkMetered({metered})")
-        comma_prime_cellular_end_event.clear()
-  finally:
-    end_event.set()
-    comma_prime_cellular_end_event.set()
-    for thread in threads:
-      cloudlog.debug(f"sunnylinkd athena.joining {thread.name}")
-      thread.join()
-      cloudlog.debug(f"sunnylinkd athena.joined {thread.name}")
-
-
 def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
   last_ping = int(time.monotonic() * 1e9)
   while not end_event.is_set():
@@ -158,113 +104,171 @@ def sunny_log_handler(end_event: threading.Event, comma_prime_cellular_end_event
   comma_prime_cellular_end_event.set()
 
 
-@dispatcher.add_method
-def toggleLogUpload(enabled: bool):
-  DISALLOW_LOG_UPLOAD.clear() if enabled and DISALLOW_LOG_UPLOAD.is_set() else DISALLOW_LOG_UPLOAD.set()
+class Sunnylinkd:
+  """Cloud connection serving the settings RPCs."""
 
+  RPC_METHODS = ("toggleLogUpload", "getParamsAllKeys", "getParamsMetadata", "getParams", "saveParams")
 
-@dispatcher.add_method
-def getParamsAllKeys() -> list[str]:
-  keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-  return keys
+  def __init__(self, params: Params | None = None):
+    self.params = params or Params()
 
+  def methods(self) -> dict[str, Callable[..., object]]:
+    return {name: getattr(self, name) for name in self.RPC_METHODS}
 
-@dispatcher.add_method
-def getParamsMetadata() -> str:
-  """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
+  def handle_long_poll(self, ws: WebSocket, exit_event: threading.Event | None) -> None:
+    cloudlog.info("sunnylinkd.handle_long_poll started")
+    sm = messaging.SubMaster(['deviceState'])
+    end_event = threading.Event()
+    comma_prime_cellular_end_event = threading.Event()
 
-  Reads settings_ui.json, injects live capabilities from CarParams, compresses,
-  and returns. Single RPC for the frontend to get the complete settings UI and
-  runtime capabilities.
-  """
-  try:
-    schema = generate_schema()
-    schema["capabilities"] = generate_capabilities()
-    schema["capability_labels"] = CAPABILITY_LABELS
-    schema["car_capability_fields"] = CAR_CAPABILITY_FIELDS
-    schema["default_model"] = DEFAULT_MODEL
-    schema["default_big_model"] = DEFAULT_BIG_MODEL
-    schema["chestnut_active"] = params.get_bool("ChestnutActive")
-    raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
-    return base64.b64encode(gzip.compress(raw)).decode("utf-8")
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
-    raise
+    threads = [
+                threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
+                threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
+                threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
+                threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
+                threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+                threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+                threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
+              ] + [
+                threading.Thread(target=jsonrpc_handler, args=(end_event, partial(self.startLocalProxy, end_event),), name=f'worker_{x}')
+                for x in range(HANDLER_THREADS)
+              ]
 
+    for thread in threads:
+      thread.start()
+    try:
+      while not end_event.wait(0.1):
+        if not sunnylink_ready(self.params):
+          cloudlog.warning("Exiting sunnylinkd.handle_long_poll as SunnylinkEnabled is False")
+          break
 
-@dispatcher.add_method
-def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
-  params = Params()
-  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+        sm.update(0)
+        if exit_event is not None and exit_event.is_set():
+          end_event.set()
+          comma_prime_cellular_end_event.set()
 
-  try:
-    zero_values: dict[int, bytes] = {
-      ParamKeyType.STRING.value: b"",
-      ParamKeyType.BOOL.value: b"0",
-      ParamKeyType.INT.value: b"0",
-      ParamKeyType.FLOAT.value: b"0.0",
-      ParamKeyType.TIME.value: b"",
-      ParamKeyType.JSON.value: b"{}",
-      ParamKeyType.BYTES.value: b"",
-    }
+        prime_type = self.params.get("PrimeType") or 0
+        metered = sm['deviceState'].networkMetered
 
-    param_keys_validated = [key for key in params_keys if key in available_keys]
-    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
-    for key in param_keys_validated:
-      value = get_param_as_byte(key)
-      if value is None:
-        value = get_param_as_byte(key, get_default=True)
-      if value is None:
-        param_type = params.get_type(key)
-        value = zero_values.get(param_type.value, b"")
+        if DISALLOW_LOG_UPLOAD.is_set() and not comma_prime_cellular_end_event.is_set():
+          cloudlog.debug("sunnylinkd.handle_long_poll: DISALLOW_LOG_UPLOAD, setting comma_prime_cellular_end_event")
+          comma_prime_cellular_end_event.set()
+        elif metered and int(prime_type) > 2:
+          cloudlog.debug(f"sunnylinkd.handle_long_poll: PrimeType({prime_type}) > 2 and networkMetered({metered})")
+          comma_prime_cellular_end_event.set()
+        elif comma_prime_cellular_end_event.is_set() and not DISALLOW_LOG_UPLOAD.is_set():
+          cloudlog.debug(
+            f"sunnylinkd.handle_long_poll: comma_prime_cellular_end_event is set and not PrimeType({prime_type}) > 2 or not networkMetered({metered})")
+          comma_prime_cellular_end_event.clear()
+    finally:
+      end_event.set()
+      comma_prime_cellular_end_event.set()
+      for thread in threads:
+        cloudlog.debug(f"sunnylinkd athena.joining {thread.name}")
+        thread.join()
+        cloudlog.debug(f"sunnylinkd athena.joined {thread.name}")
 
-      params_dict["params"].append({
-        "key": key,
-        "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
-        "type": int(params.get_type(key).value),
-        "is_compressed": compression
-      })
+  def toggleLogUpload(self, enabled: bool):
+    DISALLOW_LOG_UPLOAD.clear() if enabled and DISALLOW_LOG_UPLOAD.is_set() else DISALLOW_LOG_UPLOAD.set()
 
-    response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
-    response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
-    return response
+  def getParamsAllKeys(self) -> list[str]:
+    keys: list[str] = [k.decode('utf-8') for k in self.params.all_keys()]
+    return [key for key in keys if not is_local_param(key)]
 
-  except Exception as e:
-    cloudlog.exception("sunnylinkd.getParams.exception", e)
-    raise
+  def getParamsMetadata(self) -> str:
+    try:
+      schema = generate_schema()
+      schema["capabilities"] = generate_capabilities()
+      schema["capability_labels"] = CAPABILITY_LABELS
+      schema["car_capability_fields"] = CAR_CAPABILITY_FIELDS
+      schema["default_model"] = DEFAULT_MODEL
+      schema["default_big_model"] = DEFAULT_BIG_MODEL
+      schema["chestnut_active"] = self.params.get_bool("ChestnutActive")
+      raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
+      return base64.b64encode(gzip.compress(raw)).decode("utf-8")
+    except Exception:
+      cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
+      raise
 
-
-@dispatcher.add_method
-def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
-  for key, value in params_to_update.items():
-    # disallow modifications to blocked parameters
-    if key in BLOCKED_PARAMS:
-      cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
-      continue
+  def getParams(self, params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
+    available_keys: list[str] = [k.decode('utf-8') for k in self.params.all_keys()]
 
     try:
-      save_param_from_base64_encoded_string(key, value, compression)
+      zero_values: dict[int, bytes] = {
+        ParamKeyType.STRING.value: b"",
+        ParamKeyType.BOOL.value: b"0",
+        ParamKeyType.INT.value: b"0",
+        ParamKeyType.FLOAT.value: b"0.0",
+        ParamKeyType.TIME.value: b"",
+        ParamKeyType.JSON.value: b"{}",
+        ParamKeyType.BYTES.value: b"",
+      }
+
+      param_keys_validated = [key for key in params_keys if key in available_keys and not is_local_param(key)]
+      params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
+      for key in param_keys_validated:
+        value = get_param_as_byte(key)
+        if value is None:
+          value = get_param_as_byte(key, get_default=True)
+        if value is None:
+          param_type = self.params.get_type(key)
+          value = zero_values.get(param_type.value, b"")
+
+        params_dict["params"].append({
+          "key": key,
+          "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
+          "type": int(self.params.get_type(key).value),
+          "is_compressed": compression
+        })
+
+      response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
+      response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
+      return response
+
     except Exception as e:
-      cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
+      cloudlog.exception("sunnylinkd.getParams.exception", e)
+      raise
 
-  # Increment version counter for frontend change detection
-  try:
-    current = int(params.get("ParamsVersion") or "0")
-    params.put("ParamsVersion", str(current + 1), block=True)
-  except Exception:
-    pass
+  def saveParams(self, params_to_update: dict[str, str], compression: bool = False) -> None:
+    for key, value in params_to_update.items():
+      if key in BLOCKED_PARAMS or not cloud_may_write(key):
+        cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
+        continue
+
+      try:
+        save_param_from_base64_encoded_string(key, value, compression)
+      except Exception as e:
+        cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
+
+    # Increment version counter for frontend change detection
+    try:
+      current = int(self.params.get("ParamsVersion") or "0")
+      self.params.put("ParamsVersion", str(current + 1), block=True)
+    except Exception:
+      pass
+
+  def startLocalProxy(self, global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+    sunnylink_dongle_id = self.params.get("SunnylinkDongleId")
+    sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+
+    cloudlog.debug("athena.startLocalProxy.starting")
+    ws = create_connection(
+      remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE}
+    )
+
+    return start_local_proxy_shim(global_end_event, local_port, ws)
 
 
-def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
-  sunnylink_dongle_id = params.get("SunnylinkDongleId")
-  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-
-  cloudlog.debug("athena.startLocalProxy.starting")
-  ws = create_connection(
-    remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE}
-  )
-
-  return start_local_proxy_shim(global_end_event, local_port, ws)
+def log_connection_error(e: Exception) -> None:
+  if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+    cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+  elif isinstance(e, OSError):
+    name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+    msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+    is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+    cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+  else:
+    cloudlog.exception("sunnylinkd.main.exception")
 
 
 def main(exit_event: threading.Event | None = None):
@@ -273,6 +277,12 @@ def main(exit_event: threading.Event | None = None):
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
+  daemon = Sunnylinkd()
+  for method in daemon.methods().values():
+    dispatcher.add_method(method)
+
+  params = daemon.params
+
   while sunnylink_need_register(params):
     cloudlog.info("Waiting for sunnylink registration to complete")
     time.sleep(10)
@@ -306,22 +316,13 @@ def main(exit_event: threading.Event | None = None):
       conn_retries = 0
       cur_upload_items.clear()
 
-      handle_long_poll(ws, exit_event)
+      daemon.handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
     except Exception as e:
       conn_retries += 1
       params.remove("LastSunnylinkPingTime")
-
-      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
-        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
-      elif isinstance(e, OSError):
-        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
-        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
-        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
-        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
-      else:
-        cloudlog.exception("sunnylinkd.main.exception")
+      log_connection_error(e)
 
     time.sleep(backoff(conn_retries))
 

openpilot/sunnypilot/sunnylink/athena/tests/test_local_app_rows.py

@@ -0,0 +1,73 @@
+from typing import cast
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.sunnylink.athena.local_app_rows import (
+  DEFAULT_APP_NAME,
+  MAX_LOCAL_APP_ROWS,
+  NEVER_CONNECTED,
+  build_local_app_rows,
+  format_age,
+  short_key,
+)
+from openpilot.sunnypilot.sunnylink.athena.local_auth import MAX_GRANTS
+
+
+def grant(app_id: str, app_name: str = "Phone") -> dict[str, str]:
+  return {"app_id": app_id, "app_name": app_name, "public_key": "x"}
+
+
+class TestLocalAppRows(OpenpilotTestCase):
+  """The device screen's rows: one per enrolled phone."""
+
+  def test_an_enrolled_phone_is_marked_secure(self):
+    rows = build_local_app_rows([grant("key-a", "Nayan's phone")])
+    self.assertEqual("Nayan's phone", rows[0].title)
+    self.assertTrue(short_key("key-a") in rows[0].subtitle)
+    self.assertTrue("secure" in rows[0].subtitle)
+
+  def test_a_nameless_grant_still_gets_a_title(self):
+    rows = build_local_app_rows([{"app_id": "key-a", "app_name": ""}, {"app_id": "key-b"}])
+    self.assertEqual([DEFAULT_APP_NAME, DEFAULT_APP_NAME], [row.title for row in rows])
+
+  def test_malformed_grants_are_skipped_rather_than_rendered(self):
+    # The registry is JSON, so a hand-edited or older document can hold anything.
+    malformed = cast(list[dict[str, str]], ["junk", {"app_name": "no id"},
+                                            {"app_id": "", "app_name": "blank"}, grant("key-a")])
+    rows = build_local_app_rows(malformed)
+    self.assertEqual(["key-a"], [row.app_id for row in rows])
+
+  def test_every_authorized_phone_has_a_row(self):
+    """A phone the authority accepts must be visible: an invisible grant cannot be revoked."""
+    rows = build_local_app_rows([grant(f"key-{i}") for i in range(MAX_GRANTS)])
+    self.assertEqual(MAX_GRANTS, len(rows))
+    self.assertEqual(MAX_GRANTS, MAX_LOCAL_APP_ROWS)
+    self.assertEqual(MAX_LOCAL_APP_ROWS, len(build_local_app_rows([grant(f"key-{i}") for i in range(10)])))
+
+  def test_short_key_keeps_short_ids_readable(self):
+    self.assertEqual("abc", short_key("abc"))
+    self.assertEqual("abcdefghij…", short_key("abcdefghijklmnop"))
+
+  def test_a_phone_supplied_alias_wins_over_the_enrolled_name(self):
+    rows = build_local_app_rows([grant("key-a", "Nayan's phone")], {"key-a": {"alias": "Garage phone"}})
+    self.assertEqual("Garage phone", rows[0].title)
+    # A blank or missing alias falls back to what the phone enrolled with.
+    for meta in ({}, {"key-a": {}}, {"key-a": {"alias": "   "}}, {"key-a": {"alias": 7}}):
+      self.assertEqual("Nayan's phone", build_local_app_rows([grant("key-a", "Nayan's phone")], meta)[0].title)
+
+  def test_each_phone_reports_when_it_was_last_connected(self):
+    rows = build_local_app_rows([grant("key-a"), grant("key-b")],
+                                {"key-a": {"last_seen": 1_000.0}}, now=1_120.0)
+    self.assertTrue("2m ago" in rows[0].subtitle)
+    self.assertTrue(NEVER_CONNECTED in rows[1].subtitle)
+
+  def test_a_stamp_from_before_the_last_reboot_reads_as_unknown(self):
+    # Monotonic time restarts at boot, so a future-looking stamp is not "-5m ago".
+    rows = build_local_app_rows([grant("key-a")], {"key-a": {"last_seen": 5_000.0}}, now=10.0)
+    self.assertTrue(NEVER_CONNECTED in rows[0].subtitle)
+
+  def test_format_age_is_coarse_and_readable(self):
+    self.assertEqual("just now", format_age(0))
+    self.assertEqual("just now", format_age(59.9))
+    self.assertEqual("5m ago", format_age(300))
+    self.assertEqual("3h ago", format_age(3 * 3600))
+    self.assertEqual("2d ago", format_age(2 * 86_400))

openpilot/sunnypilot/sunnylink/athena/tests/test_local_auth.py

@@ -0,0 +1,458 @@
+"""Q: what does the device need to remember so that a later dial proves the phone is still the same installation?
+
+A grant — the phone's public key, pinned at enrollment — plus nothing that expires. There is no
+session nonce and no scan ceremony: enrollment is a self-signed statement the app pushes over the
+existing cloud settings-write transport (the app already knows the exact list of the user's devices
+from the signed-in cloud device lookup, so it enrolls each one it has never enrolled — on login,
+and again for newly-seen-online devices on manual refresh). The grant commits only when that phone
+proves possession of the private key on a pinned-TLS dial. Manual Pair is just the same idempotent
+push. An explicit unpair anywhere drops the grant, so the next dial re-authenticates from scratch.
+The device remembers grants, not refusals: a phone-side skip list stops the same install from
+re-enrolling an unpaired phone, but a fresh install has no memory of it.
+
+This file pins that contract: staging is not authority (only a stored grant opens a session), the
+TLS peer match is the commit, and the phone's own signature is the only thing that can enroll or
+un-enroll it.
+"""
+import json
+from unittest import mock
+
+from cryptography.hazmat.primitives import hashes, serialization
+from cryptography.hazmat.primitives.asymmetric import ec
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.sunnylink.athena.local_auth import (
+  AuthorizationError,
+  Grant,
+  LocalAuthority,
+  Origin,
+  decode64,
+  encode64,
+  key_id,
+  statement,
+  MAX_GRANTS,
+  VERSION,
+)
+
+# The fields an enrollment carries. The signature binds them in this order.
+ENROLL_FIELDS = ("cloud_device_id", "comma_device_id", "device_key_id",
+                 "public_key", "key_id", "app_name")
+
+
+def _spki(key) -> str:
+  return encode64(key.public_key().public_bytes(
+    serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo))
+
+
+class TestV3Enrollment(OpenpilotTestCase):
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.writes: list[dict] = []
+    self.authority = LocalAuthority("cloud-device", "comma-device",
+                                    self.device_key, self.writes.append)
+    self.app_id = key_id(self.app_key.public_key())
+
+  def enrollment(self, authority=None, key=None, **overrides) -> str:
+    authority = authority or self.authority
+    key = key or self.app_key
+    public = _spki(key)
+    data = {"v": VERSION, "cloud_device_id": authority.cloud_device_id,
+            "comma_device_id": authority.comma_device_id, "device_key_id": authority.device_key_id,
+            "public_key": public, "key_id": key_id(key.public_key()), "app_name": "Test phone"}
+    data.update(overrides)
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(key.sign(proof, ec.ECDSA(hashes.SHA256())))
+    return json.dumps(data)
+
+  def committed(self, raw=None, authority=None):
+    authority = authority or self.authority
+    grant = authority.enroll(raw or self.enrollment(), Origin.CLOUD)
+    return authority.confirm(grant, grant.app_id)
+
+  def assert_session_denied(self, authority, grant, peer):
+    with self.assertRaises(AuthorizationError):
+      authority.session(grant, peer)
+
+  def test_a_staged_enrollment_is_not_yet_authorized(self):
+    grant = self.authority.enroll(self.enrollment(), Origin.CLOUD)
+    self.assertEqual(self.app_id, grant.app_id)
+    self.assert_session_denied(self.authority, grant, grant.app_id)
+    # Nothing durable either: the grant does not exist until the TLS dial.
+    self.assertEqual([], self.writes)
+    self.assertIn(self.app_id, self.authority.pending)
+
+  def test_confirming_without_a_matching_enrollment_refuses(self):
+    stranger = Grant("no-such-phone", _spki(self.app_key), "Nobody")
+    with self.assertRaises(AuthorizationError):
+      self.authority.confirm(stranger, stranger.app_id)
+
+  def test_the_grant_commits_only_after_the_tls_dial(self):
+    grant = self.committed()
+    session = self.authority.session(grant, grant.app_id)
+    self.assertEqual("ok", session.invoke("getParams", lambda: "ok"))
+    self.assertEqual([{"v": VERSION, "grants": [grant.to_dict()]}], self.writes)
+
+  def test_confirming_with_the_wrong_tls_peer_refuses(self):
+    grant = self.authority.enroll(self.enrollment(), Origin.CLOUD)
+    with self.assertRaises(AuthorizationError):
+      self.authority.confirm(grant, grant.app_id + "-other")
+    self.assert_session_denied(self.authority, grant, grant.app_id)
+
+  def test_enrolling_over_the_local_lan_is_impossible(self):
+    """The staged path is cloud-only: a phone on the LAN cannot enroll itself mid-session."""
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(self.enrollment(), Origin.LOCAL)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_there_is_no_pairing_window_to_arm(self):
+    """Pairing needs no on-screen step anymore: the authority has no window surface at all."""
+    for name in ("arm", "window", "recent", "expire", "prune"):
+      self.assertFalse(hasattr(self.authority, name), name)
+
+  def test_a_v2_enrollment_is_rejected(self):
+    """The QR-era payload shape is not valid anymore: legacy code was replaced, not kept."""
+    data = json.loads(self.enrollment())
+    data["v"] = 2
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(json.dumps(data), Origin.CLOUD)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_a_pairing_session_field_is_rejected(self):
+    data = json.loads(self.enrollment())
+    data["pairing_session"] = "some-old-nonce"
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(json.dumps(data), Origin.CLOUD)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_a_malformed_envelope_is_rejected(self):
+    for raw in ("not json", "[1, 2]", json.dumps({"v": VERSION, "v2": VERSION}),
+                "x" * 4097, json.dumps({"v": "3"}), json.dumps({"v": True})):
+      with self.assertRaises(AuthorizationError):
+        self.authority.enroll(raw, Origin.CLOUD)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_the_device_ignores_a_request_that_does_not_name_it(self):
+    """A push meant for another car stages nothing here."""
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(self.enrollment(comma_device_id="some-other-car"), Origin.CLOUD)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_an_enrollment_cannot_be_replayed_against_another_car(self):
+    other = LocalAuthority("cloud-other", "comma-other",
+                           ec.generate_private_key(ec.SECP256R1()), lambda registry: None)
+    with self.assertRaises(AuthorizationError):
+      other.enroll(self.enrollment(), Origin.CLOUD)
+    self.assertEqual({}, other.pending)
+
+  def test_same_installation_key_can_enroll_on_another_device(self):
+    """One phone, two cars: the same installation key enrolls independently on each device."""
+    other = LocalAuthority("cloud-other", "comma-other",
+                           ec.generate_private_key(ec.SECP256R1()), lambda registry: None)
+    grant = self.committed(self.enrollment(authority=other), authority=other)
+    other.session(grant, grant.app_id)
+    # …and that enrollment grants nothing on this car.
+    self.assert_session_denied(self.authority, grant, grant.app_id)
+
+  def test_idempotent_reenroll_returns_the_stored_grant(self):
+    """Manual Pair on an already-paired phone is the same push: no duplicate, no new write."""
+    grant = self.committed()
+    again = self.authority.enroll(self.enrollment(), Origin.CLOUD)
+    self.assertEqual(grant, again)
+    self.assertEqual(1, len(self.writes))
+    self.authority.session(again, again.app_id)
+
+  def test_two_phones_can_be_staged_at_once(self):
+    self.authority.enroll(self.enrollment(), Origin.CLOUD)
+    other_key = ec.generate_private_key(ec.SECP256R1())
+    second = self.authority.enroll(self.enrollment(key=other_key), Origin.CLOUD)
+    self.assertEqual({self.app_id, second.app_id}, set(self.authority.pending))
+    self.assertEqual(second, self.authority.confirm(second, second.app_id))
+
+  def test_restaging_a_staged_phone_must_agree_with_the_staged_one(self):
+    self.authority.enroll(self.enrollment(), Origin.CLOUD)
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(self.enrollment(app_name="Renamed phone"), Origin.CLOUD)
+    self.assertEqual([self.app_id], list(self.authority.pending))
+
+  def test_a_signature_that_covers_anything_else_is_rejected(self):
+    """The signature binds every field: changing anything after signing voids the enrollment."""
+    for field in ENROLL_FIELDS:
+      raw = json.loads(self.enrollment())
+      raw[field] = "tampered"
+      with self.assertRaises(AuthorizationError):
+        self.authority.enroll(json.dumps(raw), Origin.CLOUD)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_staging_a_second_phone_does_not_disturb_the_first(self):
+    first = self.committed()
+    other_key = ec.generate_private_key(ec.SECP256R1())
+    second = self.authority.enroll(self.enrollment(key=other_key), Origin.CLOUD)
+    self.authority.session(first, first.app_id)
+    self.assert_session_denied(self.authority, second, second.app_id)
+    self.authority.confirm(second, second.app_id)
+    self.authority.session(second, second.app_id)
+
+  def test_grants_stop_at_the_limit(self):
+    for _ in range(MAX_GRANTS):
+      key = ec.generate_private_key(ec.SECP256R1())
+      grant = self.authority.enroll(self.enrollment(key=key), Origin.CLOUD)
+      self.authority.confirm(grant, grant.app_id)
+    extra = ec.generate_private_key(ec.SECP256R1())
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(self.enrollment(key=extra), Origin.CLOUD)
+    self.assertEqual({}, self.authority.pending)
+
+  def test_the_statement_can_be_read_backwards_from_the_wire(self):
+    proof = statement("enroll", "cloud", "comma", "device-key", "key", "key-id", "Name")
+    self.assertEqual(b"sunnylink-local\nenroll\ncloud\ncomma\ndevice-key\nkey\nkey-id\nName\n", proof)
+
+
+class TestAuthorizedSession(OpenpilotTestCase):
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.writes: list[dict] = []
+    self.authority = LocalAuthority("cloud-device", "comma-device",
+                                    self.device_key, self.writes.append)
+    self.app_id = key_id(self.app_key.public_key())
+    grant = self.authority.enroll(self._enrollment(), Origin.CLOUD)
+    self.grant = self.authority.confirm(grant, grant.app_id)
+
+  def _enrollment(self) -> str:
+    public = _spki(self.app_key)
+    data = {"v": VERSION, "cloud_device_id": "cloud-device", "comma_device_id": "comma-device",
+            "device_key_id": self.authority.device_key_id, "public_key": public,
+            "key_id": self.app_id, "app_name": "Test phone"}
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+    return json.dumps(data)
+
+  def test_a_stranger_is_not_authorized(self):
+    stranger = Grant("no-such-phone", _spki(self.app_key), "Nobody")
+    with self.assertRaises(AuthorizationError):
+      self.authority.session(stranger, stranger.app_id)
+
+  def test_a_known_installation_but_unknown_dial_is_not_authorized(self):
+    with self.assertRaises(AuthorizationError):
+      self.authority.session(self.grant, self.app_id + "-other")
+
+  def test_a_second_car_does_not_share_this_cars_grants(self):
+    other = LocalAuthority("cloud-other", "comma-other",
+                           ec.generate_private_key(ec.SECP256R1()), lambda registry: None)
+    with self.assertRaises(AuthorizationError):
+      other.session(self.grant, self.app_id)
+
+  def test_a_wrong_key_for_a_paired_app_id_is_not_authorized(self):
+    impostor = Grant(self.app_id, _spki(ec.generate_private_key(ec.SECP256R1())), "Test phone")
+    with self.assertRaises(AuthorizationError):
+      self.authority.session(impostor, self.app_id)
+
+  def test_an_unpaired_installation_is_not_authorized(self):
+    self.authority.revoke(self.app_id)
+    with self.assertRaises(AuthorizationError):
+      self.authority.session(self.grant, self.app_id)
+
+  def test_a_restarted_authority_keeps_its_grants(self):
+    restarted = LocalAuthority("cloud-device", "comma-device",
+                               self.device_key, lambda registry: None, registry=self.writes[-1])
+    session = restarted.session(self.grant, self.app_id)
+    self.assertEqual("ok", session.invoke("getParams", lambda: "ok"))
+
+  def test_a_closed_session_refuses_calls(self):
+    session = self.authority.session(self.grant, self.app_id)
+    session.close()
+    with self.assertRaises(AuthorizationError):
+      session.invoke("getParams", lambda: "ok")
+
+  def test_a_method_outside_the_local_surface_is_refused(self):
+    session = self.authority.session(self.grant, self.app_id)
+    with self.assertRaises(AuthorizationError):
+      session.invoke("startLocalProxy", mock.Mock())
+
+  def test_revoking_mid_session_kills_the_session(self):
+    session = self.authority.session(self.grant, self.app_id)
+    self.authority.revoke(self.app_id)
+    with self.assertRaises(AuthorizationError):
+      session.invoke("getParams", mock.Mock())
+
+  def test_revoking_ends_the_sessions_transport(self):
+    session = self.authority.session(self.grant, self.app_id)
+    closed: list[int] = []
+    session.bind_transport(lambda: closed.append(1))
+    self.authority.revoke(self.app_id)
+    self.assertEqual([1], closed)
+    self.assertEqual({}, self.authority.sessions)
+
+  def test_revoke_all_ends_every_sessions_transport(self):
+    first = self.authority.session(self.grant, self.app_id)
+    second = self.authority.session(self.grant, self.app_id)
+    closed: list[int] = []
+    first.bind_transport(lambda: closed.append(1))
+    second.bind_transport(lambda: closed.append(2))
+    self.authority.revoke_all()
+    self.assertCountEqual([1, 2], closed)
+    self.assertEqual({}, self.authority.sessions)
+
+  def test_a_transport_bound_after_the_revoke_is_closed_at_once(self):
+    session = self.authority.session(self.grant, self.app_id)
+    self.authority.revoke(self.app_id)
+    closed: list[int] = []
+    session.bind_transport(lambda: closed.append(1))
+    self.assertEqual([1], closed)
+
+
+class TestGrantPersistence(OpenpilotTestCase):
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.writes: list[dict] = []
+
+  def _committed(self, authority=None):
+    authority = authority or LocalAuthority(
+      "cloud-device", "comma-device", self.device_key, self.writes.append)
+    public = _spki(self.app_key)
+    data = {"v": VERSION, "cloud_device_id": "cloud-device", "comma_device_id": "comma-device",
+            "device_key_id": authority.device_key_id, "public_key": public,
+            "key_id": key_id(self.app_key.public_key()), "app_name": "Test phone"}
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+    grant = authority.enroll(json.dumps(data), Origin.CLOUD)
+    return authority.confirm(grant, grant.app_id)
+
+  def test_grants_reload_from_the_persisted_document(self):
+    grant = self._committed()
+    restarted = LocalAuthority("cloud-device", "comma-device",
+                               self.device_key, lambda registry: None, registry=self.writes[-1])
+    session = restarted.session(grant, grant.app_id)
+    self.assertEqual("ok", session.invoke("getParams", lambda: "ok"))
+
+  def test_a_registry_with_the_wrong_shape_is_ignored(self):
+    key = _spki(self.app_key)
+    entry = {"app_id": key_id(self.app_key.public_key()), "public_key": key, "app_name": "A"}
+    bad_registries = [
+      None, [], "registry", {"v": VERSION}, {"v": 999, "grants": []},
+      {"v": VERSION, "grants": [{"app_id": "x"}]},
+      {"v": VERSION, "grants": [{"app_id": "x", "public_key": "!!!", "app_name": "A"}]},
+      {"v": VERSION, "grants": "not-a-list"},
+      {"v": VERSION, "grants": [entry], "extra": True},
+      {"v": VERSION, "grants": [dict(entry, app_id="somebody-else")]},
+      {"v": VERSION, "grants": [entry, dict(entry)]},
+    ]
+    for bad in bad_registries:
+      restarted = LocalAuthority("cloud-device", "comma-device", self.device_key,
+                                 lambda registry: None, registry=bad)
+      self.assertEqual({}, restarted.grants, bad)
+
+  def test_more_grants_than_fit_are_ignored(self):
+    entries = []
+    for _ in range(MAX_GRANTS + 1):
+      key = ec.generate_private_key(ec.SECP256R1())
+      public = _spki(key)
+      entries.append({"app_id": key_id(key.public_key()), "public_key": public, "app_name": "A"})
+    restarted = LocalAuthority("cloud-device", "comma-device", self.device_key,
+                               lambda registry: None,
+                               registry={"v": VERSION, "grants": entries})
+    self.assertEqual({}, restarted.grants)
+
+
+class TestRevocation(OpenpilotTestCase):
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.writes: list[dict] = []
+    self.authority = LocalAuthority("cloud-device", "comma-device",
+                                    self.device_key, self.writes.append)
+    self.app_id = key_id(self.app_key.public_key())
+    proof = statement("revoke", "cloud-device", "comma-device", self.app_id)
+    self.revocation = json.dumps({"v": VERSION, "cloud_device_id": "cloud-device",
+                                  "comma_device_id": "comma-device", "key_id": self.app_id,
+                                  "signature": encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))})
+    public = _spki(self.app_key)
+    data = {"v": VERSION, "cloud_device_id": "cloud-device", "comma_device_id": "comma-device",
+            "device_key_id": self.authority.device_key_id, "public_key": public,
+            "key_id": self.app_id, "app_name": "Test phone"}
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+    grant = self.authority.enroll(json.dumps(data), Origin.CLOUD)
+    self.grant = self.authority.confirm(grant, grant.app_id)
+
+  def test_an_installation_can_revoke_itself(self):
+    self.assertEqual(self.app_id, self.authority.revoke_by_self_proof(self.revocation, Origin.CLOUD))
+    with self.assertRaises(AuthorizationError):
+      self.authority.session(self.grant, self.app_id)
+    self.assertEqual({}, self.authority.grants)
+
+  def test_a_revoked_installation_can_enroll_again(self):
+    """Unpair is not a ban: the next auto-enroll push stages again, the next dial commits."""
+    self.authority.revoke_by_self_proof(self.revocation, Origin.CLOUD)
+    public = _spki(self.app_key)
+    data = {"v": VERSION, "cloud_device_id": "cloud-device", "comma_device_id": "comma-device",
+            "device_key_id": self.authority.device_key_id, "public_key": public,
+            "key_id": self.app_id, "app_name": "Test phone"}
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+    grant = self.authority.enroll(json.dumps(data), Origin.CLOUD)
+    self.authority.confirm(grant, grant.app_id)
+    self.authority.session(grant, grant.app_id)
+
+  def test_revoking_over_the_local_lan_is_impossible(self):
+    with self.assertRaises(AuthorizationError):
+      self.authority.revoke_by_self_proof(self.revocation, Origin.LOCAL)
+    self.authority.session(self.grant, self.app_id)
+
+  def test_cloud_revocations_for_other_devices_are_ignored(self):
+    payload = json.loads(self.revocation)
+    payload["comma_device_id"] = "some-other-car"
+    with self.assertRaises(AuthorizationError):
+      self.authority.revoke_by_self_proof(json.dumps(payload), Origin.CLOUD)
+    self.authority.session(self.grant, self.app_id)
+
+  def test_revoking_an_unknown_key_is_a_noop(self):
+    other_key = ec.generate_private_key(ec.SECP256R1())
+    other_id = key_id(other_key.public_key())
+    proof = statement("revoke", "cloud-device", "comma-device", other_id)
+    raw = json.dumps({"v": VERSION, "cloud_device_id": "cloud-device", "comma_device_id": "comma-device",
+                      "key_id": other_id,
+                      "signature": encode64(other_key.sign(proof, ec.ECDSA(hashes.SHA256())))})
+    self.assertEqual(other_id, self.authority.revoke_by_self_proof(raw, Origin.CLOUD))
+    self.assertEqual(1, len(self.authority.grants))
+
+  def test_a_forged_proof_for_an_enrolled_key_is_refused(self):
+    forged = json.loads(self.revocation)
+    forged["signature"] = encode64(ec.generate_private_key(ec.SECP256R1()).sign(
+      statement("revoke", "cloud-device", "comma-device", self.app_id), ec.ECDSA(hashes.SHA256())))
+    with self.assertRaises(AuthorizationError):
+      self.authority.revoke_by_self_proof(json.dumps(forged), Origin.CLOUD)
+    self.authority.session(self.grant, self.app_id)
+
+  def test_a_revocation_is_not_an_enrollment(self):
+    with self.assertRaises(AuthorizationError):
+      self.authority.enroll(self.revocation, Origin.CLOUD)
+
+
+class TestDeviceProof(OpenpilotTestCase):
+  """The device proves itself to the dialing phone: it answers the phone's challenge."""
+
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.authority = LocalAuthority("cloud-device", "comma-device",
+                                    self.device_key, lambda registry: None)
+
+  def test_the_device_signs_the_phones_challenge(self):
+    from cryptography.hazmat.primitives.asymmetric.ec import ECDSA
+    challenge = encode64(b"\x00" * 32)
+    proof = self.authority.authenticate_device("phone-key", challenge)
+    self.assertEqual("cloud-device", proof["cloud_device_id"])
+    self.assertEqual("comma-device", proof["comma_device_id"])
+    self.assertEqual("phone-key", proof["phone_key_id"])
+    expected = statement("authenticate-device", "cloud-device", "comma-device",
+                         self.authority.device_key_id, "phone-key", challenge)
+    self.device_key.public_key().verify(
+      decode64(proof["signature"]), expected, ECDSA(hashes.SHA256()))
+
+  def test_a_short_challenge_is_refused(self):
+    with self.assertRaises(AuthorizationError):
+      self.authority.authenticate_device("phone-key", encode64(b"\x00" * 31))
+    with self.assertRaises(AuthorizationError):
+      self.authority.authenticate_device("phone-key", "!!!")

openpilot/sunnypilot/sunnylink/athena/tests/test_local_auth_daemon.py

@@ -0,0 +1,484 @@
+import json
+import shutil
+import tempfile
+from pathlib import Path
+from typing import Any, cast
+from unittest import mock
+
+from openpilot.common.params import Params
+
+from cryptography.hazmat.primitives import hashes, serialization
+from cryptography.hazmat.primitives.asymmetric import ec
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.sunnylink.athena import local_auth_daemon
+from openpilot.sunnypilot.sunnylink.athena.local_auth import (
+  AuthorizationError,
+  Grant,
+  LocalAuthority,
+  Origin,
+  encode64,
+  key_id,
+  statement,
+  VERSION as REGISTRY_VERSION,
+)
+
+# `<repo>/openpilot/common/params_keys.h` from this file.
+PARAMS_KEYS_H = Path(__file__).resolve().parents[4] / "common" / "params_keys.h"
+
+# The fields an enrollment signs, in the order the statement joins them.
+ENROLL_FIELDS = ("cloud_device_id", "comma_device_id", "device_key_id",
+                 "public_key", "key_id", "app_name")
+
+
+class _ParamsStore:
+  """Dict-backed stand-in for the Params surface this module uses.
+
+  It deliberately models a JSON-typed param the way libparams does: a dict put in comes back
+  out as the same dict. That contract is exactly what `_persist_registry` and `_read_registry`
+  have to agree on, so a mismatched pair (a second base64 decode, say) fails here instead of
+  only on a device.
+  """
+
+  def __init__(self, initial: dict[str, Any] | None = None):
+    self.values: dict[str, Any] = dict(initial or {})
+    self.removed: list[str] = []
+    self.fail_reads = False
+
+  def get(self, key: str, block: bool = False, return_default: bool = False) -> Any:
+    if self.fail_reads:
+      raise RuntimeError("params unavailable")
+    return self.values.get(key)
+
+  def get_bool(self, key: str, block: bool = False) -> bool:
+    if self.fail_reads:
+      raise RuntimeError("params unavailable")
+    return bool(self.values.get(key))
+
+  def put(self, key: str, value: Any, block: bool = False) -> None:
+    self.values[key] = value
+
+  def put_bool(self, key: str, value: bool, block: bool = False) -> None:
+    self.values[key] = bool(value)
+
+  def remove(self, key: str) -> None:
+    self.values.pop(key, None)
+    self.removed.append(key)
+
+
+class TestLocalAuthDaemon(OpenpilotTestCase):
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.private_pem = self.device_key.private_bytes(
+      serialization.Encoding.PEM, serialization.PrivateFormat.PKCS8, serialization.NoEncryption())
+    self.store = _ParamsStore({"SunnylinkDongleId": "cloud-device", "DongleId": "comma-device"})
+
+    local_auth_daemon.reset_authority()
+    self.addCleanup(local_auth_daemon.reset_authority)
+    patchers = [
+      mock.patch.object(local_auth_daemon, "_params", self.store),
+      mock.patch.object(local_auth_daemon.BaseApi, "get_key_pair", return_value=("ES256", self.private_pem, "pub")),
+    ]
+    for patcher in patchers:
+      patcher.start()
+      self.addCleanup(patcher.stop)
+
+  def enrollment(self, authority) -> str:
+    public = encode64(self.app_key.public_key().public_bytes(
+      serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo))
+    data = {"v": REGISTRY_VERSION, "cloud_device_id": authority.cloud_device_id,
+            "comma_device_id": authority.comma_device_id, "device_key_id": authority.device_key_id,
+            "public_key": public, "key_id": key_id(self.app_key.public_key()), "app_name": "Test phone"}
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+    return json.dumps(data)
+
+  def enrolled(self) -> dict[str, str]:
+    """Enroll one phone end to end: cloud enrollment staged, then TLS-confirmed."""
+    summary = local_auth_daemon.cloud_enroll(self.enrollment(local_auth_daemon.get_authority()))
+    return local_auth_daemon.confirm_enrollment_tls(summary["app_id"])
+
+  def revocation(self, authority, app_key=None) -> str:
+    """What the app pushes when it unpairs: a self-signed request to drop its own grant."""
+    key = app_key or self.app_key
+    app_id = key_id(key.public_key())
+    proof = statement("revoke", authority.cloud_device_id, authority.comma_device_id, app_id)
+    return json.dumps({"v": REGISTRY_VERSION, "cloud_device_id": authority.cloud_device_id,
+                       "comma_device_id": authority.comma_device_id, "key_id": app_id,
+                       "signature": encode64(key.sign(proof, ec.ECDSA(hashes.SHA256())))})
+
+  def registry(self) -> dict[str, Any]:
+    return self.store.values[local_auth_daemon.LOCAL_APPS_KEY]
+
+  def test_a_cloud_enrollment_claimed_on_a_later_tick_stages(self):
+    """The path an app's push takes: the gateway stores the settings-write and the local half
+    claims it on a later tick. There is no code on any screen — claiming works whenever the
+    push arrives."""
+    authority = local_auth_daemon.get_authority()
+    self.store.put(local_auth_daemon.CLOUD_ENROLL_KEY, self.enrollment(authority))
+
+    local_auth_daemon.claim_cloud_commands(cast(Params, self.store))
+
+    pending = local_auth_daemon.pending_enrollment()
+    assert pending is not None, "the late enrollment was not staged"
+    self.assertEqual(key_id(self.app_key.public_key()), pending["app_id"])
+    self.assertEqual("Test phone", pending["app_name"])
+    # Claimed exactly once, whether or not it validated.
+    self.assertIsNone(self.store.get(local_auth_daemon.CLOUD_ENROLL_KEY))
+
+  def test_cloud_enroll_stages_and_tls_confirm_persists(self):
+    summary = local_auth_daemon.cloud_enroll(self.enrollment(local_auth_daemon.get_authority()))
+    # Staged: nothing durable until the TLS peer proves possession.
+    self.assertNotIn(local_auth_daemon.LOCAL_APPS_KEY, self.store.values)
+    committed = local_auth_daemon.confirm_enrollment_tls(summary["app_id"])
+    self.assertEqual(summary["app_id"], committed["app_id"])
+    registry = self.registry()
+    self.assertEqual(REGISTRY_VERSION, registry["v"])
+    self.assertEqual(1, len(registry["grants"]))
+    self.assertEqual(summary["app_id"], registry["grants"][0]["app_id"])
+
+  def test_grants_reload_from_the_persisted_registry(self):
+    """The write and read halves must agree: a grant has to survive a daemon restart."""
+    summary = self.enrolled()
+
+    local_auth_daemon.reset_authority()
+    grants = local_auth_daemon.grants()
+
+    self.assertEqual(1, len(grants))
+    self.assertEqual(summary["app_id"], grants[0]["app_id"])
+    self.assertEqual("Test phone", grants[0]["app_name"])
+
+  def test_registry_round_trip_is_the_json_param_itself(self):
+    self.enrolled()
+    registry = self.registry()
+    # Stored as the JSON param, not the base64 cloud-transport form: reading it back through the
+    # same module must return the identical structure.
+    self.assertIsInstance(registry, dict)
+    self.assertEqual({"v", "grants"}, set(registry))
+    self.assertIs(local_auth_daemon._read_registry(), registry)
+
+  def test_revocation_persists_removal(self):
+    summary = self.enrolled()
+    self.assertTrue(local_auth_daemon.revoke_local_app(summary["app_id"]))
+    self.assertEqual([], self.registry()["grants"])
+    self.assertFalse(local_auth_daemon.revoke_local_app("unknown"))
+
+  def test_cloud_revoke_drops_the_phones_own_grant(self):
+    """Unpairing from an app that is not on the LAN: no live session carries `unpairLocalApp`,
+    so without this the device would keep authorizing that phone forever."""
+    summary = self.enrolled()
+
+    result = local_auth_daemon.cloud_revoke(self.revocation(local_auth_daemon.get_authority()))
+
+    self.assertEqual(summary["app_id"], result["app_id"])
+    self.assertEqual([], self.registry()["grants"])
+    # Persisted: a restart must not resurrect the grant.
+    local_auth_daemon.reset_authority()
+    self.assertEqual([], local_auth_daemon.grants())
+
+  def test_a_forged_proof_for_an_enrolled_key_is_refused(self):
+    self.enrolled()
+    authority = local_auth_daemon.get_authority()
+    forged = json.loads(self.revocation(authority))
+    forged["signature"] = encode64(ec.generate_private_key(ec.SECP256R1()).sign(
+      statement("revoke", authority.cloud_device_id, authority.comma_device_id, forged["key_id"]),
+      ec.ECDSA(hashes.SHA256())))
+    with self.assertRaises(AuthorizationError):
+      local_auth_daemon.cloud_revoke(json.dumps(forged))
+    self.assertEqual(1, len(self.registry()["grants"]))
+
+  def test_a_proof_from_another_key_cannot_remove_a_grant(self):
+    self.enrolled()
+    other = ec.generate_private_key(ec.SECP256R1())
+    # A key that is not enrolled has no grant to drop, so this is a no-op — never a way to
+    # remove someone else's phone.
+    result = local_auth_daemon.cloud_revoke(
+      self.revocation(local_auth_daemon.get_authority(), app_key=other))
+    self.assertEqual(key_id(other.public_key()), result["app_id"])
+    self.assertEqual(1, len(self.registry()["grants"]))
+
+  def test_cloud_revoke_requires_the_right_device(self):
+    self.enrolled()
+    payload = json.loads(self.revocation(local_auth_daemon.get_authority()))
+    payload["comma_device_id"] = "some-other-car"
+    with self.assertRaises(AuthorizationError):
+      local_auth_daemon.cloud_revoke(json.dumps(payload))
+    self.assertEqual(1, len(self.registry()["grants"]))
+
+  def test_the_revoke_adapter_requires_cloud_origin(self):
+    """Same provenance rule as enrollment: an ordinary local RPC must never be able to reach it."""
+    self.enrolled()
+    authority = local_auth_daemon.get_authority()
+    with self.assertRaises(AuthorizationError):
+      authority.revoke_by_self_proof(self.revocation(authority), Origin.LOCAL)
+    self.assertEqual(1, len(self.registry()["grants"]))
+
+  def test_registry_key_is_declared_in_params_keys(self):
+    """Every param this adapter stores has to be declared, or Params raises UnknownKeyName.
+
+    get_authority() sits on the daemon's connection path, so an undeclared key would take
+    sunnylinkd down with the cloud link.
+    """
+    declared = PARAMS_KEYS_H.read_text()
+    for key in (local_auth_daemon.LOCAL_APPS_KEY, local_auth_daemon.LOCAL_APPS_META_KEY,
+                local_auth_daemon.REVOKE_KEY):
+      self.assertTrue(f'"{key}"' in declared)
+
+  def test_read_registry_ignores_a_value_that_is_not_the_registry(self):
+    self.store.values[local_auth_daemon.LOCAL_APPS_KEY] = "not a registry"
+    self.assertIsNone(local_auth_daemon._read_registry())
+    self.assertEqual([], local_auth_daemon.grants())
+
+  def test_authority_fault_fails_closed_without_raising(self):
+    """A broken trust store must never propagate out of get_authority(): sunnylinkd calls it
+    from its connection loop, where an exception ends the process."""
+    self.store.fail_reads = True
+    self.assertIsNone(local_auth_daemon.get_authority())
+    self.assertEqual([], local_auth_daemon.grants())
+    self.assertFalse(local_auth_daemon.revoke_local_app("anything"))
+    with self.assertRaises(AuthorizationError):
+      local_auth_daemon.cloud_enroll("{}")
+
+  def test_no_identity_key_fails_closed(self):
+    with mock.patch.object(local_auth_daemon.BaseApi, "get_key_pair", return_value=(None, None, None)):
+      local_auth_daemon.reset_authority()
+      self.assertIsNone(local_auth_daemon.get_authority())
+      with self.assertRaises(AuthorizationError):
+        local_auth_daemon.cloud_enroll("{}")
+
+
+class TestRegistryThroughRealParams(OpenpilotTestCase):
+  """The same round trip against the real Params/libparams, in a temporary params directory.
+
+  The double above pins the logic; this proves the C library stores and returns the registry the
+  way the module expects (JSON-typed param: a dict in, the same dict out). It needs `libparams_c`
+  built from a `params_keys.h` that declares `SunnylinkLocalApps`.
+  """
+
+  def setup_method(self):
+    self.dir = tempfile.mkdtemp(prefix="sunnylink_params_")
+    self.addCleanup(shutil.rmtree, self.dir, ignore_errors=True)
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.private_pem = self.device_key.private_bytes(
+      serialization.Encoding.PEM, serialization.PrivateFormat.PKCS8, serialization.NoEncryption())
+    self.params = Params(self.dir)
+    self.params.put("SunnylinkDongleId", "cloud-device", block=True)
+    self.params.put("DongleId", "comma-device", block=True)
+
+    local_auth_daemon.reset_authority()
+    self.addCleanup(local_auth_daemon.reset_authority)
+    patchers = [
+      mock.patch.object(local_auth_daemon, "_params", self.params),
+      mock.patch.object(local_auth_daemon.BaseApi, "get_key_pair", return_value=("ES256", self.private_pem, "pub")),
+    ]
+    for patcher in patchers:
+      patcher.start()
+      self.addCleanup(patcher.stop)
+
+  def test_grant_survives_a_write_and_reload_through_libparams(self):
+    authority = local_auth_daemon.get_authority()
+    self.assertIsNotNone(authority)
+    public = encode64(self.app_key.public_key().public_bytes(
+      serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo))
+    app_id = key_id(self.app_key.public_key())
+    data = {"v": REGISTRY_VERSION, "cloud_device_id": "cloud-device", "comma_device_id": "comma-device",
+            "device_key_id": authority.device_key_id, "public_key": public,
+            "key_id": app_id, "app_name": "Test phone"}
+    proof = statement("enroll", *(str(data[field]) for field in ENROLL_FIELDS))
+    data["signature"] = encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+
+    summary = local_auth_daemon.cloud_enroll(json.dumps(data))
+    local_auth_daemon.confirm_enrollment_tls(summary["app_id"])
+
+    # A restart has to reload the same grants.
+    local_auth_daemon.reset_authority()
+    grants = local_auth_daemon.grants()
+    self.assertEqual(1, len(grants))
+    self.assertEqual(summary["app_id"], grants[0]["app_id"])
+    self.assertEqual("Test phone", grants[0]["app_name"])
+    self.assertEqual([{"app_id": summary["app_id"], "app_name": "Test phone"}],
+                     local_auth_daemon.read_granted_apps())
+
+    # And a revocation persists through the same store.
+    self.assertTrue(local_auth_daemon.revoke_local_app(summary["app_id"]))
+    local_auth_daemon.reset_authority()
+    self.assertEqual([], local_auth_daemon.grants())
+    self.assertEqual([], local_auth_daemon.read_granted_apps())
+
+
+class TestGrantMetadata(OpenpilotTestCase):
+  """Display metadata for enrolled phones: cosmetic, and never a source of authority."""
+
+  def setup_method(self):
+    self.store = _ParamsStore()
+    patcher = mock.patch.object(local_auth_daemon, "_params", self.store)
+    patcher.start()
+    self.addCleanup(patcher.stop)
+
+  def test_alias_and_last_seen_round_trip(self):
+    local_auth_daemon.set_grant_alias("key-a", "Nayan's phone")
+    local_auth_daemon.note_grant_seen("key-a")
+
+    meta = local_auth_daemon.read_grant_meta()
+    self.assertEqual("Nayan's phone", meta["key-a"]["alias"])
+    self.assertIsInstance(meta["key-a"]["last_seen"], float)
+
+  def test_a_blank_alias_clears_back_to_the_enrolled_name(self):
+    local_auth_daemon.set_grant_alias("key-a", "Named")
+    local_auth_daemon.set_grant_alias("key-a", "   ")
+    self.assertEqual("", local_auth_daemon.read_grant_meta()["key-a"]["alias"])
+
+  def test_an_oversized_alias_is_refused(self):
+    with self.assertRaises(AuthorizationError):
+      local_auth_daemon.set_grant_alias("key-a", "x" * 81)
+    self.assertEqual({}, local_auth_daemon.read_grant_meta())
+
+  def test_metadata_never_grants_anything(self):
+    # A metadata entry for a key with no grant is inert: the authority is the only judge.
+    local_auth_daemon.set_grant_alias("un-enrolled-key", "attacker")
+    self.assertEqual([], local_auth_daemon.grants())
+    self.assertEqual({"un-enrolled-key": {"alias": "attacker"}}, local_auth_daemon.read_grant_meta())
+
+  def test_unreadable_metadata_never_raises(self):
+    self.store.values[local_auth_daemon.LOCAL_APPS_META_KEY] = "not a metadata document"
+    self.assertEqual({}, local_auth_daemon.read_grant_meta())
+    self.store.fail_reads = True
+    self.assertEqual({}, local_auth_daemon.read_grant_meta())
+    # on the session path, so it must swallow the fault rather than break a connection
+    local_auth_daemon.note_grant_seen("key-a")
+
+  def test_revoking_a_phone_drops_its_metadata(self):
+    local_auth_daemon.set_grant_alias("key-a", "Nayan's phone")
+    local_auth_daemon.clear_grant_meta("key-a")
+    self.assertEqual({}, local_auth_daemon.read_grant_meta())
+
+
+class TestGrantedAppsView(OpenpilotTestCase):
+  """The device UI's read-only view of enrolled phones."""
+
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.private_pem = self.device_key.private_bytes(
+      serialization.Encoding.PEM, serialization.PrivateFormat.PKCS8, serialization.NoEncryption())
+    self.store = _ParamsStore({"SunnylinkDongleId": "cloud-device", "DongleId": "comma-device"})
+    local_auth_daemon.reset_authority()
+    self.addCleanup(local_auth_daemon.reset_authority)
+    patcher = mock.patch.object(local_auth_daemon, "_params", self.store)
+    patcher.start()
+    self.addCleanup(patcher.stop)
+
+  def write_registry(self, grants: list[Any]) -> None:
+    self.store.values[local_auth_daemon.LOCAL_APPS_KEY] = {"v": REGISTRY_VERSION, "grants": grants}
+
+  def test_lists_app_id_and_name_without_building_the_authority(self):
+    self.write_registry([{"app_id": "key-a", "app_name": "Nayan's phone", "public_key": "x"}])
+    with mock.patch.object(local_auth_daemon, "_build_authority",
+                           side_effect=AssertionError("the UI must not load the identity key")):
+      rows = local_auth_daemon.read_granted_apps()
+    self.assertEqual([{"app_id": "key-a", "app_name": "Nayan's phone"}], rows)
+
+  def test_skips_entries_that_cannot_be_displayed(self):
+    self.write_registry([{"app_id": "key-a"}, "junk", {"app_name": "no id"}, {"app_id": "", "app_name": "blank"},
+                         {"app_id": "key-b", "app_name": "B"}])
+    self.assertEqual([{"app_id": "key-b", "app_name": "B"}], local_auth_daemon.read_granted_apps())
+
+  def test_no_registry_is_an_empty_list(self):
+    self.assertEqual([], local_auth_daemon.read_granted_apps())
+
+
+class TestRevokeRequests(OpenpilotTestCase):
+  """Revoking from the device UI is a request the daemon applies through its live authority."""
+
+  def setup_method(self):
+    self.store = _ParamsStore()
+    patcher = mock.patch.object(local_auth_daemon, "_params", self.store)
+    patcher.start()
+    self.addCleanup(patcher.stop)
+
+  def test_request_and_service_round_trip(self):
+    revoked: list[str] = []
+    with mock.patch.object(local_auth_daemon, "revoke_local_app",
+                           side_effect=lambda key: revoked.append(key) or True):
+      local_auth_daemon.request_revoke("key-a")
+      self.assertEqual("key-a", self.store.values[local_auth_daemon.REVOKE_KEY])
+      self.assertTrue(local_auth_daemon.service_revoke_requests())
+    self.assertEqual(["key-a"], revoked)
+    # The request is consumed, so it cannot be applied twice on a later tick.
+    self.assertNotIn(local_auth_daemon.REVOKE_KEY, self.store.values)
+    self.assertFalse(local_auth_daemon.service_revoke_requests())
+
+  def test_a_failed_revoke_still_clears_the_request(self):
+    with mock.patch.object(local_auth_daemon, "revoke_local_app", side_effect=RuntimeError("boom")):
+      local_auth_daemon.request_revoke("key-a")
+      self.assertFalse(local_auth_daemon.service_revoke_requests())
+    self.assertNotIn(local_auth_daemon.REVOKE_KEY, self.store.values)
+
+  def test_unreadable_request_never_raises(self):
+    self.store.values[local_auth_daemon.REVOKE_KEY] = "key-a"
+    self.store.fail_reads = True
+    self.assertFalse(local_auth_daemon.service_revoke_requests())
+
+  def test_blank_requests_are_ignored(self):
+    self.assertFalse(local_auth_daemon.request_revoke(""))
+    self.assertEqual({}, self.store.values)
+
+  def test_revoke_all_request_clears_every_grant_once(self):
+    cleared: list[int] = []
+    with mock.patch.object(local_auth_daemon, "revoke_all", side_effect=lambda: cleared.append(1) or 3):
+      local_auth_daemon.request_revoke_all()
+      self.assertEqual(local_auth_daemon.REVOKE_ALL, self.store.values[local_auth_daemon.REVOKE_KEY])
+      self.assertTrue(local_auth_daemon.service_revoke_requests())
+    # Consumed, so a later tick does not revoke a phone the user pairs afterwards.
+    self.assertNotIn(local_auth_daemon.REVOKE_KEY, self.store.values)
+    self.assertEqual(1, len(cleared))
+    self.assertFalse(local_auth_daemon.service_revoke_requests())
+
+  def test_a_failed_revoke_all_still_clears_the_request(self):
+    with mock.patch.object(local_auth_daemon, "revoke_all", side_effect=RuntimeError("boom")):
+      local_auth_daemon.request_revoke_all()
+      self.assertFalse(local_auth_daemon.service_revoke_requests())
+    self.assertNotIn(local_auth_daemon.REVOKE_KEY, self.store.values)
+
+  def test_revoke_all_request_overwrites_a_single_request(self):
+    calls: list[str] = []
+    with mock.patch.object(local_auth_daemon, "revoke_all", side_effect=lambda: calls.append("all") or 2), \
+         mock.patch.object(local_auth_daemon, "revoke_local_app", side_effect=lambda key: calls.append(key) or True):
+      local_auth_daemon.request_revoke("key-a")
+      local_auth_daemon.request_revoke_all()
+      local_auth_daemon.service_revoke_requests()
+    # One action, and no leftover request that could revoke a phone paired afterwards.
+    self.assertEqual(["all"], calls)
+    self.assertNotIn(local_auth_daemon.REVOKE_KEY, self.store.values)
+
+
+class TestRevokeAllThroughTheAuthority(OpenpilotTestCase):
+  """`revoke_all` on the core: one durable write, and the grants really go away."""
+
+  def setup_method(self):
+    self.store = _ParamsStore()
+    self.writes: list[dict] = []
+
+    def persist(registry: dict) -> None:
+      self.writes.append(registry)
+      self.store.values[local_auth_daemon.LOCAL_APPS_KEY] = registry
+
+    self.authority = LocalAuthority(
+      cloud_device_id="cloud-device", comma_device_id="comma-device",
+      device_private_key=ec.generate_private_key(ec.SECP256R1()),
+      persist=persist,
+      registry=None,
+    )
+
+  def test_revoke_all_writes_once_and_empties_the_registry(self):
+    for key in ("key-a", "key-b"):
+      self.authority.grants[key] = Grant(key, "spki", "Phone")
+    self.assertEqual(2, self.authority.revoke_all())
+    self.assertEqual({}, self.authority.grants)
+    # One write for the whole action, and the persisted document is an empty registry.
+    self.assertEqual([{"v": REGISTRY_VERSION, "grants": []}], self.writes)
+
+  def test_revoke_all_with_nothing_enrolled_writes_nothing(self):
+    self.assertEqual(0, self.authority.revoke_all())
+    self.assertEqual([], self.writes)

openpilot/sunnypilot/sunnylink/athena/tests/test_localsunnylinkd.py

@@ -0,0 +1,660 @@
+"""
+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 base64
+import json
+import shutil
+import tempfile
+import threading
+import time
+from collections.abc import Iterable
+from types import SimpleNamespace
+from typing import cast
+from unittest import mock
+
+from cryptography.hazmat.primitives import hashes, serialization
+from cryptography.hazmat.primitives.asymmetric import ec
+from websocket import WebSocket
+
+from openpilot.common.params import Params
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.system.athena import rpc as rpc_module
+from openpilot.sunnypilot.sunnylink.athena import local_auth_daemon, localsunnylinkd, sunnylinkd
+from openpilot.sunnypilot.sunnylink.athena.local_auth import (
+  AUTHENTICATE_PURPOSE,
+  VERSION,
+  AuthorizationError,
+  AuthorizedSession,
+  LocalAuthority,
+  Origin,
+  encode64,
+  key_id,
+  statement,
+)
+from openpilot.sunnypilot.sunnylink.athena.local_discovery import LocalDiscovery
+from openpilot.sunnypilot.sunnylink.athena.local_params import ENROLL, REVOKE, cloud_may_write, is_local_param
+
+CHALLENGE = "A" * 43  # base64url of 32 zero bytes: the canonical challenge shape
+
+ENROLLMENT_TRANSPORT_VALUE = "eyJ2IjozfQ=="  # base64 of {"v":3}
+
+
+class _FakeParams(dict):
+  """Only the Params calls the daemon makes; a dict is enough to steer them."""
+
+  def get_bool(self, key):
+    return bool(self.get(key))
+
+  def put_bool(self, key, value, block=False):
+    self[key] = value
+
+  def put(self, key, value, block=False):
+    self[key] = value
+
+  def remove(self, key):
+    self.pop(key, None)
+
+  def all_keys(self):
+    return [key.encode() for key in self]
+
+  def get_type(self, key):
+    return SimpleNamespace(value=1)
+
+
+class _FakeWs:
+  """A WebSocket that replays queued frames, then reports the peer gone."""
+
+  def __init__(self, messages=()):
+    self._messages = list(messages)
+    self.sent: list[str] = []
+    self.closed = False
+    self.timeouts: list[float] = []
+
+  def settimeout(self, timeout):
+    self.timeouts.append(timeout)
+
+  def recv(self):
+    if self._messages:
+      return self._messages.pop(0)
+    raise sunnylinkd.WebSocketConnectionClosedException("peer gone")
+
+  def send(self, payload):
+    self.sent.append(payload)
+
+  def close(self):
+    self.closed = True
+
+
+class _FakeSession:
+  """Stands in for an AuthorizedSession: records the gated method, never executes it."""
+
+  def __init__(self, key_id: str = "grant-key"):
+    self.calls: list[str] = []
+    self.grant = SimpleNamespace(app_id=key_id)
+    self.closed = False
+
+  def invoke(self, method, handler, *args, **kwargs):
+    self.calls.append(method)
+    return {"ok": True}
+
+  def bind_transport(self, closer):
+    self.transport_closer = closer
+
+  def close(self):
+    self.closed = True
+
+
+class _CallingSession(_FakeSession):
+  """Like _FakeSession, but actually runs the gated handler, as AuthorizedSession.invoke does."""
+
+  def invoke(self, method, handler, *args, **kwargs):
+    return handler(*args, **kwargs)
+
+
+class _FakeDiscovery:
+  def __init__(self, endpoints: Iterable[str] = (), recent: Iterable[str] | None = None,
+               app_ids: dict[str, str] | None = None):
+    self._endpoints: list[str] = list(endpoints)
+    # What the shorter backoff window returns; None means "same as the dial window".
+    self._recent: list[str] | None = None if recent is None else list(recent)
+    self._app_ids: dict[str, str] = dict(app_ids or {})
+
+  def fresh_endpoints(self, max_age_s=None):
+    if max_age_s is not None and self._recent is not None:
+      return list(self._recent)
+    return list(self._endpoints)
+
+  def fresh_peers(self, max_age_s=None):
+    return [(e, self._app_ids.get(e, "grant-key")) for e in self.fresh_endpoints(max_age_s)]
+
+  def start(self):
+    pass
+
+  def stop(self):
+    pass
+
+
+class _Daemon(localsunnylinkd.LocalSunnylinkd):
+  """A local daemon with scripted trust state, so target selection is testable in isolation."""
+
+  def __init__(self, endpoints=(), enrolled=True, discovery=None, known=("grant-key",),
+               granted=None, app_ids=None, **params):
+    fake_discovery = discovery if discovery is not None else _FakeDiscovery(endpoints, app_ids=app_ids)
+    super().__init__(params=cast(Params, _FakeParams(**params)),
+                     discovery=cast(LocalDiscovery, fake_discovery))
+    self._enrolled = enrolled
+    self._known = set(known)
+    self._granted = set(self._known if granted is None else granted)
+
+  def enrolled(self):
+    return self._enrolled
+
+  def known_app_ids(self):
+    return set(self._known)
+
+  def granted_app_ids(self):
+    return set(self._granted)
+
+  def pending_app_ids(self):
+    return set()
+
+
+def _challenge(phone_key_id: str) -> str:
+  return json.dumps({"v": VERSION, "purpose": AUTHENTICATE_PURPOSE, "phone_key_id": phone_key_id, "challenge": CHALLENGE})
+
+
+def _authority():
+  device_key = ec.generate_private_key(ec.SECP256R1())
+  return LocalAuthority("cloud-device", "comma-device", device_key, persist=lambda _registry: None)
+
+
+def _enrollment_json(authority: LocalAuthority, app_key: ec.EllipticCurvePrivateKey, name="Test phone") -> str:
+  public = encode64(app_key.public_key().public_bytes(
+    serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo))
+  data = {"v": VERSION, "cloud_device_id": authority.cloud_device_id, "comma_device_id": authority.comma_device_id,
+          "device_key_id": authority.device_key_id, "public_key": public,
+          "key_id": key_id(app_key.public_key()), "app_name": name}
+  signed_fields = ("cloud_device_id", "comma_device_id", "device_key_id",
+                   "public_key", "key_id", "app_name")
+  proof = statement("enroll", *(str(data[field]) for field in signed_fields))
+  data["signature"] = encode64(app_key.sign(proof, ec.ECDSA(hashes.SHA256())))
+  return json.dumps(data)
+
+
+def _await(condition, timeout=5.0, description="condition") -> bool:
+  """Bounded polling: a failure fails fast instead of hanging the suite."""
+  deadline = time.monotonic() + timeout
+  while time.monotonic() < deadline:
+    if condition():
+      return True
+    time.sleep(0.01)
+  return False
+
+
+class TestLocalTargets(OpenpilotTestCase):
+  """What the local daemon dials, and when it runs at all."""
+
+  def test_pinned_endpoint_converts_a_beacon_to_tls(self):
+    self.assertEqual("wss://10.0.0.7:8443", localsunnylinkd.pinned_endpoint("ws://10.0.0.7:8443"))
+    self.assertIsNone(localsunnylinkd.pinned_endpoint("wss://10.0.0.7:8443"))
+    self.assertIsNone(localsunnylinkd.pinned_endpoint("ws://10.0.0.7"))
+
+  def test_an_enrolled_phone_is_dialed_over_pinned_tls(self):
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"])
+    self.assertEqual("wss://10.0.0.7:8443", daemon.pick_target())
+
+    daemon.backoffs["wss://10.0.0.7:8443"] = time.monotonic() + 60
+    self.assertIsNone(daemon.pick_target())
+
+  def test_a_failed_dial_backs_off_for_a_tick_then_ramps(self):
+    """A phone that keeps announcing while it refuses to serve ramps up, and no further."""
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"])
+    endpoint = "wss://10.0.0.7:8443"
+    with mock.patch.object(daemon, "dial", side_effect=AuthorizationError("refused")):
+      daemon.serve(endpoint, None)
+      first = daemon.backoffs[endpoint] - time.monotonic()
+      for _ in range(8):
+        daemon.serve(endpoint, None)
+      last = daemon.backoffs[endpoint] - time.monotonic()
+
+    # The app is a foreground-only server: one missed dial is worth a beacon interval, not the
+    # five-minute cloud reconnect ceiling.
+    self.assertLess(first, localsunnylinkd.ENDPOINT_BACKOFF_S)
+    self.assertGreater(first, 0)
+    self.assertLessEqual(last, localsunnylinkd.ENDPOINT_BACKOFF_MAX_S)
+    self.assertEqual(9, daemon.failures[endpoint])
+
+  def test_a_failed_local_dial_leaves_the_cloud_links_state_alone(self):
+    """LastSunnylinkPingTime is the CLOUD link's heartbeat, not ours to clear.
+
+    The sidebar reads it for ONLINE/ERROR/OFFLINE. A local dial failing (the phone switched local
+    connections off, walked away, went to sleep) says nothing about the cloud connection, which
+    keeps running in sunnylinkd; wiping the timestamp made the car claim it was offline until the
+    next cloud ping, which is exactly the "device is in an error state" after the switch.
+    """
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"], LastSunnylinkPingTime=12345)
+    with mock.patch.object(daemon, "dial", side_effect=AuthorizationError("refused")):
+      daemon.serve("wss://10.0.0.7:8443", None)
+
+    self.assertEqual(12345, daemon.params.get("LastSunnylinkPingTime"))
+    self.assertEqual(1, daemon.failures["wss://10.0.0.7:8443"])
+
+  def test_the_first_failed_dial_waits_only_one_tick(self):
+    """One missed dial is worth a tick, not a beacon interval: nothing else re-dials before then."""
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"])
+    endpoint = "wss://10.0.0.7:8443"
+    with mock.patch.object(daemon, "dial", side_effect=AuthorizationError("refused")):
+      daemon.serve(endpoint, None)
+      delay = daemon.backoffs[endpoint] - time.monotonic()
+
+    self.assertGreater(delay, 0)
+    self.assertLessEqual(delay, localsunnylinkd.TICK_INTERVAL_S + 0.05)
+
+  def test_a_phone_that_went_quiet_past_the_forget_window_clears_its_ramp(self):
+    """A network change silences the app for a moment without moving it out of the dial window.
+
+    Moving from home Wi-Fi to the car's hotspot (or roaming between mesh nodes) reassociates the
+    phone: a few beacon intervals pass with no announcement, and the ramp it earned on the old link
+    must not follow it onto the new one. The endpoint stays dialable for the full beacon window, so
+    the very next beacon is an immediate attempt rather than the rest of a penalty.
+    """
+    discovery = _FakeDiscovery(["ws://10.0.0.7:8443"], recent=[])
+    daemon = _Daemon(discovery=discovery)
+    endpoint = "wss://10.0.0.7:8443"
+    daemon.backoffs[endpoint] = time.monotonic() + 300
+    daemon.failures[endpoint] = 5
+
+    self.assertEqual(endpoint, daemon.pick_target())
+    self.assertNotIn(endpoint, daemon.backoffs)
+    self.assertNotIn(endpoint, daemon.failures)
+
+  def test_a_phone_still_announcing_keeps_its_ramp(self):
+    """The short window must not reset a ramp for a phone that is right there and refusing to serve."""
+    discovery = _FakeDiscovery(["ws://10.0.0.7:8443"], recent=["ws://10.0.0.7:8443"])
+    daemon = _Daemon(discovery=discovery)
+    endpoint = "wss://10.0.0.7:8443"
+    daemon.backoffs[endpoint] = time.monotonic() + 300
+
+    self.assertIsNone(daemon.pick_target())
+    self.assertIn(endpoint, daemon.backoffs)
+
+  def test_a_served_session_clears_the_backoff_ramp(self):
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"])
+    endpoint = "wss://10.0.0.7:8443"
+    daemon.backoffs[endpoint] = time.monotonic() + 60
+    daemon.failures[endpoint] = 3
+
+    with mock.patch.object(daemon, "dial", lambda endpoint, exit_event: None), \
+         mock.patch.object(localsunnylinkd, "TICK_INTERVAL_S", 0):
+      daemon.serve(endpoint, None)
+
+    self.assertNotIn(endpoint, daemon.backoffs)
+    self.assertNotIn(endpoint, daemon.failures)
+
+  def test_a_phone_that_stopped_announcing_forgets_its_backoff(self):
+    """Closing the app must not cost cloud-only service after it is reopened.
+
+    The app is a foreground-only server the user opens and closes: a dial that failed while it
+    was closed recorded a backoff against an endpoint that then had no beacons at all. Reopening
+    the app re-announces within seconds, and that record would otherwise hold the device on the
+    cloud for the rest of the backoff.
+    """
+    discovery = _FakeDiscovery(["ws://10.0.0.7:8443"])
+    daemon = _Daemon(discovery=discovery)
+    endpoint = "wss://10.0.0.7:8443"
+    daemon.backoffs[endpoint] = time.monotonic() + 300
+    daemon.failures[endpoint] = 1
+
+    # The app was closed: it announces nothing, so the failure outlives its reason.
+    discovery._endpoints = []
+    self.assertIsNone(daemon.pick_target())
+    self.assertNotIn(endpoint, daemon.backoffs)
+    self.assertNotIn(endpoint, daemon.failures)
+
+    # The app is opened again: the device dials it now instead of waiting the record out.
+    discovery._endpoints = ["ws://10.0.0.7:8443"]
+    self.assertEqual(endpoint, daemon.pick_target())
+
+  def test_a_pending_enrollment_is_dialed_even_before_any_grant(self):
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"], known=("pending",),
+                     app_ids={"ws://10.0.0.7:8443": "pending"})
+    self.assertEqual("wss://10.0.0.7:8443", daemon.pick_target())
+
+  def test_a_second_phone_is_dialed_while_the_first_holds_a_session(self):
+    """The second-pairing bug: one long-lived session used to block every other phone.
+
+    A phone keeps its session for as long as its app is open, so the old dial loop sat inside the
+    first phone's session and never looked at the second. Pairing the Android phone next to an
+    already-paired iPhone therefore never happened, and its app waited on "registration sent".
+    """
+    discovery = _FakeDiscovery(["ws://10.0.0.7:8443", "ws://10.0.0.8:8443"],
+                               app_ids={"ws://10.0.0.7:8443": "iphone", "ws://10.0.0.8:8443": "android"})
+    daemon = _Daemon(discovery=discovery, known=("iphone", "android"))
+    first, second = "wss://10.0.0.7:8443", "wss://10.0.0.8:8443"
+    holding = threading.Event()
+    with mock.patch.object(daemon, "dial", lambda endpoint, exit_event: holding.wait(10)):
+      self.assertTrue(daemon.start_session(first, None))
+      self.assertTrue(daemon.has_session(first))
+
+      # The first phone's session is live: the second is STILL a target and still gets served.
+      self.assertEqual([second], daemon.pick_targets())
+      self.assertTrue(daemon.start_session(second, None))
+      self.assertTrue(daemon.has_session(second))
+      self.assertFalse(daemon.start_session(second, None), "one session per phone")
+      holding.set()
+    self.assertTrue(_await(lambda: not daemon._workers, description="session threads to exit"))
+
+  def test_a_session_left_by_a_revoked_grant_never_blocks_the_redial(self):
+    daemon = _Daemon(endpoints=["ws://10.0.0.7:8443"], known=("phone",),
+                     app_ids={"ws://10.0.0.7:8443": "phone"}, granted=())
+    endpoint = "wss://10.0.0.7:8443"
+    socket = _FakeWs()
+    daemon._session_apps[endpoint] = "phone"
+    daemon._session_sockets[endpoint] = socket
+
+    with mock.patch.object(daemon, "has_session", lambda pinned: True):
+      self.assertIsNone(daemon.pick_target())
+    self.assertTrue(socket.closed)
+
+    with mock.patch.object(daemon, "has_session", lambda pinned: False):
+      self.assertEqual(endpoint, daemon.pick_target())
+
+  def test_granted_app_ids_come_from_the_registry(self):
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    with mock.patch.object(local_auth_daemon, "grants", lambda: [{"app_id": "phone"}]):
+      self.assertEqual({"phone"}, daemon.granted_app_ids())
+
+  def test_the_phone_that_is_still_pairing_is_dialed_first(self):
+    """A phone being paired must not queue behind phones that are already paired."""
+    discovery = _FakeDiscovery(["ws://10.0.0.7:8443", "ws://10.0.0.8:8443"],
+                               app_ids={"ws://10.0.0.7:8443": "iphone", "ws://10.0.0.8:8443": "android"})
+    daemon = _Daemon(discovery=discovery, known=("iphone", "android"))
+
+    with mock.patch.object(daemon, "pending_app_ids", lambda: {"android"}):
+      self.assertEqual(["wss://10.0.0.8:8443", "wss://10.0.0.7:8443"], daemon.pick_targets())
+
+  def test_the_run_loop_serves_every_known_phone_at_once(self):
+    """End to end: both phones are dialed while neither has hung up."""
+    discovery = _FakeDiscovery(["ws://10.0.0.7:8443", "ws://10.0.0.8:8443"],
+                               app_ids={"ws://10.0.0.7:8443": "iphone", "ws://10.0.0.8:8443": "android"})
+    daemon = _Daemon(discovery=discovery, known=("iphone", "android"),
+                     SunnylinkEnabled=True, SunnylinkLocalEnabled=True)
+    holding = threading.Event()
+    dialed: list[str] = []
+
+    def fake_dial(endpoint, exit_event):
+      dialed.append(endpoint)
+      holding.wait(10)
+
+    stop = threading.Event()
+    with mock.patch.object(daemon, "dial", fake_dial), \
+         mock.patch.object(local_auth_daemon, "service_revoke_requests", lambda *a, **k: False), \
+         mock.patch.object(local_auth_daemon, "claim_cloud_commands", lambda *a, **k: None), \
+         mock.patch.object(localsunnylinkd, "TICK_INTERVAL_S", 0.01):
+      loop = threading.Thread(target=daemon.run, args=(stop,), daemon=True)
+      loop.start()
+      both = {"wss://10.0.0.7:8443", "wss://10.0.0.8:8443"}
+      self.assertTrue(_await(lambda: both <= set(dialed), description="both phones to be dialed"))
+      stop.set()
+      holding.set()
+      loop.join(5)
+
+    # Both were dialed while the other was still connected; a redial after the sessions ended is
+    # expected, so only the set of phones matters.
+    self.assertEqual(both, set(dialed))
+
+  def test_a_beacon_from_an_unknown_phone_is_never_dialed(self):
+    daemon = _Daemon(endpoints=["ws://10.0.0.9:8443"],
+                     app_ids={"ws://10.0.0.9:8443": "stranger"})
+    self.assertIsNone(daemon.pick_target())
+
+  def test_the_local_switch_gates_the_process(self):
+    running = _Daemon(SunnylinkEnabled=True, SunnylinkLocalEnabled=True)
+    self.assertTrue(running.serviceable())
+
+    switched_off = _Daemon(SunnylinkEnabled=True, SunnylinkLocalEnabled=False)
+    self.assertFalse(switched_off.serviceable())
+
+    sunnylink_off = _Daemon(SunnylinkEnabled=False, SunnylinkLocalEnabled=True)
+    self.assertFalse(sunnylink_off.serviceable())
+
+class TestLocalSurface(OpenpilotTestCase):
+  """What a local peer may reach, and what it may never touch."""
+
+  def test_a_local_session_can_never_write_local_params(self):
+    """Enrollment only ever arrives through the cloud, so a local write is refused outright."""
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    saved: list[str] = []
+    with mock.patch.object(sunnylinkd, "save_param_from_base64_encoded_string",
+                           lambda key, value, compression=False: saved.append(key)):
+      daemon.saveParams({ENROLL: ENROLLMENT_TRANSPORT_VALUE, "SunnylinkLocalApps": "{}", "SpeedLimitOffset": "5"})
+    self.assertEqual(["SpeedLimitOffset"], saved)
+
+  def test_session_methods_are_local_only_and_gated(self):
+    session = _FakeSession()
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    methods = daemon.session_methods(cast(AuthorizedSession, session))
+    self.assertTrue("getParams" in methods)
+    self.assertTrue("saveParams" in methods)
+    self.assertTrue("unpairLocalApp" in methods)
+    self.assertNotIn("startLocalProxy", methods)
+    self.assertNotIn("echo", methods)
+    self.assertEqual(methods["getParams"](params_keys=[]), {"ok": True})
+    self.assertEqual(session.calls, ["getParams"])
+
+  def test_a_session_serves_local_methods_and_refuses_the_rest(self):
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    session = _FakeSession()
+    methods = daemon.session_methods(cast(AuthorizedSession, session))
+    ws = _FakeWs([
+      rpc_module.dumps_call("getParams", {"params_keys": []}, 1),
+      rpc_module.dumps_call("startLocalProxy", {"port": 8022}, 2),
+    ])
+    daemon.serve_rpc(cast(WebSocket, ws), methods)
+    self.assertEqual(session.calls, ["getParams"])
+    first, second = (json.loads(payload) for payload in ws.sent)
+    self.assertEqual(1, first["id"])
+    self.assertEqual({"ok": True}, first["result"])
+    self.assertEqual(2, second["id"])
+    self.assertEqual(rpc_module.METHOD_NOT_FOUND, second["error"]["code"])
+
+class TestLocalDial(OpenpilotTestCase):
+  """The pinned TLS dial and the challenge the phone must answer."""
+
+  def test_the_device_proves_itself_to_the_phone_first(self):
+    authority = SimpleNamespace(authenticate_device=lambda phone, challenge: {"phone_key_id": phone,
+                                                                             "challenge": challenge})
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    ws = _FakeWs([_challenge("pinned-key")])
+    daemon.authenticate_phone(cast(WebSocket, ws), cast(LocalAuthority, authority), "pinned-key")
+    proof = json.loads(ws.sent[0])
+    self.assertEqual("pinned-key", proof["phone_key_id"])
+    self.assertEqual(CHALLENGE, proof["challenge"])
+
+  def test_a_challenge_for_another_key_is_refused(self):
+    authority = SimpleNamespace(authenticate_device=lambda phone, challenge: {})
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    with self.assertRaises(AuthorizationError):
+      daemon.authenticate_phone(cast(WebSocket, _FakeWs([_challenge("someone-else")])),
+                                cast(LocalAuthority, authority), "pinned-key")
+
+  def test_a_malformed_challenge_is_refused(self):
+    authority = SimpleNamespace(authenticate_device=lambda phone, challenge: {})
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    with self.assertRaises(AuthorizationError):
+      daemon.authenticate_phone(cast(WebSocket, _FakeWs(["not json"])),
+                                cast(LocalAuthority, authority), "pinned-key")
+
+  def test_the_dial_confirms_a_pending_enrollment_before_serving(self):
+    pending = SimpleNamespace(app_id="pending-key")
+    grant = SimpleNamespace(app_id="pending-key")
+    authority = SimpleNamespace(lock=threading.RLock(), pending={"pending-key": pending}, grants={},
+                                authenticate_device=lambda phone, challenge: {"phone_key_id": phone,
+                                                                              "challenge": challenge})
+    session = _FakeSession("pending-key")
+    confirmed: list[str] = []
+    ws = _FakeWs([_challenge(pending.app_id)])
+
+    def confirm(key_id):
+      confirmed.append(key_id)
+      authority.grants[key_id] = grant
+      authority.pending = None
+      return {"app_id": grant.app_id, "app_name": "phone"}
+
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    with mock.patch.object(authority, "session", lambda g, peer: session, create=True), \
+         mock.patch.object(local_auth_daemon, "get_authority", lambda: authority), \
+         mock.patch.object(local_auth_daemon, "confirm_enrollment_tls", confirm), \
+         mock.patch.object(localsunnylinkd, "connect_pinned", lambda endpoint, key_id, timeout_s=10: ws):
+      daemon.dial("wss://10.0.0.7:8443", None)
+
+    self.assertEqual(["pending-key"], confirmed)
+    self.assertTrue(session.closed)
+    self.assertTrue(ws.closed)
+    self.assertEqual("pending-key", json.loads(ws.sent[0])["phone_key_id"])
+
+  def test_a_dial_without_an_enrolled_peer_never_serves(self):
+    daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+    authority = SimpleNamespace(lock=threading.RLock(), pending={}, grants={})
+    with mock.patch.object(local_auth_daemon, "get_authority", lambda: authority), \
+         mock.patch.object(localsunnylinkd, "connect_pinned",
+                           mock.Mock(side_effect=AuthorizationError("wrong TLS peer"))):
+      with self.assertRaises(AuthorizationError):
+        daemon.dial("wss://10.0.0.7:8443", None)
+
+  def test_a_rename_only_ever_renames_the_sessions_own_grant(self):
+    calls: list[tuple[str, str]] = []
+    session = _CallingSession("grant-key")
+    with mock.patch.object(local_auth_daemon, "set_grant_alias",
+                           lambda key_id, alias: calls.append((key_id, alias)) or True):
+      daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+      methods = daemon.session_methods(cast(AuthorizedSession, session))
+      result = methods["updateLocalAppAlias"](app_id="another-phone", alias="Nayan's phone")
+    self.assertEqual([("grant-key", "Nayan's phone")], calls)
+    self.assertEqual({"success": True, "updated": True}, result)
+
+  def test_an_alias_the_protocol_rejects_is_refused(self):
+    def refuse(key_id, alias):
+      raise AuthorizationError("invalid alias")
+
+    session = _CallingSession("grant-key")
+    with mock.patch.object(local_auth_daemon, "set_grant_alias", refuse):
+      daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+      methods = daemon.session_methods(cast(AuthorizedSession, session))
+      result = methods["updateLocalAppAlias"](app_id="grant-key", alias="bad\u0000alias")
+    self.assertEqual({"success": False, "error": "invalid alias"}, result)
+
+  def test_unpair_revokes_the_sessions_own_grant(self):
+    revoked: list[str] = []
+    session = _CallingSession("grant-key")
+    with mock.patch.object(local_auth_daemon, "revoke_local_app",
+                           lambda key_id: revoked.append(key_id) or True):
+      daemon = localsunnylinkd.LocalSunnylinkd(params=cast(Params, _FakeParams()))
+      methods = daemon.session_methods(cast(AuthorizedSession, session))
+      result = methods["unpairLocalApp"](app_id="another-phone")
+    self.assertEqual(["grant-key"], revoked)
+    self.assertEqual({"success": True, "removed": True}, result)
+
+
+class TestCloudCommandClaim(OpenpilotTestCase):
+  """The handoff: the cloud daemon stores a command, the local daemon claims it."""
+
+  def setup_method(self):
+    self.device_key = ec.generate_private_key(ec.SECP256R1())
+    self.app_key = ec.generate_private_key(ec.SECP256R1())
+    self.persisted: list[dict] = []
+    self.authority = LocalAuthority("cloud-device", "comma-device", self.device_key, persist=self.persisted.append)
+    patcher = mock.patch.object(local_auth_daemon, "get_authority", lambda: self.authority)
+    patcher.start()
+    self.addCleanup(patcher.stop)
+
+  def test_a_valid_enrollment_is_staged_and_the_command_is_claimed_once(self):
+    params = _FakeParams({ENROLL: _enrollment_json(self.authority, self.app_key)})
+    local_auth_daemon.claim_cloud_commands(cast(Params, params))
+
+    staged = self.authority.pending[key_id(self.app_key.public_key())]
+    self.assertEqual("Test phone", staged.app_name)
+    self.assertEqual(key_id(self.app_key.public_key()), staged.app_id)
+    # Staged, not yet authorized, and never replayable.
+    self.assertEqual([], self.persisted)
+    self.assertNotIn(ENROLL, params)
+
+  def test_a_bad_payload_is_refused_and_still_cleared(self):
+    params = _FakeParams({ENROLL: "not an enrollment"})
+    local_auth_daemon.claim_cloud_commands(cast(Params, params))
+
+    self.assertEqual({}, self.authority.pending)
+    self.assertNotIn(ENROLL, params)
+
+  def test_a_revocation_drops_the_phones_own_grant(self):
+    committed = self.authority.enroll(_enrollment_json(self.authority, self.app_key), origin=Origin.CLOUD)
+    self.authority.confirm(committed, committed.app_id)
+
+    proof = statement("revoke", self.authority.cloud_device_id, self.authority.comma_device_id, committed.app_id)
+    revocation = json.dumps({"v": VERSION, "cloud_device_id": self.authority.cloud_device_id,
+                             "comma_device_id": self.authority.comma_device_id, "key_id": committed.app_id,
+                             "signature": encode64(self.app_key.sign(proof, ec.ECDSA(hashes.SHA256())))})
+    params = _FakeParams({REVOKE: revocation})
+    local_auth_daemon.claim_cloud_commands(cast(Params, params))
+
+    self.assertEqual({}, self.authority.grants)
+    self.assertNotIn(REVOKE, params)
+
+  def test_no_command_means_no_work(self):
+    params = _FakeParams()
+    local_auth_daemon.claim_cloud_commands(cast(Params, params))
+    self.assertEqual({}, self.authority.pending)
+
+  def test_the_command_round_trips_through_the_real_library(self):
+    """The declared param is a STRING, so the JSON the app pushes is what the claim reads."""
+    directory = tempfile.mkdtemp(prefix="sunnylink_params_")
+    self.addCleanup(shutil.rmtree, directory, ignore_errors=True)
+    params = Params(directory)
+
+    params.put(ENROLL, _enrollment_json(self.authority, self.app_key), block=True)
+    payload = params.get(ENROLL)
+    if isinstance(payload, bytes):
+      payload = payload.decode()
+
+    local_auth_daemon.claim_cloud_commands(params)
+
+    self.assertIn(key_id(self.app_key.public_key()), self.authority.pending)
+    self.assertEqual(b"", params.get(ENROLL) or b"")
+
+  def test_local_param_policy(self):
+    for key in ("SunnylinkLocalApps", "SunnylinkLocalNewTrustKey", "_sec_anything"):
+      self.assertTrue(is_local_param(key))
+    self.assertFalse(is_local_param("SpeedLimitOffset"))
+
+    # The cloud's only way into the local side is its two commands.
+    self.assertTrue(cloud_may_write(ENROLL))
+    self.assertTrue(cloud_may_write(REVOKE))
+    self.assertTrue(cloud_may_write("SpeedLimitOffset"))
+    for key in ("SunnylinkLocalApps", "SunnylinkLocalRevoke", "_sec_x"):
+      self.assertFalse(cloud_may_write(key))
+
+
+class TestLocalDiscovery(OpenpilotTestCase):
+  BEACON = b'SUNNYLINK1 {"v":1,"role":"app","app_id":"phone-1","ws_port":8443}'
+
+  def test_fresh_beacons_are_recorded(self):
+    discovery = LocalDiscovery()
+    discovery._handle(self.BEACON, "10.0.0.7")
+    discovery._handle(b'not a beacon', "10.0.0.8")
+    self.assertEqual(["ws://10.0.0.7:8443"], discovery.fresh_endpoints())
+    self.assertEqual([], discovery.fresh_endpoints(max_age_s=-1))
+
+  def test_fresh_peers_carry_the_announcing_app_id(self):
+    discovery = LocalDiscovery()
+    discovery._handle(self.BEACON, "10.0.0.7")
+    self.assertEqual([("ws://10.0.0.7:8443", "phone-1")], discovery.fresh_peers())
+
+
+class TestEnrollmentTransportValue(OpenpilotTestCase):
+  """The exact bytes the app pushes, kept in step with the mobile constant."""
+
+  def test_the_transport_value_is_standard_base64(self):
+    self.assertEqual('{"v":3}', base64.b64decode(ENROLLMENT_TRANSPORT_VALUE).decode())

openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py

@@ -4,57 +4,136 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+import base64
+import shutil
+import tempfile
+from unittest import mock
+
+from openpilot.common.params import Params
 from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+from openpilot.sunnypilot.sunnylink.athena.local_params import ENROLL, REVOKE
+
+# The local daemon owns this payload's contents; to the cloud transport it is one opaque value.
+ENROLLMENT_JSON = '{"v":3,"purpose":"sunnylink-local-enroll"}'
 
 
-class TestSunnylinkdMethods(OpenpilotTestCase):
+class TestCloudRpcSurface(OpenpilotTestCase):
+  """The cloud daemon serves settings and must never expose or mutate local trust."""
+
   def setup_method(self):
     self.saved_params = []
-
     self.original_save = sunnylinkd.save_param_from_base64_encoded_string
-
-    def mock_save_param(key, value, compression=False):
-      self.saved_params.append((key, value, compression))
-
-    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param  # ty: ignore[invalid-assignment]
+    sunnylinkd.save_param_from_base64_encoded_string = self._record  # ty: ignore[invalid-assignment]
+    self.daemon = sunnylinkd.Sunnylinkd()
 
   def teardown_method(self):
     sunnylinkd.save_param_from_base64_encoded_string = self.original_save  # ty: ignore[invalid-assignment]
 
+  def _record(self, key, value, compression=False):
+    self.saved_params.append((key, value, compression))
+
+  def test_methods_are_the_cloud_surface_only(self):
+    methods = self.daemon.methods()
+    self.assertTrue("getParams" in methods)
+    self.assertTrue("saveParams" in methods)
+    # Local serving is another process: no local pairing or alias RPC is registered here.
+    for name in ("pairLocalApp", "updateLocalAppAlias", "unpairLocalApp"):
+      self.assertNotIn(name, methods)
+
   def test_saveParams_blocked(self):
     blocked_params = {
       "GithubUsername": "attacker",
       "GithubSshKeys": "ssh-rsa attacker_key",
     }
 
-    sunnylinkd.saveParams(blocked_params)
+    self.daemon.saveParams(blocked_params)
 
     assert len(self.saved_params) == 0
 
   def test_saveParams_allowed(self):
-    allowed_params = {
+    self.daemon.saveParams({
       "SpeedLimitOffset": "5",
-      "MyCustomParam": "123"
-    }
+      "MyCustomParam": "123",
+    })
 
-    sunnylinkd.saveParams(allowed_params)
-
-    # verify content
     assert len(self.saved_params) == 2
     keys_saved = [p[0] for p in self.saved_params]
     assert "SpeedLimitOffset" in keys_saved
     assert "MyCustomParam" in keys_saved
 
   def test_saveParams_mixed(self):
-    mixed_params = {
+    self.daemon.saveParams({
       "GithubUsername": "attacker",
-      "SpeedLimitOffset": "10"
-    }
+      "SpeedLimitOffset": "10",
+    })
 
-    sunnylinkd.saveParams(mixed_params)
-
-    # should save allowed one
     assert len(self.saved_params) == 1
     assert self.saved_params[0][0] == "SpeedLimitOffset"
     assert self.saved_params[0][1] == "10"
+
+  def test_saveParams_cannot_modify_local_trust(self):
+    self.daemon.saveParams({
+      "SunnylinkLocalApps": "attacker registry",
+      "SunnylinkLocalAppsMeta": "attacker metadata",
+      "SunnylinkLocalRevoke": "attacker revoke request",
+      "SunnylinkLocalFutureKey": "attacker key",
+      "_sec_SunnylinkLocalFuture": "attacker secret",
+    })
+    self.assertEqual(self.saved_params, [])
+
+  def test_saveParams_delivers_only_the_two_local_commands(self):
+    self.daemon.saveParams({ENROLL: "ZW5yb2xs", REVOKE: "cmV2b2tl", "SunnylinkLocalApps": "attacker"})
+    self.assertEqual(self.saved_params, [(ENROLL, "ZW5yb2xs", False), (REVOKE, "cmV2b2tl", False)])
+
+  def test_getParams_never_exposes_local_parameters(self):
+    response = self.daemon.getParams(["SunnylinkLocalApps", "SunnylinkLocalAppsMeta",
+                                      "SunnylinkLocalRevoke", ENROLL, REVOKE])
+    self.assertEqual(response, {"params": "[]"})
+
+  def test_getParams_serves_ordinary_settings(self):
+    response = self.daemon.getParams(["SunnylinkEnabled"])
+    self.assertTrue("SunnylinkEnabled" in response)
+
+  def test_getParamsAllKeys_excludes_local_params(self):
+    keys = self.daemon.getParamsAllKeys()
+    for key in ("SunnylinkLocalApps", "SunnylinkLocalAppsMeta", "SunnylinkLocalRevoke",
+                "SunnylinkLocalEnabled", ENROLL, REVOKE):
+      self.assertNotIn(key, keys)
+    self.assertTrue("SpeedLimitValueOffset" in keys)
+
+
+class TestCloudCommandTransport(OpenpilotTestCase):
+  """How an app's local command reaches the device: the cloud settings-write stores it.
+
+  The two commands are ordinary declared params on the cloud path, so the encoding the app
+  already uses (standard base64 of a UTF-8 JSON payload) is decoded by the same helper that
+  every other remotely written param goes through.
+  """
+
+  def setup_method(self):
+    self.dir = tempfile.mkdtemp(prefix="sunnylink_params_")
+    self.addCleanup(shutil.rmtree, self.dir, ignore_errors=True)
+    self.daemon = sunnylinkd.Sunnylinkd(params=Params(self.dir))
+    patcher = mock.patch("openpilot.sunnypilot.sunnylink.utils.Params", lambda: Params(self.dir))
+    patcher.start()
+    self.addCleanup(patcher.stop)
+
+  def test_the_enrollment_lands_as_json_in_its_param(self):
+    self.daemon.saveParams({ENROLL: base64.b64encode(ENROLLMENT_JSON.encode()).decode("ascii")})
+    self.assertEqual(ENROLLMENT_JSON, Params(self.dir).get(ENROLL))
+
+  def test_the_revocation_lands_as_json_in_its_param(self):
+    self.daemon.saveParams({REVOKE: base64.b64encode(b'{"v":2}').decode("ascii")})
+    self.assertEqual('{"v":2}', Params(self.dir).get(REVOKE))
+
+  def test_a_compressed_command_also_arrives_readable(self):
+    import gzip
+    self.daemon.saveParams({ENROLL: base64.b64encode(gzip.compress(ENROLLMENT_JSON.encode())).decode("ascii")},
+                           compression=True)
+    self.assertEqual(ENROLLMENT_JSON, Params(self.dir).get(ENROLL))
+
+  def test_the_cloud_may_not_write_any_other_local_param(self):
+    with mock.patch.object(sunnylinkd, "save_param_from_base64_encoded_string") as save:
+      self.daemon.saveParams({"SunnylinkLocalApps": base64.b64encode(b"{}").decode("ascii")})
+    save.assert_not_called()

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -620,19 +620,6 @@
                 }
               ]
             },
-            {
-              "key": "AccelBoostSP",
-              "widget": "toggle",
-              "title": "Acceleration Boost",
-              "description": "Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first.",
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ]
-            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",

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

@@ -30,12 +30,6 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
-  - key: AccelBoostSP
-    widget: toggle
-    title: Acceleration Boost
-    description: "Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first."
-    enablement:
-    - $ref: '#/macros/longitudinal'
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

openpilot/sunnypilot/sunnylink/utils.py

@@ -2,6 +2,7 @@ import base64
 import gzip
 import json
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.sunnypilot.sunnylink.athena.local_state import is_locally_paired
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.version import is_prebuilt
 
@@ -16,10 +17,10 @@ def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
 
 
 def sunnylink_ready(params=None) -> bool:
-  """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
+  """Enabled, registered or locally paired, and not on temporary fault."""
   params = params or Params()
   is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
-  return is_sunnylink_enabled and is_registered and not is_on_temporary_fault
+  return is_sunnylink_enabled and (is_registered or is_locally_paired(params)) and not is_on_temporary_fault
 
 
 def use_sunnylink_uploader(params) -> bool:
@@ -28,10 +29,10 @@ def use_sunnylink_uploader(params) -> bool:
 
 
 def sunnylink_need_register(params=None) -> bool:
-  """Check if the device needs to be registered with Sunnylink."""
+  """Enabled, unregistered, and not locally paired."""
   params = params or Params()
   is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
-  return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault
+  return is_sunnylink_enabled and not is_registered and not is_locally_paired(params) and not is_on_temporary_fault
 
 
 def register_sunnylink():

openpilot/system/manager/process_config.py

@@ -74,6 +74,9 @@ def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
 def use_copyparty(started, params, CP: car.CarParams) -> bool:
   return bool(params.get_bool("EnableCopyparty"))
 
+def localsunnylinkd_enabled(started, params, CP: car.CarParams) -> bool:
+  return params.get_bool("SunnylinkEnabled") and params.get_bool("SunnylinkLocalEnabled")
+
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""
   return sunnylink_ready(params)
@@ -166,6 +169,7 @@ procs = [
 
   # sunnylink <3
   DaemonProcess("manage_sunnylinkd", "openpilot.sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
+  PythonProcess("localsunnylinkd", "openpilot.sunnypilot.sunnylink.athena.localsunnylinkd", localsunnylinkd_enabled),
   PythonProcess("sunnylink_registration_manager", "openpilot.sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
   PythonProcess("statsd_sp", "openpilot.sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]
@@ -186,9 +190,6 @@ procs += [
 
   # locationd
   NativeProcess("locationd_llk", "openpilot/sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
-
-  # achievements: read-only stats and unlocks, saved on the device
-  PythonProcess("achievementsd", "openpilot.sunnypilot.achievements.achievementsd", only_onroad),
 ]
 
 if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):

release/ci/model_generator.py

@@ -13,41 +13,26 @@ from pathlib import Path
 from datetime import datetime, UTC
 
 
-_VERSION_REGEX = re.compile(r'^(?:\d+[a-zA-Z]+|\d+[vVbB]\d+|[vVbB]\d+|\d{4})$')
-_DECIMAL_VERSION_REGEX = re.compile(r'^([vVbB]?)(\d+(?:\.\d+)+)$')
-
-
-def _version(word: str) -> str | None:
-  match = _DECIMAL_VERSION_REGEX.match(word.strip('()[]{}.,;:'))
-  if match:
-    return match.group(1).upper() + match.group(2)
-  stripped = re.sub(r'[^a-zA-Z0-9]', '', word)
-  return stripped.upper() if _VERSION_REGEX.match(stripped) else None
-
-
-def _truncate(short_name: str) -> str:
-  return short_name[:8].rstrip('.')
-
-
 def create_short_name(full_name: str) -> str:
-  # Remove parentheses and extract alphanumeric words, keeping decimals for versioning
+  # Remove parentheses and extract alphanumeric words
   clean_name = re.sub(r'\([^)]*\)', '', full_name)
-  words = [re.sub(r'[^a-zA-Z0-9.]', '', word) for word in clean_name.split()]
-  words = [word for word in words if word]
+  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
 
   if len(words) == 1:
-    return _truncate((_version(words[0]) or words[0]).upper())
+    return words[0][:8].upper()
 
-  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1", "Model v1.1" -> "ModelV1.1")
-  if len(words) == 2 and re.match(r'^[A-Za-z]?\d+$', words[1]):
-    return _truncate((words[0] + (_version(words[1]) or words[1])).upper())
+  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
+  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
+    return (words[0] + words[1])[:8].upper()
 
   result = ""
   for word in words:
     # Version or number patterns
-    version = _version(word)
-    if version:
-      result += version
+    if (re.match(r'^\d+[a-zA-Z]+$', word) or
+        re.match(r'^\d+[vVbB]\d+$', word) or
+        re.match(r'^[vVbB]\d+$', word) or
+        re.match(r'^\d{4}$', word)):
+      result += word.upper()
     # All uppercase abbreviations (2-3 letters)
     elif re.match(r'^[A-Z]{2,3}$', word):
       result += word
@@ -60,7 +45,7 @@ def create_short_name(full_name: str) -> str:
       result += word
     else:
       result += word[0].upper()
-  return _truncate(result)
+  return result[:8]
 
 
 def create_pkl_name(full_name: str) -> str: