Revert "remove tici-specific code (#36078)"

This reverts commit 3e2549f2

.github/workflows/auto_pr_review.yaml

@@ -29,11 +29,11 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels

.github/workflows/badges.yaml

@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   DOCKER_REGISTRY: ghcr.io/sunnypilot
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 

.github/workflows/cereal_validation.yaml

@@ -3,7 +3,7 @@ name: cereal validation
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
     paths:
       - 'cereal/**'
@@ -16,7 +16,7 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:

.github/workflows/ci_weekly_report.yaml

@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -3,7 +3,7 @@ name: docs
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_call:
     inputs:
@@ -12,7 +12,7 @@ on:
         required: true
         type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 jobs:
@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/prebuilt.yaml

@@ -24,11 +24,11 @@ jobs:
       if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
     - uses: actions/checkout@v4
       with:
         submodules: true

.github/workflows/release-drafter.yml

@@ -19,6 +19,7 @@ jobs:
       contents: write
       pull-requests: write
     runs-on: ubuntu-latest
+    if: False
     steps:
       - uses: release-drafter/release-drafter@v6
         with:

.github/workflows/release.yaml

@@ -10,7 +10,7 @@ jobs:
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
@@ -25,7 +25,7 @@ jobs:
       if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo-maintenance.yaml

@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   BUILD: release/ci/docker_build_sp.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
@@ -28,7 +28,7 @@ jobs:
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master"
+          base: "master-tici"
           delete-branch: true
           labels: bot
 
@@ -36,7 +36,7 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master
+        base: master-tici
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -3,7 +3,7 @@ name: selfdrive
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,12 +14,12 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+          git fetch  origin master-tici:refs/remotes/origin/master-tici
 
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
             if git ls-files --stage "$path" | grep -q "^160000"; then
               echo "$path"
             fi
@@ -97,7 +97,7 @@ jobs:
       with:
         submodules: true
     - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
@@ -130,7 +130,7 @@ jobs:
         HOMEBREW_DISPLAY_INSTALL_TIMES: 1
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -148,7 +148,7 @@ jobs:
       run: . .venv/bin/activate && scons -j$(nproc)
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -307,5 +307,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

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

@@ -14,7 +14,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'

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

@@ -8,14 +8,14 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev ]
+    branches: [ master-tici ]
     tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
           #   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 }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -1,31 +1,31 @@
-name: Build dev
+name: Build dev-c3-new
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
-  DEFAULT_TARGET_BRANCH: "master-dev"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev"
+  PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [ labeled ]
     branches:
-      - 'master'
+      - 'master-tici'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev'
+        default: 'master-dev-c3-new'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -40,11 +40,7 @@ concurrency:
 jobs:
   reset-and-squash:
     runs-on: ubuntu-latest
-    if: (
+    if: False
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
-      )
     steps:
       - uses: actions/checkout@v4
         with:
@@ -55,7 +51,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
@@ -118,8 +114,8 @@ jobs:
         run: |
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
+            query($label:String!) {
-              search(query: $search_query, type:ISSUE, first:100) {
+              search(query: $label, type:ISSUE, first:100) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -149,7 +145,7 @@ jobs:
                   }
                 }
               }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
+            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
 
           PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT

.github/workflows/ui_preview.yaml

@@ -2,19 +2,19 @@ name: "ui preview"
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
-      - 'master'
+      - 'master-tici'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
@@ -55,7 +55,7 @@ jobs:
           name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
-      - name: Getting master ui
+      - name: Getting master-tici ui
         uses: actions/checkout@v4
         with:
           repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
-      - name: Saving new master ui
+      - name: Saving new master-tici ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
-            # Check if the master file exists
+            # Check if the master-tici file exists
             if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
               DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
               DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
               DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 

Dockerfile.sunnypilot

@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
 
 ENV PYTHONUNBUFFERED=1
 

README.md

@@ -22,7 +22,7 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
 
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,25 +31,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
   1. On the comma three, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
 
 
-|      Branch      |                 Installation URL              |
+|     Branch      |               Installation URL                |
-|:----------------:|:---------------------------------------------:|
+|:---------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |
-| `release-c3-new` |            **Not yet available**.             |
 
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
 
 > [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.

common/params_keys.h

@@ -94,6 +94,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3/3X or a car.
 
 ## Pull Requests
 

docs/how-to/connect-to-comma.md

@@ -1,11 +1,11 @@
-# connect to a comma 3X
+# connect to a comma 3/3X
 
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma 3/3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 

docs/how-to/replay-a-drive.md

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma 3/3X*
 
 1. Connect your PC to a jungle.
 2.

docs/how-to/turn-the-speed-blue.md

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

mkdocs.yml

@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:

release/check-submodules.sh

@@ -31,13 +31,25 @@ while read hash submodule ref; do
       exit 1
     fi
   else
-    git -C $submodule fetch --depth 100 origin master
+    # Check against master-tici for specific submodules, master for others
-    git -C $submodule branch -r --contains $hash | grep "origin/master"
+    if [ "$submodule" = "opendbc_repo" ] || [ "$submodule" = "panda" ]; then
-    if [ "$?" -eq 0 ]; then
+      git -C $submodule fetch --depth 100 origin master-tici
-      echo "$submodule ok"
+      remote_hash=$(git -C $submodule rev-parse FETCH_HEAD)
+      if git -C $submodule merge-base --is-ancestor $hash $remote_hash; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master-tici"
+        exit 1
+      fi
     else
-      echo "$submodule: $hash is not on master"
+      git -C $submodule fetch --depth 100 origin master
-      exit 1
+      git -C $submodule branch -r --contains $hash | grep "origin/master"
+      if [ "$?" -eq 0 ]; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master"
+        exit 1
+      fi
     fi
   fi
 done <<< $(git submodule status --recursive)

