license

.github/workflows/build-all-tinygrad-models.yaml

@@ -127,7 +127,7 @@ jobs:
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:

.github/workflows/repo-maintenance.yaml

@@ -50,7 +50,6 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
         git submodule update --remote
         git add .
     - name: update car docs

RELEASES.md

@@ -1,6 +1,3 @@
-Version 0.10.1 (2025-09-08)
-========================
-
 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Space Lab 2 (Default)"

common/params_keys.h

@@ -147,7 +147,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
@@ -156,7 +155,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"sunnypilot_ui", {PERSISTENT, BOOL, "1"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},

common/pid.py

@@ -17,6 +17,7 @@ class PIDController:
     self.pos_limit = pos_limit
     self.neg_limit = neg_limit
 
+    self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.speed = 0.0
 
@@ -34,6 +35,10 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -41,21 +46,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
     self.speed = speed
+
     self.p = float(error) * self.k_p
     self.f = feedforward * self.k_f
     self.d = error_rate * self.k_d
 
-    if not freeze_integrator:
-      i = self.i + error * self.k_i * self.i_rate
+    if override:
+      self.i -= self.i_unwind_rate * float(np.sign(self.i))
+    else:
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate
 
-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
+
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.1"
+#define COMMA_VERSION "0.10.0"

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 321 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -105,7 +105,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -123,9 +122,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -149,7 +146,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||

selfdrive/car/card.py

@@ -107,10 +107,8 @@ class Car:
           cached_params = _cached_params
 
       fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
-      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP

selfdrive/car/tests/test_models.py

@@ -439,7 +439,9 @@ class TestCarModelBase(unittest.TestCase):
         if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      # TODO: remove this exception before closing commaai/opendbc#1100
+      if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
+        checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
       if self.CP.pcmCruise:

selfdrive/controls/controlsd.py

@@ -51,7 +51,7 @@ class Controls(ControlsExt, ModelStateBase):
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
-    self.steer_limited_by_safety = False
+    self.steer_limited_by_controls = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
 
@@ -140,7 +140,7 @@ class Controls(ControlsExt, ModelStateBase):
 
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
+                                                       self.steer_limited_by_controls, self.desired_curvature,
                                                        self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -187,10 +187,10 @@ class Controls(ControlsExt, ModelStateBase):
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency

selfdrive/controls/lib/latcontrol.py

@@ -15,15 +15,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate

selfdrive/controls/lib/latcontrol_angle.py

@@ -3,7 +3,6 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
-# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
@@ -11,9 +10,9 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_controls = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -24,9 +23,9 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    if self.use_steer_limited_by_safety:
+    if self.use_steer_limited_by_controls:
       # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_safety
+      angle_control_saturated = steer_limited_by_controls
     else:
       # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
       # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved

selfdrive/controls/lib/latcontrol_pid.py

@@ -13,7 +13,11 @@ class LatControlPID(LatControl):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -25,24 +29,20 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_torque = 0.0
+      output_steer = 0.0
       pid_log.active = False
-
+      self.pid.reset()
     else:
       # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-
-      output_torque = self.pid.update(error,
-                                feedforward=ff,
-                                speed=CS.vEgo,
-                                freeze_integrator=freeze_integrator)
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
 
+      output_steer = self.pid.update(error, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_torque)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
-    return output_torque, angle_steers_des, pid_log
+    return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -41,7 +41,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -76,7 +76,7 @@ class LatControlTorque(LatControl):
                                           desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
                                           desired_curvature, actual_curvature)
 
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -90,7 +90,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/modeld/parse_model_outputs.py

@@ -94,21 +94,15 @@ class Parser:
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+      out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
+62b3e8590fe85f87494517b3177a0ccaad1e17e5

selfdrive/ui/layouts/settings/developer.py

@@ -4,9 +4,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import toggle_item
 from openpilot.system.ui.widgets.scroller import Scroller
 
-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.system.ui.sunnypilot.lib.list_view import toggle_item_sp as toggle_item
-
 # Description constants
 DESCRIPTIONS = {
   'enable_adb': (

selfdrive/ui/layouts/settings/settings.py

@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.WHITE
+TEXT_SELECTED = rl.Color(255, 255, 255, 255)
 
 
 class PanelType(IntEnum):

selfdrive/ui/layouts/settings/toggles.py

@@ -3,9 +3,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
 from openpilot.system.ui.widgets.scroller import Scroller
 
-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.system.ui.sunnypilot.lib.list_view import toggle_item_sp as toggle_item
-
 # Description constants
 DESCRIPTIONS = {
   "OpenpilotEnabledToggle": (

selfdrive/ui/layouts/sidebar.py

@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.WHITE
+  WHITE = rl.Color(255, 255, 255, 255)
   WHITE_DIM = rl.Color(255, 255, 255, 85)
   GRAY = rl.Color(84, 84, 84, 255)
 
   # Status colors
-  GOOD = rl.WHITE
+  GOOD = rl.Color(255, 255, 255, 255)
   WARNING = rl.Color(218, 202, 37, 255)
   DANGER = rl.Color(201, 34, 49, 255)
 
   # UI elements
   METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.WHITE
+  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
 

selfdrive/ui/onroad/hud_renderer.py

@@ -34,7 +34,7 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
+  white: rl.Color = rl.Color(255, 255, 255, 255)
   disengaged: rl.Color = rl.Color(145, 155, 149, 255)
   override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
   engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
   white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
   border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
   header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
 
 
 UI_CONFIG = UIConfig()

selfdrive/ui/qt/sidebar.cc

@@ -29,7 +29,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
   mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
-  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -155,12 +154,7 @@ void Sidebar::drawSidebar(QPainter &p) {
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(58, 247, width() - 100, 50);
-
-  if (net_type == "Hotspot") {
-    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
-  } else {
-    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
-  }
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
 #ifndef SUNNYPILOT
   // metrics

selfdrive/ui/qt/sidebar.h

@@ -43,7 +43,7 @@ protected:
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
   virtual void drawSidebar(QPainter &p);
 
-  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
+  QPixmap home_img, flag_img, settings_img, mic_img;
   bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},

selfdrive/ui/sunnypilot/SConscript

@@ -45,6 +45,7 @@ qt_src = [
 
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc

@@ -47,17 +47,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   addItem(errorLogBtn);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
-
-  is_release = params.getBool("IsReleaseBranch");
-  is_tested = params.getBool("IsTestedBranch");
-  is_development = params.getBool("IsDevelopmentBranch");
 }
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
+  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
   bool disable_updates = params.getBool("DisableUpdates");
 
   prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
   prebuiltToggle->setEnabled(disable_updates);
+
   params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
   prebuiltToggle->refresh();
 
@@ -66,7 +66,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
          "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
          "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
     : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
-  prebuiltToggle->showDescription();
 
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
@@ -75,6 +74,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
   DeveloperPanel::showEvent(event);
-  AbstractControlSP::UpdateAllAdvancedControls();
   updateToggles(!uiState()->scene.started);
+  AbstractControlSP::UpdateAllAdvancedControls();
+  prebuiltToggle->showDescription();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h

@@ -21,9 +21,6 @@ private:
   ParamControlSP *prebuiltToggle;
   Params params;
   ParamControlSP *showAdvancedControls;
-  bool is_development;
-  bool is_release;
-  bool is_tested;
 
 private slots:
   void updateToggles(bool offroad);

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+  if (timeoutValue == "0") {
     interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.cc

