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2026-09-01 08:33:44 +08:00 · 2026-08-28 21:11:29 -04:00
13 changed files with 49 additions and 2511 deletions
@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO
@@ -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>
@@ -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$" />
-    </exec>
-  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$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$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$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$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$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>
@@ -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"
@@ -41,12 +41,7 @@ def _compute_hash(file_path: str) -> str | None:
    return None


-async def verify_file(file_path: str, expected_hash: str) -> bool:
-  file_hash = _compute_hash(file_path)
-  return file_hash == expected_hash.lower() if file_hash else False
-
-
-def _verify_file(file_path: str, expected_hash: str) -> bool:
+def verify_file(file_path: str, expected_hash: str) -> bool:
  file_hash = _compute_hash(file_path)
  return file_hash == expected_hash.lower() if file_hash else False

@@ -81,7 +76,7 @@ def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[s

 def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
  model_root = Paths.model_root()
-  return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
+  return all(verify_file(os.path.join(model_root, file_name), expected_hash)
             for file_name, expected_hash in _bundle_artifacts(bundle))


@@ -10,6 +10,7 @@ import os
 import time

 import requests
+from openpilot.common.file_chunker import get_chunk_name
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
@@ -22,6 +23,8 @@ from openpilot.sunnypilot.models.helpers import (ACTIVE_BUNDLE_KEYS, get_active_

 # (connect, read) seconds. read is per-request inactivity, not a total cap
 DOWNLOAD_TIMEOUT = (30, 30)
+# how many download+verify rounds before giving up on a chunk that won't verify
+MAX_CHUNK_VERIFY_ATTEMPTS = 3


 class DownloadCancelled(Exception):
@@ -153,6 +156,35 @@ class ModelManagerSP:
      os.remove(base_path)
    del self._download_start_times[artifact.fileName]

+  async def _verify_chunks_parallel(self, artifact, full_path: str) -> set[int]:
+    num_chunks = len(artifact.chunks)
+    start = time.monotonic()
+    futures = []
+    chunk_index: dict[asyncio.Future, int] = {}
+    for i, chunk in enumerate(artifact.chunks):
+      fut = asyncio.ensure_future(asyncio.to_thread(verify_file, get_chunk_name(full_path, i, num_chunks), chunk.sha256))
+      futures.append(fut)
+      chunk_index[fut] = i
+
+    valid_chunks: set[int] = set()
+    pending = set(futures)
+    while pending:
+      if self._download_interrupted():
+        for t in pending:
+          t.cancel()
+        raise DownloadCancelled("Download cancelled")
+      done, pending = await asyncio.wait(pending, return_when=asyncio.FIRST_COMPLETED)
+      for fut in done:
+        if fut.result():
+          valid_chunks.add(chunk_index[fut])
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.verifying
+      artifact.downloadProgress.progress = (len(valid_chunks) / num_chunks) * 100
+      self._sync_artifact_progress(artifact)
+      self._report_status()
+    elapsed = time.monotonic() - start
+    cloudlog.info(f"Verified {len(valid_chunks)}/{num_chunks} chunks of {artifact.fileName} in {elapsed:.2f}s")
+    return valid_chunks
+
  async def _process_artifact(self, artifact, destination_path: str) -> None:
    if not artifact.downloadUri.uri:
      return None
@@ -170,20 +202,10 @@ class ModelManagerSP:
      is_cached = False
      valid_chunks: set[int] = set()
      if len(artifact.chunks) > 0:
-        from openpilot.common.file_chunker import get_chunk_name
-        num_chunks = len(artifact.chunks)
-        for i, chunk in enumerate(artifact.chunks):
-          if self._download_interrupted():
-            raise DownloadCancelled("Download cancelled")
-          if await verify_file(get_chunk_name(full_path, i, num_chunks), chunk.sha256):
-            valid_chunks.add(i)
-          artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.verifying
-          artifact.downloadProgress.progress = (len(valid_chunks) / num_chunks) * 100
-          self._sync_artifact_progress(artifact)
-          self._report_status()
-        is_cached = len(valid_chunks) == num_chunks
+        valid_chunks = await self._verify_chunks_parallel(artifact, full_path)
+        is_cached = len(valid_chunks) == len(artifact.chunks)
      else:
-        if await verify_file(full_path, expected_hash):
+        if verify_file(full_path, expected_hash):
          is_cached = True

      if is_cached:
@@ -195,15 +217,18 @@ class ModelManagerSP:
        return

      if len(artifact.chunks) > 0:
-        await self._download_chunked(url, full_path, artifact, skip=valid_chunks)
-        from openpilot.common.file_chunker import get_chunk_name
-        for i, chunk in enumerate(artifact.chunks):
-          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
-          if not await verify_file(chunk_path, chunk.sha256):
-            raise ValueError(f"Hash validation failed for chunk {i+1} of {filename}")
+        attempts = 0
+        while len(valid_chunks) < len(artifact.chunks):
+          attempts += 1
+          cloudlog.warning(f"Re-downloading {len(artifact.chunks) - len(valid_chunks)} invalid chunk(s) of {filename} (attempt {attempts})")
+          await self._download_chunked(url, full_path, artifact, skip=valid_chunks)
+          valid_chunks = await self._verify_chunks_parallel(artifact, full_path)
+          if len(valid_chunks) < len(artifact.chunks) and attempts >= MAX_CHUNK_VERIFY_ATTEMPTS:
+            missing = next(i for i in range(len(artifact.chunks)) if i not in valid_chunks)
+            raise ValueError(f"Hash validation failed for chunk {missing+1} of {filename} after {attempts} attempts")
      else:
        await self._download_file(url, full_path, artifact)
-        if not await verify_file(full_path, expected_hash):
+        if not verify_file(full_path, expected_hash):
          raise ValueError(f"Hash validation failed for {filename}")

      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded