convert to sp and fix parsing

# Conflicts:
#	opendbc_repo

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

@@ -103,10 +103,10 @@ jobs:
       - run: |
           cd ${{ github.workspace }}/openpilot/openpilot
           if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx" -X "**/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"
+            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
             find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
           fi
       - name: 'Upload Artifact'
@@ -116,7 +116,7 @@ jobs:
           path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
 
   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 }})
@@ -127,6 +127,7 @@ jobs:
           fetch-depth: 1
           submodules: recursive
 
+      - run: git lfs pull
 
       - name: Set environment variables
         id: set-env
@@ -159,7 +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
@@ -179,7 +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 [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
@@ -187,40 +187,27 @@ jobs:
             OUTPUT_PKL="${{ 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/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_v20.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/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/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/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')

uv.lock

@@ -381,20 +381,20 @@ wheels = [
 
 [[package]]
 name = "deepmerge"
-version = "3.0"
+version = "2.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b7/6c/9f4577a36d5f463a3a3f8322bd65d33e1a1a6b6ba1d692a5ebc3cba19015/deepmerge-3.0.tar.gz", hash = "sha256:14ed69f063de64b7743985c732ccff5d6c34ff4560946e7fbfd99086b853b9ce", size = 22279, upload-time = "2026-08-17T05:50:53.161Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/2a/78/6e9e20106224083cfb817d2d3c26e80e72258d617b616721a169b87081e0/deepmerge-2.1.0.tar.gz", hash = "sha256:07ca7a7b8935df596c512fa8161877c0487ac61f691c07766e7d71d2b23bdd2f", size = 21449, upload-time = "2026-06-22T05:46:07.669Z" }
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+    { url = "https://files.pythonhosted.org/packages/51/25/2a75b47cb057b1e164c604fb81ab690a6cdb5e2260ce651194eae90f64a3/deepmerge-2.1.0-py3-none-any.whl", hash = "sha256:8f148339a91d680a75ecb74ade235d9e759a93df373a0b04e9d31c8666cfeb75", size = 14345, upload-time = "2026-06-22T05:46:06.742Z" },
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 [[package]]
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-version = "3.32.3"
+version = "3.32.2"
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 [[package]]
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 [[package]]
 name = "huggingface-hub"
-version = "1.28.0"
+version = "1.27.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -491,18 +491,18 @@ dependencies = [
     { name = "tqdm" },
     { name = "typing-extensions" },
 ]
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+    { url = "https://files.pythonhosted.org/packages/de/d8/95b735e183957c1f26d94c52977f09d466d55119cbbc1558ea4975e4c216/huggingface_hub-1.27.0-py3-none-any.whl", hash = "sha256:7df6827c2f956c60fbaa64646e979e566db76f619dd0a9729dfb8c5a3eb4f68d", size = 784926, upload-time = "2026-08-07T12:48:02.905Z" },
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 [[package]]
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-version = "3.19"
+version = "3.18"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5f/f7/abb373e5757eaec4b922b92f97ec8d6d7e057cf06778247604fbc4e7c3f3/idna-3.19.tar.gz", hash = "sha256:5e0811a4383b21dc5838069f801c4fb62113b7447663d2530d2bd6e77b49bf15", size = 215237, upload-time = "2026-08-18T05:14:24.27Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/cd/63/9496c57188a2ee585e0f1db071d75089a11e98aa86eb99d9d7618fc1edce/idna-3.18.tar.gz", hash = "sha256:ffb385a7e039654cef1ab9ef32c6fafe283c0c0467bba1d9029738ce4a14a848", size = 196711, upload-time = "2026-06-02T14:34:07.794Z" }
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+    { url = "https://files.pythonhosted.org/packages/1e/5e/d4e9f1a599fb8e573b7b87160658329fbf28d19eac2718f51fc3def3aa5a/idna-3.18-py3-none-any.whl", hash = "sha256:7f952cbe720b688055e3f87de14f5c3e5fdaa8bc3928985c4077ca689de849a2", size = 65455, upload-time = "2026-06-02T14:34:06.319Z" },
 ]
 
 [[package]]
@@ -847,7 +847,7 @@ requires-dist = [
     { name = "rednose", marker = "extra == 'submodules'", editable = "rednose_repo" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
-    { name = "scons", specifier = "==4.10.1" },
+    { name = "scons" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
     { name = "sounddevice" },
@@ -971,11 +971,11 @@ wheels = [
 
 [[package]]
 name = "pygments"
-version = "2.21.0"
+version = "2.20.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/49/2e/ced460408999b33da6b31b0021b0f37d329e202d4169aeb164493778f25b/pygments-2.21.0.tar.gz", hash = "sha256:610ca751c9bc2492b38eb9a38a7fbc93edbbb2d7182edaf34e66ae493dee5c8c", size = 5005329, upload-time = "2026-08-17T08:02:48.824Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/c3/b2/bc9c9196916376152d655522fdcebac55e66de6603a76a02bca1b6414f6c/pygments-2.20.0.tar.gz", hash = "sha256:6757cd03768053ff99f3039c1a36d6c0aa0b263438fcab17520b30a303a82b5f", size = 4955991, upload-time = "2026-03-29T13:29:33.898Z" }
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+    { url = "https://files.pythonhosted.org/packages/f4/7e/a72dd26f3b0f4f2bf1dd8923c85f7ceb43172af56d63c7383eb62b332364/pygments-2.20.0-py3-none-any.whl", hash = "sha256:81a9e26dd42fd28a23a2d169d86d7ac03b46e2f8b59ed4698fb4785f946d0176", size = 1231151, upload-time = "2026-03-29T13:29:30.038Z" },
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 [[package]]
@@ -1136,11 +1136,11 @@ wheels = [
 
 [[package]]
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-version = "4.10.1"
+version = "4.11.0"
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 [[package]]
@@ -1194,18 +1194,18 @@ wheels = [
 
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@@ -1285,6 +1285,7 @@ requires-dist = [
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     { name = "pytest", marker = "extra == 'testing-minimal'" },
     { name = "pytest-split", marker = "extra == 'testing-minimal'" },
+    { name = "pytest-timeout", marker = "extra == 'testing-minimal'" },
     { name = "pytest-xdist", marker = "extra == 'testing-minimal'" },
     { name = "ruff", marker = "extra == 'linting'", specifier = "==0.14.10" },
     { name = "safetensors", marker = "extra == 'testing-unit'" },
@@ -1293,7 +1294,6 @@ requires-dist = [
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