release/ci/docker_common_sp.sh

@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
   export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
   export DOCKER_FILE=Dockerfile.sunnypilot
 else
   echo "Invalid docker build image: '$1'"

selfdrive/pandad/pandad.py

@@ -99,6 +99,11 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 60.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:

selfdrive/pandad/tests/test_pandad.py

@@ -22,6 +22,8 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -104,9 +106,11 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
 
   def test_protocol_version_check(self):
+    if not self.spi:
+      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)

selfdrive/pandad/tests/test_pandad_spi.py

@@ -6,6 +6,7 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:

selfdrive/selfdrived/alerts_offroad.json

@@ -29,6 +29,10 @@
     "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
   "Offroad_CarUnrecognized": {
     "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0

selfdrive/selfdrived/selfdrived.py

@@ -21,6 +21,7 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
@@ -135,7 +136,12 @@ class SelfdriveD(CruiseHelper):
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    self.ignored_processes = {'mapd', }
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
+      self.ignored_processes = {'loggerd', 'mapd'}
 
     # Determine startup event
     is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote

selfdrive/ui/qt/onroad/alerts.cc

@@ -4,6 +4,9 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
   QPainter p(this);
 
   // draw background + gradient

selfdrive/ui/tests/test_ui/run.py

@@ -29,7 +29,7 @@ UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ]
+OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",

selfdrive/ui/ui.cc

@@ -55,7 +55,8 @@ void update_state(UIState *s) {
   }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f);
+    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
     scene.light_sensor = -1;
   }

selfdrive/ui/ui_state.py

@@ -105,7 +105,10 @@ class UIState:
     # Handle wide road camera state updates
     if self.sm.updated["wideRoadCameraState"]:
       cam_state = self.sm["wideRoadCameraState"]
-      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
+
+      # Scale factor based on sensor type
+      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
+      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
     elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
       self.light_sensor = -1
 

system/camerad/cameras/hw.h

@@ -13,7 +13,7 @@ typedef enum {
   ISP_BPS_PROCESSED,  // fully processed image through the BPS
 } SpectraOutputType;
 
-// For the comma 3X three camera platform
+// For the comma 3/3X three camera platform
 
 struct CameraConfig {
   int camera_num;

system/hardware/hardwared.py

@@ -6,6 +6,7 @@ import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
+from pathlib import Path
 
 import psutil
 
@@ -341,6 +342,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
+    if TICI and HARDWARE.get_device_type() == "tici":
+      if not os.path.isfile("/persist/comma/living-in-the-moment"):
+        if not Path("/data/media").is_mount():
+          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
+
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:

system/hardware/tici/amplifier.py

@@ -61,6 +61,18 @@ BASE_CONFIG = [
 ]
 
 CONFIGS = {
+  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
+    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
+    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
+    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
+    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
+    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
+  ],
   "tizi": [
     AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
     AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),

system/hardware/tici/hardware.py

@@ -425,6 +425,9 @@ class Tici(HardwareBase):
 
     # pandad core
     affine_irq(3, "spi_geni")         # SPI
+    if "tici" in self.get_device_type():
+      affine_irq(3, "xhci-hcd:usb3")  # aux panda USB (or potentially anything else on USB)
+      affine_irq(3, "xhci-hcd:usb1")  # internal panda USB (also modem)
     try:
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
@@ -443,20 +446,22 @@ class Tici(HardwareBase):
 
     cmds = []
 
-    if self.get_device_type() in ("tizi", ):
+    if self.get_device_type() in ("tici", "tizi"):
       # clear out old blue prime initial APN
       os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
 
       cmds += [
-        # SIM hot swap
-        'AT+QSIMDET=1,0',
-        'AT+QSIMSTAT=1',
-
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',
         'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
+      if self.get_device_type() == "tizi":
+        # SIM hot swap, not routed on tici
+        cmds += [
+          'AT+QSIMDET=1,0',
+          'AT+QSIMSTAT=1',
+        ]
     elif manufacturer == 'Cavli Inc.':
       cmds += [
         'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM

system/hardware/tici/pins.py

@@ -1,3 +1,5 @@
+# TODO: these are also defined in a header
+
 # GPIO pin definitions
 class GPIO:
   # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@@ -24,4 +26,7 @@ class GPIO:
   CAM2_RSTN = 12
 
   # Sensor interrupts
+  BMX055_ACCEL_INT = 21
+  BMX055_GYRO_INT = 23
+  BMX055_MAGN_INT = 87
   LSM_INT = 84

system/ui/reset.py

@@ -13,6 +13,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label, gui_text_box
 
+NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
 
@@ -48,6 +49,10 @@ class Reset(Widget):
     if PC:
       return
 
+    # Best effort to wipe NVME
+    os.system(f"sudo umount {NVME}")
+    os.system(f"yes | sudo mkfs.ext4 {NVME}")
+
     # Removing data and formatting
     rm = os.system("sudo rm -rf /data/*")
     os.system(f"sudo umount {USERDATA}")

system/version.py

@@ -10,8 +10,8 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_SP_BRANCHES = ['release-c3', 'release']
+RELEASE_SP_BRANCHES = ['release-c3']
-TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging-tici']
 MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES