Merge branch 'master' into developer-panel-external-storage

.codespellignore

@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO

.idea/customTargets.xml

@@ -21,12 +21,5 @@
         </clean>
       </configuration>
     </target>
-    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
-      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv build tools replay" />
-        </build>
-      </configuration>
-    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,11 +20,4 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
-  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>

.run/Replay for controls + ui.run.xml

@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>

.run/replay for controls.run.xml

@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

openpilot/cereal/custom.capnp

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

openpilot/common/version.py

@@ -37,8 +37,6 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "release3-staging"): "release-tizi-staging",
   ("mici", "release3"): "release-mici",
   ("mici", "release3-staging"): "release-mici-staging",
-  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
-  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }
 
 BUILD_METADATA_FILENAME = "build.json"

openpilot/selfdrive/selfdrived/selfdrived.py

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

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

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

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

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

openpilot/sunnypilot/modeld_v2/modeld.py

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

openpilot/sunnypilot/modeld_v2/tests/test_fallback.py

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

openpilot/sunnypilot/models/default_model.py

@@ -1,14 +1,11 @@
 import argparse
 import os
 import hashlib
-import requests
-import re
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
-from openpilot.sunnypilot.models.fetcher import ModelFetcher
 
 
 def get_default_model() -> str:
@@ -33,29 +30,14 @@ def update_model_hash():
   print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
 
-def get_ref_for_name(url: str, name: str) -> str:
-  response = requests.get(url, timeout=10)
-  if response.status_code == 200:
-    bundles = response.json()["bundles"]
-    matching = [b for b in bundles if re.search(name, f"{b['short_name']} {b['display_name']}", re.IGNORECASE)]
-    if matching:
-      return max(matching, key=lambda b: int(b["index"]))["ref"]
-  return ""
-
-
 def update_default_model_names(default_model_name: str, default_big_model_name: str):
   print("[CHANGE DEFAULT MODEL NAMES]")
-  small_ref = get_ref_for_name(ModelFetcher.MODEL_URL, default_model_name)
-  big_ref = get_ref_for_name(ModelFetcher.MODEL_URL_CHESTNUT, default_big_model_name)
-
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
     f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
-    f.write(f'DEFAULT_MODEL_REF = "{small_ref}"\n')
     f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
-    f.write(f'DEFAULT_BIG_MODEL_REF = "{big_ref}"\n')
 
-  print(f'New default small model name: "{default_model_name}" (ref: {small_ref})')
-  print(f'New default big model name: "{default_big_model_name}" (ref: {big_ref})')
+  print(f'New default small model name: "{default_model_name}"')
+  print(f'New default big model name: "{default_big_model_name}"')
   print("[DONE]")
 
 

openpilot/sunnypilot/models/manager.py

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

openpilot/sunnypilot/models/model_name.py

@@ -1,4 +1,2 @@
 DEFAULT_MODEL = "CD210"
-DEFAULT_MODEL_REF = "5b6436a90cf6902b8aaa71c2b6f3d7164d8ae391"
 DEFAULT_BIG_MODEL = "Lebowski"
-DEFAULT_BIG_MODEL_REF = "fa0c6876d3cf070e91e25e5353ceadc68a5b3285"

openpilot/sunnypilot/selfdrive/selfdrived/events.py

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