convert to sp and fix parsing

# Conflicts:
#	opendbc_repo

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

@@ -103,25 +103,20 @@ jobs:
       - run: |
           cd ${{ github.workspace }}/openpilot/openpilot
           if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
+            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
             rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
           else
-            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
+            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
             find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
           fi
-          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
-            echo "::error::the ONNX files above are still LFS pointers, not real models"
-            exit 1
-          fi
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
           path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
-          if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, usbgpu]
+    runs-on: [self-hosted, tici]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -132,6 +127,7 @@ jobs:
           fetch-depth: 1
           submodules: recursive
 
+      - run: git lfs pull
 
       - name: Set environment variables
         id: set-env
@@ -164,7 +160,7 @@ jobs:
           fi
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx
 
       - name: Download model artifacts
         uses: actions/download-artifact@v4
@@ -184,7 +180,6 @@ jobs:
           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}')")
 
-          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
@@ -192,40 +187,27 @@ jobs:
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
-            TG_FLAGS="$TG_FLAGS_QCOM"
+            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
           fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
             echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
           # Detect model type and build compile args
-          VISION_ONNX=""
+          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-            [ -f "$f" ] && VISION_ONNX="$f" && break
+          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          done
+          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-
-          POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
-            [ -f "$f" ] && POLICY_ONNX="$f" && break
-          done
-
-          OFF_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
-            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
-          done
-
-          ON_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
-            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
-          done
-
           SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
-            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
           done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""

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

@@ -4,8 +4,12 @@ env:
   BUILD_DIR: "/data/openpilot"
   OUTPUT_DIR: ${{ github.workspace }}/output
   CI_DIR: ${{ github.workspace }}/release/ci
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
 
+  # Branch configurations
+  STAGING_SOURCE_BRANCH: 'master'
+
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
@@ -105,6 +109,11 @@ jobs:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
+    outputs:
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
     if: ${{
       (always() && !cancelled() && !failure()) &&
       needs.prepare_strategy.result == 'success' &&
@@ -120,8 +129,26 @@ jobs:
           repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
       - name: Set environment variables
+        id: set-env
         run: |
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
+          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
+
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -130,6 +157,9 @@ jobs:
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
           uv sync
           printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
 
       - name: Setup build environment
         run: |
@@ -138,7 +168,7 @@ jobs:
           echo "Starting build stage..."
           echo "BUILD_DIR: ${BUILD_DIR}"
           echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ needs.prepare_strategy.outputs.version }}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
           echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
           echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
           echo "-------"
@@ -150,44 +180,61 @@ jobs:
 
       - name: Build Main Project
         run: |
-          export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+          export PYTHONPATH="$BUILD_DIR"
-          ./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          # outside the checkout, which is wiped each run. /data/scons_cache is the device's, not ours.
-          SCONS_CACHE="$RUNNER_WORKSPACE/scons_cache"
-          mkdir -p "$SCONS_CACHE"
           cd $BUILD_DIR
-          echo "Building locationd..."
+          ln -sfn msgq_repo/msgq msgq
-          # -j1: parallel rednose generators OOM the device
+          ln -sfn opendbc_repo/opendbc opendbc
-          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
+          ln -sfn rednose_repo/rednose rednose
-            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
+          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          echo "Building sunnypilot's modeld_v2..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
+          echo "Building sunnypilot's locationd..."
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
+          echo "Building openpilot's locationd..."
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
-          /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
             ls -la ${BUILD_DIR}
           fi
 
-      - name: Strip release tree
+      - name: Prepare Output
         run: |
-          cd $BUILD_DIR
+          sudo rm -rf ${OUTPUT_DIR}
-          find . -name '*.a' -delete
+          mkdir -p ${OUTPUT_DIR}
-          find . -name '*.o' -delete
+          rsync -am${RUNNER_DEBUG:+v} \
-          find . -name '*.os' -delete
+            --exclude='.sconsign.dblite' \
-          find . -name '*.pyc' -delete
+            --exclude='*.a' \
-          find . -name 'moc_*' -delete
+            --exclude='*.o' \
-          find . -name '__pycache__' -type d -exec rm -rf {} +
+            --exclude='*.os' \
-          find . -name 'SConstruct' -delete
+            --exclude='*.pyc' \
-          find . -name 'SConscript' -delete
+            --exclude='moc_*' \
-          rm -rf .sconsign.dblite Jenkinsfile tools/release/ release/
+            --exclude='__pycache__' \
-          rm -f openpilot/selfdrive/modeld/models/*.onnx*
+            --exclude='Jenkinsfile' \
-          rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
+            --exclude='**/release/' \
-          find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
+            --exclude='**/.github/' \
-          find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
-          cd -
+            --exclude='**/__pycache__/' \
+            --exclude='${{env.SCONS_CACHE_DIR}}' \
+            --exclude='**/.git/' \
+            --exclude='**/SConstruct' \
+            --exclude='**/SConscript' \
+            --exclude='**/.venv/' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ${BUILD_DIR}/ ${OUTPUT_DIR}/
 
       - name: 'Tar.gz files'
         run: |
-          tar czf prebuilt.tar.gz -C ${{ env.BUILD_DIR }} .
+          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
           ls -la prebuilt.tar.gz
 
       - name: 'Upload Artifact'
@@ -195,7 +242,6 @@ jobs:
         with:
           name: prebuilt
           path: prebuilt.tar.gz
-          compression-level: 0
 
       - name: Re-enable powersave
         if: always()
@@ -237,22 +283,29 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |
-          echo '${{ toJSON(needs.prepare_strategy.outputs) }}'
+          echo '${{ toJSON(needs.build.outputs) }}'
           ls -la ${{ env.OUTPUT_DIR }}
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \
             "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.prepare_strategy.outputs.new_branch }}" \
+            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.prepare_strategy.outputs.version }}" \
+            "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"
+
+          echo ""
+          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
+          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
 
       - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
         if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
         run: |
             TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.prepare_strategy.outputs.build }}."
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
             git push -f origin ${TAG}
 
   notify:
@@ -271,6 +324,7 @@ jobs:
       - name: Prepare notification message
         id: message
         run: |
+          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
           export VERSION="${{ needs.prepare_strategy.outputs.version }}"
           export branch_name="${{ env.SOURCE_BRANCH }}"
           export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
@@ -319,7 +373,7 @@ jobs:
               owner: context.repo.owner,
               repo: context.repo.repo,
               issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
             });
 
             console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/ui_preview.yaml

@@ -25,8 +25,7 @@ env:
 
 jobs:
   preview:
-    if: false # tmp disable due to GH API rate limiting flakiness
+    if: github.repository == 'sunnypilot/sunnypilot'
-    #if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -49,8 +49,9 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
       max_accel = min(max_accel, coast_limit)
 
   target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
-  j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+  if not e2e:
-  target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
+    j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+    target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
 
   return target_accel
 
@@ -64,9 +65,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.dt = dt
     self.allow_throttle = True
 
+    self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.a_cruise = init_a
+    self.a_cruise = 0.0
-    self.output_a_target = init_a
+    self.output_a_target = 0.0
     self.output_should_stop = False
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -103,8 +105,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     if reset_state:
       self.v_desired_filter.x = v_ego
-      self.output_a_target = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
+      self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
-      self.a_cruise = self.output_a_target
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -112,11 +113,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    # Get new v_cruise and a_target from Smart Cruise Control and Speed Limit Assist
+    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
-    v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)
+    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
+    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -129,7 +130,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       cloudlog.info("FCW triggered")
 
     # Save starting point for next iteration
-    a_prev = self.output_a_target
+    a_prev = self.a_desired
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     output_a_target_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
@@ -154,6 +155,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
     self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)
 
+    self.a_desired = float(self.output_a_target)
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0
 
   def publish(self, sm, pm):

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

@@ -22,9 +22,9 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR
 
 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction, ScrollingButtonAction
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
 from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.download_status import download_status_item
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 
 if gui_app.sunnypilot_ui():
@@ -35,8 +35,9 @@ class ModelsLayout(Widget):
   def __init__(self):
     super().__init__()
     self.model_manager = None
+    self.download_status = None
+    self.prev_download_status = None
     self.model_dialog = None
-    self._downloading = False
     self.last_cache_calc_time = 0
 
     self._initialize_items()
@@ -51,11 +52,15 @@ class ModelsLayout(Widget):
     self.current_model_item = ListItemSP(
       title=tr("Current Model"),
       description="",
-      action_item=ScrollingButtonAction(tr("SELECT")),
+      action_item=NoElideButtonAction(tr("SELECT")),
       callback=self._handle_current_model_clicked
     )
 
-    self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))
+    self.supercombo_label = progress_item(tr("Driving Model"))
+    self.vision_label = progress_item(tr("Vision Model"))
+    self.policy_label = progress_item(tr("Policy Model"))
+    self.off_policy_label = progress_item(tr("Off-Policy Model"))
+    self.on_policy_label = progress_item(tr("On-Policy Model"))
 
     self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
                                     lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
@@ -93,7 +98,8 @@ class ModelsLayout(Widget):
                                         1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                         lambda v: f"{v / 100:.2f} m")
 
-    self.items = [self.current_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
+    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
+                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
                   self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
 
   def _update_lagd_description(self, lagd_toggle: bool):
@@ -129,9 +135,14 @@ class ModelsLayout(Widget):
     gui_app.push_widget(dialog)
 
   def _handle_bundle_download_progress(self):
-    self.download_item.set_visible(False)
+    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
+              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
+              custom.ModelManagerSP.Model.Type.policy: self.policy_label,
+              custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
+              custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
+    for label in labels.values():
+      label.set_visible(False)
     self.cancel_download_item.set_visible(False)
-    self._downloading = False
 
     if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
       return
@@ -142,41 +153,32 @@ class ModelsLayout(Widget):
     if not bundle:
       return
 
+    self.download_status = bundle.status
+    status_changed = self.prev_download_status != self.download_status
+    self.prev_download_status = self.download_status
+
     self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and ui_state.params.get("ModelManager_DownloadIndex") is not None)
 
     if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
       self.last_cache_calc_time = current_time
       self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
-    if bundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
+    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
       device._reset_interactive_timeout()
 
-    # every bundle is a single chunked artifact now
+    for model in bundle.models:
-    progresses = [model.artifact.downloadProgress for model in bundle.models if model.artifact.fileName]
+      if label := labels.get(getattr(model.type, 'raw', model.type)):
-    if not progresses:
+        label.set_visible(True)
-      return
+        p = model.artifact.downloadProgress
-
+        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
-    self.download_item.set_visible(True)
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
-    self.download_item.action_item.update(**self._download_row_state(progresses, bundle.internalName))
+          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
-    self._downloading = self.download_item.action_item.downloading
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
-
+          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
-  @staticmethod
+          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
-  def _download_row_state(progresses, name: str) -> dict:
+        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
-    """Maps a bundle's artifact progress to DownloadStatusAction.update kwargs."""
+          text, color = f"download failed - {bundle.displayName}", rl.RED
-    # .raw: _DynamicEnum equals its int but does not hash like it
+        label.action_item.update(p.progress, text, show, color)
-    statuses = {getattr(p.status, 'raw', p.status) for p in progresses}
-    progress = sum(p.progress for p in progresses) / len(progresses)
-    ds = custom.ModelManagerSP.DownloadStatus
-
-    if ds.failed in statuses:
-      # close.png is authored black and a tint cannot lift it, hence close2
-      return {"name": name, "status_text": tr("download failed"), "text_color": rl.RED, "icon": "icons/close2.png"}
-    if ds.downloading in statuses:
-      return {"name": name, "downloading": True, "progress": progress}
-    if statuses <= {ds.downloaded, ds.cached}:
-      return {"name": name, "text_color": ON_COLOR, "icon": "icons/checkmark.png"}
-    # circled_slash is authored grey; tinting it again only darkens it
-    return {"name": name, "text_color": rl.GRAY, "icon": "icons/circled_slash.png", "icon_color": rl.WHITE}
 
   @staticmethod
   def _show_reset_params_dialog():
@@ -249,7 +251,7 @@ class ModelsLayout(Widget):
     self._update_lagd_description(live_delay)
     self.model_manager = ui_state.sm["modelManagerSP"]
     self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.displayName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
     self.current_model_item.action_item.set_value(active_name)
 
     if not ui_state.is_offroad():

openpilot/sunnypilot/livedelay/helpers.py

@@ -8,10 +8,7 @@ from openpilot.common.params import Params
 
 
 def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
-# live learning on: use what lagd publishes.
-# off: use the fixed steerActuatorDelay + software delay sum that LagdToggle caches.
-
   if params.get_bool("LagdToggle"):
-    return stock_lat_delay
+    return float(params.get("LagdValueCache", return_default=True))
 
-  return float(params.get("LagdValueCache", return_default=True))
+  return stock_lat_delay

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -117,8 +117,7 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
   }
 
   if features_buffer:
-    feat_q_len = frame_skip * features_buffer[1] if is_supercombo else frame_skip * (features_buffer[1] - 1) + 1
+    queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-    queues['feat_q'] = Tensor(np.zeros((feat_q_len, features_buffer[0], features_buffer[2]),
                        dtype=np.float32), device=device).contiguous().realize()
 
   queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
@@ -272,17 +271,18 @@ def _parse_size(size_str: str) -> tuple[int, int]:
   return int(width), int(height)
 
 
-def read_file_chunked_to_disk(path):
+def read_file_chunked_to_shm(path):
   if not path:
     return None
   import atexit
   import shutil
   from openpilot.common.file_chunker import open_file_chunked
-  tmp_path = f'{path}.unchunked'
+  from openpilot.common.hardware.hw import Paths
-  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
-    shutil.copyfileobj(src, f)
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
-  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
+  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
-  return tmp_path
+    shutil.copyfileobj(src, dst)
+  return shm_path
 
 
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
@@ -326,11 +326,11 @@ if __name__ == "__main__":
   model_w, model_h = args.model_size
   output_data = {}
 
-  args.vision_onnx = read_file_chunked_to_disk(args.vision_onnx)
+  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
-  args.policy_onnx = read_file_chunked_to_disk(args.policy_onnx)
+  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
-  args.off_policy_onnx = read_file_chunked_to_disk(args.off_policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
-  args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
-  args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)
+  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
 
   vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
 

openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py

@@ -5,15 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import os
-import tempfile
-from pathlib import Path
-
 import numpy as np
 from openpilot.common.parameterized import parameterized
 
-from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key, read_file_chunked_to_disk
 from openpilot.common.test import OpenpilotTestCase
 
 
@@ -165,33 +160,3 @@ class TestOutputSlicePreservation(OpenpilotTestCase):
     policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
     assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
       "vision and policy slices should not overlap in keys"
-
-
-class TestReadFileChunkedToDisk(OpenpilotTestCase):
-  def test_none_passthrough(self):
-    assert read_file_chunked_to_disk(None) is None
-
-  def test_unchunked_source_staged_on_disk(self):
-    with tempfile.TemporaryDirectory() as d:
-      src = Path(d) / "driving_supercombo.onnx"
-      payload = os.urandom(1024)
-      src.write_bytes(payload)
-
-      out = Path(read_file_chunked_to_disk(str(src)))
-
-      assert out.parent == Path(d)
-      assert out.name == "driving_supercombo.onnx.unchunked"
-      assert out.read_bytes() == payload
-
-  def test_chunked_source_reassembled_on_disk(self):
-    with tempfile.TemporaryDirectory() as d:
-      src = Path(d) / "driving_supercombo.onnx"
-      payload = os.urandom(4096)
-      src.write_bytes(payload)
-      chunk_file(str(src), get_chunk_targets(str(src), len(payload)))
-      assert not src.exists()
-
-      out = Path(read_file_chunked_to_disk(str(src)))
-
-      assert out.parent == Path(d)
-      assert out.read_bytes() == payload

openpilot/sunnypilot/models/default_model.py

@@ -4,13 +4,7 @@ import hashlib
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
-from openpilot.selfdrive.modeld.helpers import usbgpu_present
+from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
-from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
-
-
-def get_default_model() -> str:
-  return DEFAULT_BIG_MODEL if usbgpu_present() else DEFAULT_MODEL
-
 
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
@@ -19,6 +13,7 @@ SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld",
 
 def update_model_hash():
   supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
+
   combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
@@ -27,28 +22,40 @@ def update_model_hash():
   print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
 
-def update_default_model_names(default_model_name: str, default_big_model_name: str):
+def get_current_default_model_name():
-  print("[CHANGE DEFAULT MODEL NAMES]")
+  print("[GET DEFAULT MODEL NAME]")
-  with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
+  name = DEFAULT_MODEL
-    f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
+  print(f'Current default model name: "{name}"')
-    f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
 
-  print(f'New default small model name: "{default_model_name}"')
+  return name
-  print(f'New default big model name: "{default_big_model_name}"')
+
+
+def update_default_model_name(name: str):
+  print("[CHANGE DEFAULT MODEL NAME]")
+  with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
+    f.write(f'DEFAULT_MODEL = "{name}"\n')
+  print(f'New default model name: "{name}"')
   print("[DONE]")
 
 
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Update default model names and hash")
+  parser = argparse.ArgumentParser(description="Update default model name and hash")
-  parser.add_argument("--new_small_model_name", type=str, help="New default small model name")
+  parser.add_argument("--new_name", type=str, help="New default model name")
-  parser.add_argument("--new_big_model_name", type=str, help="New default big model name")
   args = parser.parse_args()
 
-  if args.new_small_model_name is None and args.new_big_model_name is None:
+  if not args.new_name:
-    new_name = input(f'Enter new default small model name (current: "{DEFAULT_MODEL}", leave empty to keep): ').strip()
+    print("Warning: No new default model name provided. Use --new_name to specify")
-    new_big_model_name = input(f'Enter new default big model name (current: "{DEFAULT_BIG_MODEL}", leave empty to keep): ').strip()
+    print("Default model name and hash will not be updated! (aborted)")
-  else:
+    exit(0)
-    new_name, new_big_model_name = args.new_small_model_name, args.new_big_model_name
 
-  update_default_model_names(new_name or DEFAULT_MODEL, new_big_model_name or DEFAULT_BIG_MODEL)
+  current_name = get_current_default_model_name()
+  new_name = args.new_name
+  if current_name == new_name:
+    print(f'Proposed default model name: "{new_name}"')
+    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
+    if confirm != "Y":
+      print("Default model name and hash will not be updated! (aborted)")
+      exit(0)
+
+  update_default_model_name(new_name)
   update_model_hash()

openpilot/sunnypilot/models/fetcher.py

@@ -140,8 +140,8 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v20.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json"
-  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v21.json"
+  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"
 
   def __init__(self, params: Params):
     self.params = params

openpilot/sunnypilot/models/model_name.py

@@ -1,2 +1 @@
 DEFAULT_MODEL = "CD210"
-DEFAULT_BIG_MODEL = "Lebowski"

openpilot/sunnypilot/models/tests/test_default_model.py

@@ -20,4 +20,4 @@ class TestDefaultModel(OpenpilotTestCase):
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()
 
-    assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"
+    assert combined_hash == current_hash, "Run sunnypilot/models/default_model.py to update the default model name and hash"

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -28,7 +28,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection, WebSocketConnectionClosedException)
 
 import openpilot.cereal.messaging as messaging
-from openpilot.sunnypilot.models.default_model import get_default_model
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 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
@@ -181,7 +181,7 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
-    schema["default_model"] = get_default_model()
+    schema["default_model"] = DEFAULT_MODEL
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:

openpilot/system/hardware/hardwared.py

@@ -16,7 +16,6 @@ from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, usbgpu_compiled
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
@@ -239,7 +238,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = FanController(int(1./DT_HW))
   chestnut = Chestnut()
-  big_model_available = (MODELS_DIR / 'big_driving_supercombo.onnx').is_file() or usbgpu_compiled()
+  big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) or \
+                        os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest"))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)

openpilot/system/manager/github_runner.sh

@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+
+# Define the service name
+SERVICE_NAME="actions.runner.sunnypilot.$(uname -n)"
+
+# Function to control the service
+control_service() {
+    local action=$1  # Store the function argument in a local variable
+    sudo systemctl $action ${SERVICE_NAME}
+}
+
+service_exists_and_is_loaded() {
+    sudo systemctl status ${SERVICE_NAME} &>/dev/null
+    if [[ $? -ne 4 ]]; then
+        return 0  # Service is known to systemd (i.e., loaded)
+    else
+        return 1  # Service is unknown to systemd (i.e., not loaded)
+    fi
+}
+
+# Check for required argument
+if [[ -z $1 ]] || { [[ $1 != "start" ]] && [[ $1 != "stop" ]]; }; then
+    echo "Usage: $0 {start|stop}"
+    exit 1
+fi
+
+# Store the script argument in a descriptive variable
+ACTION=$1
+
+# Trap EXIT signal (Ctrl+C) and stop the service
+trap 'control_service stop ; exit' SIGINT SIGKILL EXIT
+
+# Enter the main loop
+while true; do
+    # Check if the service is actually present on the system
+    if service_exists_and_is_loaded; then
+        control_service $ACTION  # Call the function with the specified action
+    fi
+    sleep 1  # Pause before the next iteration
+done

openpilot/system/manager/process_config.py

@@ -68,6 +68,10 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
   return params.get_bool("IsLiveStreaming")
 
+def use_github_runner(started, params, CP: car.CarParams) -> bool:
+  return not PC and params.get_bool("EnableGithubRunner") and (
+    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
+
 def use_copyparty(started, params, CP: car.CarParams) -> bool:
   return bool(params.get_bool("EnableCopyparty"))
 
@@ -185,6 +189,10 @@ procs += [
   NativeProcess("locationd_llk", "openpilot/sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]
 
+if os.path.exists("./github_runner.sh"):
+  procs += [NativeProcess("github_runner_start", "openpilot/system/manager",
+                          ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
+
 if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "openpilot.sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 

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

@@ -4,15 +4,7 @@ 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 collections.abc import Callable
-
-import pyray as rl
-
-from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.list_view import BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, _resolve_value
 
 
 class NoElideButtonAction(ButtonActionSP):
@@ -20,38 +12,6 @@ class NoElideButtonAction(ButtonActionSP):
     return super().get_width_hint() + 1
 
 
-class ScrollingButtonAction(ButtonActionSP):
-  """ButtonActionSP whose value scrolls instead of eliding when it doesn't fit."""
-
-  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH,
-               enabled: bool | Callable[[], bool] = True):
-    super().__init__(text=text, width=width, enabled=enabled)
-    self._value_label = UnifiedLabel("", font_size=style.ITEM_TEXT_FONT_SIZE, font_weight=FontWeight.NORMAL,
-                                     text_color=self._value_color, scroll=True,
-                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
-    if self.value != _resolve_value(value, ""):
-      self._value_label.reset_scroll()
-    super().set_value(value, color)
-    self._value_label.set_text(value)
-    self._value_label.set_text_color(color)
-
-  def _render(self, rect: rl.Rectangle) -> bool:
-    """Duplicate of ButtonActionSP._render, with the value drawn by a scrolling label"""
-    self._button.set_text(self.text)
-    self._button.set_enabled(_resolve_value(self.enabled))
-    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
-    self._button.render(button_rect)
-
-    if self.value:
-      self._value_label.render(rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height))
-
-    pressed = self._pressed
-    self._pressed = False
-    return pressed
-
-
 class AlertFadeAnimator:
   def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
     from openpilot.common.filter_simple import FirstOrderFilter

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

@@ -1,166 +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 math
-
-import numpy as np
-import pyray as rl
-
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.list_view import ItemAction
-
-FONT_SIZE = style.ITEM_TEXT_FONT_SIZE
-ICON_SIZE = 56
-ICON_PADDING = 12
-
-BAR_WIDTH = 1100
-BAR_HEIGHT = 20
-BAR_GAP = 16
-BAR_RADIUS = BAR_HEIGHT / 2
-CAPSULE_POINTS = 24
-
-RAIL_COLOR = rl.Color(60, 60, 60, 255)
-FILL_COLOR = rl.Color(30, 121, 232, 255)
-# rl.WHITE is a tuple; the shimmer path reads .a off the color
-TEXT_COLOR = rl.Color(255, 255, 255, 255)
-
-SWEEP_SPEED = 550.0  # px/s
-SWEEP_BAND = 240.0   # highlight half-width, px
-SWEEP_DIM = 0.65
-
-
-class DownloadStatusAction(ItemAction):
-  """Model download row: a name + percent over a progress rail while downloading, a name + icon otherwise."""
-
-  def __init__(self):
-    super().__init__(width=BAR_WIDTH)
-    self.name = ""
-    self.status_text = ""
-    self.downloading = False
-    self.text_color = rl.GRAY
-    self.icon: str | None = None
-    self.icon_color: rl.Color | None = None
-    self._font = gui_app.font(FontWeight.NORMAL)
-    # raw progress arrives in steps, one per 128KB chunk the manager publishes
-    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
-    # integrated per frame; (t * speed) % span jumps whenever the fill width changes
-    self._sweep = 0.0
-
-    self._name_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
-                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-    self._percent_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
-                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
-                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-  def update(self, name, downloading=False, progress=0.0, status_text="", text_color=rl.GRAY, icon=None, icon_color=None):
-    if downloading and not self.downloading:
-      self._name_label.reset_shimmer()
-      self._progress.x = progress
-      self._sweep = 0.0
-    self.name = name
-    self.downloading = downloading
-    self.status_text = status_text
-    self.text_color = text_color
-    self.icon = icon
-    self.icon_color = icon_color
-    self._name_label._shimmer = downloading
-    if downloading:
-      self._progress.update(progress)
-      self._sweep += SWEEP_SPEED / gui_app.target_fps
-
-  @property
-  def _idle_text(self) -> str:
-    return f"{self.name} - {self.status_text}" if self.status_text else self.name
-
-  def get_width_hint(self) -> float:
-    if self.downloading:
-      return BAR_WIDTH
-    width = measure_text_cached(self._font, self._idle_text, FONT_SIZE).x
-    if self.icon:
-      width += ICON_SIZE + ICON_PADDING
-    return width
-
-  def _render(self, rect: rl.Rectangle):
-    if self.downloading:
-      self._render_downloading(rect)
-    else:
-      self._render_idle(rect)
-
-  def _sweep_gradient(self, width: float) -> Gradient:
-    # clearance at both ends keeps the wrap offscreen
-    center = (self._sweep % (width + 2 * SWEEP_BAND)) - SWEEP_BAND
-
-    def band(x: float) -> float:
-      return max(0.0, 1.0 - abs(x - center) / SWEEP_BAND)
-
-    # sampling the corners is exact for a piecewise linear band
-    xs = sorted({0.0, width} | {min(max(center + o, 0.0), width) for o in (-SWEEP_BAND, 0.0, SWEEP_BAND)}, reverse=True)
-    # the gradient axis runs right-to-left in screen space
-    stops = [1.0 - x / width for x in xs]
-    # alpha here is the lift over the SWEEP_DIM base, not the final opacity
-    colors = [rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * band(x))) for x in xs]
-    return Gradient(start=(0.0, 0.0), end=(1.0, 0.0), colors=colors, stops=stops)
-
-  @staticmethod
-  def _capsule(rect: rl.Rectangle) -> np.ndarray:
-    """Rounded-end ribbon so the gradient covers the caps."""
-    r = rect.height / 2
-    cy = rect.y + r
-    top, bottom = [], []
-    for i in range(CAPSULE_POINTS):
-      x = rect.x + rect.width * i / (CAPSULE_POINTS - 1)
-      d = min(x - rect.x, rect.x + rect.width - x, r)
-      h = math.sqrt(max(r * r - (r - d) ** 2, 0.0))
-      top.append((x, cy - h))
-      bottom.append((x, cy + h))
-    return np.array(top + bottom[::-1], dtype=np.float32)
-
-  def _draw_fill(self, rail: rl.Rectangle, fill_width: float):
-    if fill_width <= 0:
-      return
-    fill = rl.Rectangle(rail.x, rail.y, fill_width, rail.height)
-    rl.draw_rectangle_rounded(fill, 1.0, 10, rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * SWEEP_DIM)))
-    draw_polygon(fill, self._capsule(fill), gradient=self._sweep_gradient(fill_width))
-
-  def _render_downloading(self, rect: rl.Rectangle):
-    percent = f"{int(self._progress.x)}%"
-    text_height = measure_text_cached(self._font, percent, FONT_SIZE).y
-    top = rect.y + (rect.height - (text_height + BAR_GAP + BAR_HEIGHT)) / 2
-
-    text_rect = rl.Rectangle(rect.x, top, rect.width, text_height)
-    self._name_label.set_text(self.name)
-    self._name_label.render(text_rect)
-    self._percent_label.set_text(percent)
-    self._percent_label.render(text_rect)
-
-    rail = rl.Rectangle(rect.x, top + text_height + BAR_GAP, rect.width, BAR_HEIGHT)
-    rl.draw_rectangle_rounded(rail, 1.0, 10, RAIL_COLOR)
-    self._draw_fill(rail, max(0.0, min(rect.width, rect.width * (self._progress.x / 100.0))))
-
-  def _render_idle(self, rect: rl.Rectangle):
-    text = self._idle_text
-    text_size = measure_text_cached(self._font, text, FONT_SIZE)
-    right = rect.x + rect.width
-
-    if self.icon:
-      texture = gui_app.texture(self.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-      rl.draw_texture_v(texture, rl.Vector2(right - texture.width, rect.y + (rect.height - texture.height) / 2),
-                        self.icon_color or self.text_color)
-      right -= texture.width + ICON_PADDING
-
-    rl.draw_text_ex(self._font, text, rl.Vector2(right - text_size.x, rect.y + (rect.height - text_size.y) / 2),
-                    FONT_SIZE, 0, self.text_color)
-
-
-def download_status_item(title):
-  return ListItemSP(title=title, action_item=DownloadStatusAction(), title_color=style.ITEM_TEXT_COLOR)

openpilot/system/webrtc/tests/test_stream_session.py

@@ -7,7 +7,7 @@ from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging, log
 from teleoprtc.tracks import VIDEO_CLOCK_RATE
 
-from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy, ServerState, handle_get_stream
+from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
 
 
@@ -80,8 +80,3 @@ class TestStreamSession(OpenpilotTestCase):
         start_pts = packet.pts
       assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
       assert bytes(packet) == b""
-
-  def test_stream_rejects_non_json_content_type(self):
-    response = self.loop.run_until_complete(handle_get_stream(ServerState(), b"{}", "text/plain"))
-
-    assert response == (415, b'{"error": "unsupported media type"}', "application/json; charset=utf-8")

openpilot/system/webrtc/webrtcd.py

@@ -395,10 +395,7 @@ def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
   return (status, text.encode(), "text/plain; charset=utf-8")
 
 
-async def handle_get_stream(state: ServerState, raw_body: bytes, content_type: str) -> tuple[int, bytes, str]:
+async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
-  if content_type != "application/json":
-    return _json_response({"error": "unsupported media type"}, status=415)
-
   stream_dict = state.streams
   body = StreamRequestBody(**json.loads(raw_body))
 
@@ -511,7 +508,7 @@ class WebrtcdHandler(BaseHTTPRequestHandler):
         services = parse_qs(parsed.query).get("services", [""])[0]
         result = self._run(handle_get_schema(self.server.state, services))
       elif parsed.path == "/stream":
-        result = self._run(handle_get_stream(self.server.state, self._read_body(), self.headers.get_content_type()))
+        result = self._run(handle_get_stream(self.server.state, self._read_body()))
       else:  # /notify
         try:
           payload = json.loads(self._read_body())
@@ -614,7 +611,7 @@ def webrtcd_thread(host: str, port: int):
 
 def main():
   parser = argparse.ArgumentParser(description="WebRTC daemon")
-  parser.add_argument("--host", type=str, default="127.0.0.1", help="Host to listen on")
+  parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
   parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
   args = parser.parse_args()
 

pyproject.toml

@@ -21,7 +21,7 @@ dependencies = [
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # core
-  "scons==4.10.1",  # 4.11 removed the qt3 tool still used to build Cabana
+  "scons",
   "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "numpy >=2.0",
 

release/ci/install_github_runner.sh

@@ -0,0 +1,260 @@
+#!/usr/bin/env bash
+set -e
+
+# Default values
+DEFAULT_REPO_URL="https://github.com/sunnypilot"
+START_AT_BOOT=false
+RESTORE_MODE=false
+RUNNER_VERSION="2.325.0"
+
+# Parse command line arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --start-at-boot)
+            START_AT_BOOT=true
+            shift
+            ;;
+        --token)
+            GITHUB_TOKEN="$2"
+            shift 2
+            ;;
+        --repo)
+            REPO_URL="$2"
+            shift 2
+            ;;
+        --restore)
+            RESTORE_MODE=true
+            shift
+            ;;
+        *)
+            if [ -z "$GITHUB_TOKEN" ]; then
+                GITHUB_TOKEN="$1"
+            elif [ -z "$REPO_URL" ]; then
+                REPO_URL="$1"
+            fi
+            shift
+            ;;
+    esac
+done
+
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    BASE_DIR="/data/media/0/github"
+else
+    BASE_DIR="/data/github"
+fi
+
+# Constants
+RUNNER_USER="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+RUNNER_DIR="${BASE_DIR}/runner"
+BUILDS_DIR="${BASE_DIR}/builds"
+LOGS_DIR="${BASE_DIR}/logs"
+CACHE_DIR="${BASE_DIR}/cache"
+OPENPILOT_DIR="${BASE_DIR}/openpilot"
+
+# Basic utility functions (no dependencies)
+remount_rw() {
+    sudo mount -o remount,rw /
+}
+
+remount_ro() {
+    sync || true  # Try to sync but continue even if it fails
+    sudo mount -o remount,ro /  # Always try to remount as read-only
+}
+
+# Always ensure we try to remount as read-only on exit
+trap remount_ro EXIT
+
+setup_runner_user() {
+    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+}
+
+create_sudoers_entry() {
+    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
+}
+
+set_directory_permissions() {
+    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
+    sudo chmod -R g+rwx "$BASE_DIR"
+    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
+}
+
+setup_directories() {
+    echo "Creating necessary directories..."
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+    sync
+}
+
+wipe_bash_logout() {
+  export BASE_DIR
+  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
+  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
+}
+
+# System configuration functions (depends on basic utility functions)
+setup_system_configs() {
+    echo "Setting up system configurations..."
+    remount_rw
+    setup_runner_user
+    create_sudoers_entry
+    remount_ro
+    set_directory_permissions
+    wipe_bash_logout
+}
+
+# Runner setup functions
+install_runner() {
+    echo "Downloading and setting up runner..."
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo chmod +x ./config.sh
+}
+
+configure_runner() {
+    remount_rw
+    echo "Configuring runner..."
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+    remount_ro
+}
+
+create_service_template() {
+    echo "Creating service template..."
+    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
+[Unit]
+Description={{Description}}
+After=network-online.target nss-lookup.target time-sync.target
+Wants=network-online.target nss-lookup.target time-sync.target
+StartLimitInterval=5
+StartLimitBurst=10
+
+[Service]
+Type=simple
+User=root
+ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
+WorkingDirectory={{RunnerRoot}}
+KillMode=process
+KillSignal=SIGTERM
+TimeoutStopSec=5min
+Restart=always
+RestartSec=120
+
+[Install]
+WantedBy=multi-user.target
+EOL
+}
+
+install_service() {
+    local service_name
+    if [ -f "${RUNNER_DIR}/.service" ]; then
+        service_name=$(cat "${RUNNER_DIR}/.service")
+    else
+        service_name="actions.runner.sunnypilot.$(uname -n)"
+    fi
+  
+    create_service_template
+    remount_rw
+    local service_path="/etc/systemd/system/${service_name}"
+    echo "Installing systemd service..."
+    if [ -f "${service_path}" ]; then
+        echo "Service ${service_path} found in systemd, we will delete it"
+        sudo rm -f "${service_path}"
+    fi
+    
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh install $RUNNER_USER
+
+    if [ "$START_AT_BOOT" = false ]; then
+        sudo systemctl disable "${service_name}"
+    fi
+    remount_ro
+}
+
+check_restore_prerequisites() {
+    local can_restore=false
+    local service_name=""
+
+    # Check if base runner directory exists
+    if [ ! -d "${RUNNER_DIR}" ]; then
+        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
+        echo "This directory is required for restore operations"
+        exit 1
+    fi
+
+    # First check if we have the required files for restoration
+    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
+        can_restore=true
+        service_name=$(cat "${RUNNER_DIR}/.service")
+        echo "Found required runner configuration files"
+    else
+        echo "Missing required runner configuration files"
+        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
+        exit 1
+    fi
+
+    if ! id "${RUNNER_USER}" &>/dev/null; then
+        echo "User ${RUNNER_USER} does not exist"
+    fi
+
+    # Only proceed if we can restore AND need to restore
+    if [ "$can_restore" = true ]; then
+        echo "Restoration is possible"
+        return 0
+    else
+        echo "No restoration possible"
+        exit 0
+    fi
+}
+
+perform_restore() {
+    echo "Starting runner restoration..."
+    setup_directories
+    setup_system_configs
+    install_service
+    echo "Runner restoration completed successfully"
+}
+
+perform_install() {
+    echo "Starting fresh installation..."
+    setup_directories
+    setup_system_configs
+    install_runner
+    set_directory_permissions
+    configure_runner
+    install_service
+    echo "Installation completed successfully"
+}
+
+main() {
+    if [ "$RESTORE_MODE" = true ]; then
+        echo "Running in restore mode - will only restore system configurations..."
+        check_restore_prerequisites
+        perform_restore
+    else
+        # Check required arguments for normal installation
+        if [ -z "$GITHUB_TOKEN" ]; then
+            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
+            echo "Required argument (except for --restore): github_token"
+            echo "Optional arguments:"
+            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+            echo "  --restore         Restore existing runner configuration"
+            exit 1
+        fi
+
+        # Set repository URL if not provided
+        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+        perform_install
+    fi
+
+    echo "Starting runner service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh start
+}
+
+main

release/ci/model_generator.py

@@ -53,28 +53,24 @@ def create_pkl_name(full_name: str) -> str:
   return pkl
 
 
-def _hash_pkl(pkl_path: Path) -> str:
+def _read_pkl_bytes(pkl_path: Path) -> bytes:
   manifest = Path(f"{pkl_path}.chunkmanifest")
   if manifest.exists():
     num_chunks = int(manifest.read_text().strip())
-    paths = [Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}") for i in range(num_chunks)]
+    parts = []
-  else:
+    for i in range(num_chunks):
-    paths = [pkl_path]
+      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
-
+      parts.append(chunk.read_bytes())
-  digest = hashlib.sha256()
+    return b''.join(parts)
-  for path in paths:
+  return pkl_path.read_bytes()
-    with path.open('rb') as f:
-      while block := f.read(1024 * 1024):
-        digest.update(block)
-  return digest.hexdigest()
 
 
 def _find_driving_pkl(output_path: Path) -> Path | None:
-  for pattern in ('*driving_tinygrad.pkl', '*driving_*_tinygrad.pkl'):
+  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
     matches = sorted(output_path.glob(pattern))
     if matches:
       return matches[0]
-  for pattern in ('*driving_tinygrad.pkl.chunkmanifest', '*driving_*_tinygrad.pkl.chunkmanifest'):
+  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
     matches = sorted(output_path.glob(pattern))
     if matches:
       return Path(str(matches[0]).removesuffix('.chunkmanifest'))
@@ -91,7 +87,7 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
 
 
 def generate_chunked_model(driving_pkl: Path) -> dict:
-  tinygrad_hash = _hash_pkl(driving_pkl)
+  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
   chunks_config = []
   manifest_file = Path(f"{driving_pkl}.chunkmanifest")

release/ci/publish.sh

@@ -52,12 +52,6 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 
-# gitlinks break the release tree on device
-if git ls-files -s | awk '$1 == "160000" { found = 1; print } END { exit !found }'; then
-    echo "Error: submodules found in release tree."
-    exit 1
-fi
-
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')

release/ci/uninstall_github_runner.sh

@@ -0,0 +1,66 @@
+#!/usr/bin/env bash
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    GITHUB_BASE_DIR="/data/media/0/github"
+else
+    GITHUB_BASE_DIR="/data/github"
+fi
+
+# Define directories and user
+BIN_DIR="$GITHUB_BASE_DIR/bin"
+BUILDS_DIR="$GITHUB_BASE_DIR/builds"
+OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
+LOGS_DIR="$GITHUB_BASE_DIR/logs"
+CACHE_DIR="$GITHUB_BASE_DIR/cache"
+RUNNER_USERNAME="github-runner"
+# Define the systemd service name
+SERVICE_NAME="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+
+# Function to stop and disable the systemd service
+stop_and_uninstall_service() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo ./svc.sh stop
+    sudo ./svc.sh uninstall
+}
+
+# Function to remove the systemd service file
+remove_runner() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo rm .runner
+    sudo su -c './config.sh remove' github-runner
+}
+
+# Function to delete the Github Runner directories
+delete_directories() {
+    sudo rm -rf "$BIN_DIR/github-runner"
+    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+}
+
+# Function to remove the Github Runner user
+delete_user() {
+    for group in ${USER_GROUPS//,/ }
+    do
+       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
+    done
+    sudo userdel -r ${RUNNER_USERNAME}
+}
+
+# Function to remove sudoers entry
+remove_sudoers_entry() {
+    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
+}
+
+# Make filesystem writable
+sudo mount -o remount rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount ro /" EXIT
+
+# Call functions
+stop_and_uninstall_service
+remove_runner
+delete_directories
+delete_user
+remove_sudoers_entry
+# End of uninstall script

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