ci: keep the scons cache in the runner workspace instead of the device's

.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)
-  target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
+  if not e2e:
+    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.output_a_target = init_a
+    self.a_cruise = 0.0
+    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_cruise = self.output_a_target
+      self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
 
     # 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
-    v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)
+    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
+    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
-    progresses = [model.artifact.downloadProgress for model in bundle.models if model.artifact.fileName]
-    if not progresses:
-      return
-
-    self.download_item.set_visible(True)
-    self.download_item.action_item.update(**self._download_row_state(progresses, bundle.internalName))
-    self._downloading = self.download_item.action_item.downloading
-
-  @staticmethod
-  def _download_row_state(progresses, name: str) -> dict:
-    """Maps a bundle's artifact progress to DownloadStatusAction.update kwargs."""
-    # .raw: _DynamicEnum equals its int but does not hash like it
-    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}
+    for model in bundle.models:
+      if label := labels.get(getattr(model.type, 'raw', model.type)):
+        label.set_visible(True)
+        p = model.artifact.downloadProgress
+        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
+        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")
+          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
+        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
+          text, color = f"download failed - {bundle.displayName}", rl.RED
+        label.action_item.update(p.progress, text, show, color)
 
   @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/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -4,13 +4,11 @@ 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.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.system.ui.lib.application import FontWeight, gui_app
@@ -19,24 +17,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
 
-def _build_folders() -> dict[str, list]:
-  manager = ui_state.sm["modelManagerSP"]
-  bundles = manager.availableBundles
-  folders = {}
-  for bundle in bundles:
-    folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
-    folders.setdefault(folder, []).append(bundle)
-
-  favs = ui_state.params.get("ModelManager_Favs")
-  favorites = set(favs.split(';')) if favs else set()
-
-  if favorites:
-    for fav_bundle in [bundle for bundle in bundles if bundle.ref in favorites]:
-      folders.setdefault("favorites", []).append(fav_bundle)
-
-  return folders
-
-
 class CurrentModelInfo(Widget):
   def __init__(self):
     super().__init__()
@@ -66,41 +46,6 @@ class CurrentModelInfo(Widget):
     self.info_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
     self.info_text.render()
 
-
-class FolderSelectionMici(NavScroller):
-
-  def __init__(self, folder_name: str | None = None,
-               select_default_callback: Callable | None = None,
-               select_folder_callback: Callable | None = None,
-               select_model_callback: Callable | None = None):
-    super().__init__()
-
-    folders = _build_folders()
-
-    btns = []
-    if folder_name is None:
-      assert select_default_callback is not None and select_folder_callback is not None
-      default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
-      default_btn.set_click_callback(select_default_callback)
-      btns.append(default_btn)
-
-      for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
-        btn = BigButton(folder.lower())
-        btn.set_click_callback(lambda f=folder: select_folder_callback(f))
-        if folder.lower() == "favorites":
-          btns.insert(0, btn)
-        else:
-          btns.append(btn)
-    else:
-      assert select_model_callback is not None
-      for bundle in sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True):
-        btn = BigButton(bundle.displayName.lower())
-        btn.set_click_callback(lambda b=bundle: select_model_callback(b))
-        btns.append(btn)
-
-    self._scroller.add_widgets(btns)
-
-
 class ModelsLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -114,47 +59,81 @@ class ModelsLayoutMici(NavScroller):
     self.select_model_btn = BigButton(tr("select model"))
     self.select_model_btn.set_click_callback(self._show_folders)
 
-    self.clear_cache_btn = BigButton(tr("clear cache"), "")
-    self.clear_cache_btn.set_click_callback(self._clear_cache)
-
     self.cancel_download_btn = BigButton(tr("cancel download"))
     self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
 
-    self.main_items = [self.current_model_info, self.select_model_btn, self.clear_cache_btn, self.cancel_download_btn]
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
     self._scroller.add_widgets(self.main_items)
 
   @property
   def model_manager(self):
     return ui_state.sm["modelManagerSP"]
 
+  def _get_grouped_bundles(self, favorites = None):
+    bundles = self.model_manager.availableBundles
+    folders = {}
+    for bundle in bundles:
+      folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
+      folders.setdefault(folder, []).append(bundle)
+
+    if favorites:
+      for fav_bundle in [bundle for bundle in bundles if bundle.ref in favorites]:
+        folders.setdefault("favorites", []).append(fav_bundle)
+
+    return folders
+
+  def _push_selection_view(self, items):
+    scroller = NavScroller()
+    scroller._scroller.add_widgets(items)
+    gui_app.push_widget(scroller)
+
   def _show_folders(self):
     self.focused_widget = self.select_model_btn
 
-    def select_default():
-      ui_state.params.remove("ModelManager_ActiveBundle")
-      gui_app.pop_widgets_to(self, instant=True)
-      self._scroller.scroll_panel.set_offset(0)
-      self._scroller.scroll_to(0)
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
 
-    def select_model(bundle):
-      ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
-      gui_app.pop_widgets_to(self, instant=True)
-      self._scroller.scroll_panel.set_offset(0)
-      self._scroller.scroll_to(0)
+    folders = self._get_grouped_bundles(favorites)
+    folder_buttons = []
+    default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
+    default_btn.set_click_callback(self._select_default)
+    folder_buttons.append(default_btn)
 
-    def select_folder(folder_name):
-      gui_app.push_widget(FolderSelectionMici(folder_name, select_model_callback=select_model))
+    for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
+      if folder.lower() in ["release models", "master models", "favorites"]:
+        btn = BigButton(folder.lower())
+        btn.set_click_callback(lambda f=folder: self._select_folder(f))
+        if folder.lower() == "favorites":
+          folder_buttons.insert(0, btn)
+        else:
+          folder_buttons.append(btn)
+    self._push_selection_view(folder_buttons)
 
-    gui_app.push_widget(FolderSelectionMici(select_default_callback=select_default, select_folder_callback=select_folder))
+  def _pop_to_main(self):
+    gui_app.pop_widgets_to(self)
 
-  def _clear_cache(self):
-    def confirm_callback():
-      ui_state.params.put_bool("ModelManager_ClearCache", True)
+  def _select_model(self, bundle):
+    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
+    self._pop_to_main()
 
-    lbl = tr("slide to clear cache")
-    icon = gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64)
-    dlg = BigConfirmationDialog(lbl, icon, confirm_callback=confirm_callback, red=True)
-    gui_app.push_widget(dlg)
+  def _select_default(self):
+    ui_state.params.remove("ModelManager_ActiveBundle")
+    self._pop_to_main()
+
+  def _select_folder(self, folder_name):
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
+    bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
+
+    btns = []
+    for bundle in bundles:
+      txt = bundle.displayName.lower()
+      btn = BigButton(txt)
+      btn.set_click_callback(lambda b=bundle: self._select_model(b))
+      btns.append(btn)
+    self._push_selection_view(btns)
 
   def hide_event(self):
     super().hide_event()
@@ -166,7 +145,6 @@ class ModelsLayoutMici(NavScroller):
     super()._update_state()
 
     self.select_model_btn.set_enabled(ui_state.is_offroad())
-    self.clear_cache_btn.set_enabled(ui_state.is_offroad())
     self.cancel_download_btn.set_visible(False)
     self.current_model_info.current_model_header._shimmer = False
     self.current_model_info.info_header._shimmer = False
@@ -213,3 +191,4 @@ class ModelsLayoutMici(NavScroller):
       self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
       self.current_model_info.info_header._shimmer = True
       self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
+

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((feat_q_len, features_buffer[0], features_buffer[2]),
+    queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, 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')})

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_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_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_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]:
-  if content_type != "application/json":
-    return _json_response({"error": "unsupported media type"}, status=415)
-
+async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
   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",
 

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" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/a8/d7/7f19bedd30b90b72865aeec3a29127bed6dee6c9ef0324bb5b4d424bb0e3/deepmerge-3.0-py3-none-any.whl", hash = "sha256:c8541c3e186dc88d19a5513ad3a0b2d0b22beaa780969fc0c13b995a64265365", size = 14855, upload-time = "2026-08-17T05:50:52.218Z" },
+    { 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" },
 ]
 
 [[package]]
 name = "filelock"
-version = "3.32.3"
+version = "3.32.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/7d/64/a02e6765de08964ed371eca577870593245afc9dfac16d037de7c10d18e6/filelock-3.32.3.tar.gz", hash = "sha256:0ffa185a3540854c95caa7fa76b76cb219d907415e2c5dc9af25fd970563487f", size = 218135, upload-time = "2026-08-13T16:00:05.577Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/a7/8e/50f46a9c0ce8d2861a394c1347caae037ea0431d2f67d7feb151cbc4649a/filelock-3.32.3-py3-none-any.whl", hash = "sha256:7f0ca4bcc0e181c60dbbd8aa9ab5b120ebb99e4e064e83636340056f833a1f09", size = 98901, upload-time = "2026-08-13T16:00:03.974Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/e8/72f8cef9fdfeffe06213fe8508039396ee48daa0e3259457ed766173bfd6/filelock-3.32.2-py3-none-any.whl", hash = "sha256:87dd94cf281e586d135fa51132b8e3d9a598b316e90377a288663c9321036c82", size = 98830, upload-time = "2026-07-29T22:46:03.52Z" },
 ]
 
 [[package]]
@@ -478,7 +478,7 @@ wheels = [
 
 [[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" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/c6/ae/222a91937ebee7f62c0ca8f5ee0afd97577caf24c0abb927d1f5c7e9f6d2/huggingface_hub-1.28.0.tar.gz", hash = "sha256:46a2e950c09234de54093d587d1675382f0d08dbd600d9fb599b5932f5b2c6cb", size = 959609, upload-time = "2026-08-18T12:27:15.101Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/3e/9b/ddf3d02a8681f1b9ce52fda03d755dad6b74c4f8172304c4c8d2975450f9/huggingface_hub-1.27.0.tar.gz", hash = "sha256:c1fed40ea82a6b41b477f5243546549b792ae0a93abcea608cff66089bf8f8df", size = 942668, upload-time = "2026-08-07T12:48:05.161Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/0e/eafef18f1a75e125e68395db21131db0cf868a128ecd2fce69b4df6c584b/huggingface_hub-1.28.0-py3-none-any.whl", hash = "sha256:58a8bacb03072edfc38067065e9dc24bbb34805410fcd36a1632de0b329660bb", size = 793202, upload-time = "2026-08-18T12:27:12.719Z" },
+    { 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" },
 ]
 
 [[package]]
 name = "idna"
-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" }
 wheels = [
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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" }
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