@@ -0,0 +1,98 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
+
+LagdToggleSettings::LagdToggleSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  // lagd toggle
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  main_layout->addWidget(lagd_toggle_control);
+
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
+  // optioncontrol for lagd 'off' state
+  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
+                                     tr("The default software delay value is 0.2"),
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  main_layout->addWidget(delay_control);
+}
+
+void LagdToggleSettings::refresh() {
+  // Update toggle descriptions
+  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
+  bool lagdEnabled = params.getBool("LagdToggle");
+  if (lagdEnabled) {
+    std::string liveDelayBytes = params.get("LiveDelay");
+    if (!liveDelayBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+        liveDelayBytes.size() / sizeof(capnp::word)));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
+      }
+    }
+  } else {
+    std::string carParamsBytes = params.get("CarParamsPersistent");
+    if (!carParamsBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
+        carParamsBytes.size() / sizeof(capnp::word)));
+      auto carParams = msg.getRoot<cereal::CarParams>();
+      float steerDelay = carParams.getSteerActuatorDelay();
+      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+      float totalLag = steerDelay + softwareDelay;
+      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
+                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+    }
+  }
+  lagd_toggle_control->setDescription(desc);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h

@@ -0,0 +1,26 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class LagdToggleSettings : public QWidget {
+  Q_OBJECT
+public:
+  explicit LagdToggleSettings(QWidget *parent = nullptr);
+  void refresh();
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ParamControlSP *lagd_toggle_control = nullptr;
+  OptionControlSP *delay_control = nullptr;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc

@@ -46,20 +46,41 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   list->addItem(horizontal_line());
   list->addItem(vertical_space());
 
-  // Lane Change Settings
-  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
+
+  // Inline lagd toggle and lane change buttons
+  QHBoxLayout *inlineBtnLayout = new QHBoxLayout();
+  inlineBtnLayout->setSpacing(15);
+
+  lagdSettingsButton = new PushButtonSP(tr("Customize Live Delay"), 740);
+  lagdSettingsButton->setObjectName("lagd_btn");
+  connect(lagdSettingsButton, &QPushButton::clicked, [=]() {
+    lagdToggleSettings->refresh();
+    main_layout->setCurrentWidget(lagdToggleSettings);
+  });
+  inlineBtnLayout->addWidget(lagdSettingsButton);
+
+  lagdToggleSettings = new LagdToggleSettings(this);
+  connect(lagdToggleSettings, &LagdToggleSettings::backPress, [=]() {
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+
+  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"), 740);
   laneChangeSettingsButton->setObjectName("lane_change_btn");
   connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
     sunnypilotScroller->setLastScrollPosition();
     main_layout->setCurrentWidget(laneChangeWidget);
   });
+  inlineBtnLayout->addWidget(laneChangeSettingsButton);
 
   laneChangeWidget = new LaneChangeSettings(this);
   connect(laneChangeWidget, &LaneChangeSettings::backPress, [=]() {
     sunnypilotScroller->restoreScrollPosition();
     main_layout->setCurrentWidget(sunnypilotScreen);
   });
-  list->addItem(laneChangeSettingsButton);
+
+  QWidget *inlineBtnWidget = new QWidget();
+  inlineBtnWidget->setLayout(inlineBtnLayout);
+  list->addItem(inlineBtnWidget);
 
   list->addItem(vertical_space(0));
   list->addItem(horizontal_line());
@@ -94,11 +115,16 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, [=]() {
+    updateToggles(offroad);
+  });
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(lagdToggleSettings);
   main_layout->addWidget(laneChangeWidget);
 
   setStyleSheet(R"(
@@ -151,6 +177,7 @@ void LateralPanel::updateToggles(bool _offroad) {
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
   blinkerPauseLateralSettings->refresh();
+  lagdToggleSettings->refresh();
 
   offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

@@ -14,6 +14,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -41,6 +42,8 @@ private:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  PushButtonSP *lagdSettingsButton = nullptr;
+  LagdToggleSettings *lagdToggleSettings = nullptr;
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -103,40 +103,6 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(policyFrame);
 
   list->addItem(horizontal_line());
-
-  // LiveDelay toggle
-  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
-  lagd_toggle_control->showDescription();
-  list->addItem(lagd_toggle_control);
-
-  // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
-  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
-
-  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  });
-  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
-    delay_control->setVisible(!state);
-  });
-  delay_control->showDescription();
-  list->addItem(delay_control);
 }
 
 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -378,49 +344,6 @@ void ModelsPanel::updateLabels() {
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  // Update lagdToggle description with current value
-  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
-                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
-  bool lagdEnabled = params.getBool("LagdToggle");
-  if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
-    if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
-    }
-  } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
-    if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
-      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-      float totalLag = steerDelay + softwareDelay;
-      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
-                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
-    }
-  }
-  lagd_toggle_control->setDescription(desc);
-
-  delay_control->setVisible(!params.getBool("LagdToggle"));
-  if (delay_control->isVisible()) {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  }
-
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 
@@ -473,8 +396,4 @@ double ModelsPanel::calculateCacheSize() {
 }
 
 void ModelsPanel::showEvent(QShowEvent *event) {
-  lagd_toggle_control->showDescription();
-  if (delay_control->isVisible()) {
-    delay_control->showDescription();
-  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -67,8 +67,6 @@ private:
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
-  ParamControlSP *lagd_toggle_control;
-  OptionControlSP *delay_control;
   QProgressBar *supercomboProgressBar;
   QFrame *supercomboFrame;
   QProgressBar *navigationProgressBar;

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc

@@ -66,14 +66,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
   list->addItem(horizontal_line());
 
-  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
-  sunnylinkUploaderEnabledBtn = new ParamControlSP(
-    "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
-    sunnylinkUploaderDesc,
-    "", nullptr, true);
-  list->addItem(sunnylinkUploaderEnabledBtn);
-
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -269,8 +261,6 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
-
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h

@@ -49,7 +49,6 @@ private:
   QString sunnylinkBtnDescription;
   PushButtonSP *restoreSettings;
   PushButtonSP *backupSettings;
-  ParamControlSP * sunnylinkUploaderEnabledBtn;
 
   void stopSunnylink() const;
   void startSunnylink() const;

selfdrive/ui/widgets/exp_mode_button.py

@@ -37,7 +37,7 @@ class ExperimentalModeButton(Widget):
     self.params.put_bool("ExperimentalMode", self.experimental_mode)
 
   def _render(self, rect):
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
 
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._draw_gradient_background(rect)
@@ -53,7 +53,7 @@ class ExperimentalModeButton(Widget):
     text_x = rect.x + self.horizontal_padding
     text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically
 
-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
 
     # Draw icon (right aligned)
     icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +63,4 @@ class ExperimentalModeButton(Widget):
     # Draw current mode icon
     current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
     source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))

selfdrive/ui/widgets/prime.py

@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
     font = gui_app.font(FontWeight.LIGHT)
     wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
     text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
 
     # Features section
     features_y = desc_y + text_size.y + 50

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -106,7 +106,9 @@ class Parser:
                        out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
       if self.generation >= 12 and \
-        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
         self.parse_mdn('plan', outs, in_N=0, out_N=0,
                        out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
       else:

sunnypilot/models/fetcher.py

@@ -114,7 +114,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/models/helpers.py

@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 8
+REQUIRED_MIN_SELECTOR_VERSION = 8
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
+71c14a02af81857565e5fcffaaddb57a76fe80b283fe3292da830dbc92e211b7

sunnypilot/selfdrive/car/interfaces.py

@@ -4,10 +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 typing import Any
 
 from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
@@ -22,6 +23,22 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = params.get("HyundaiLongitudinalTuning")
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+
+
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
   if params is None:
@@ -47,15 +64,5 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
-
-
-def initialize_params(params) -> list[dict[str, Any]]:
-  keys: list = []
-
-  # hyundai
-  keys.extend([
-    "HyundaiLongitudinalTuning"
-  ])
-
-  return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/controls/lib/param_store.py

@@ -24,16 +24,11 @@ class ParamStore:
     self.values = {}
     self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
 
-    self.frame = 0
-
   def update(self, params: Params) -> None:
-    if self.frame % 300 == 0:
-      old_values = dict(self.values)
-      self.values = {k: params.get(k) or "0" for k in self.keys}
-      if old_values != self.values:
-        self.cached_params_list = None
-
-    self.frame += 1
+    old_values = dict(self.values)
+    self.values = {k: params.get(k) or "0" for k in self.keys}
+    if old_values != self.values:
+      self.cached_params_list = None
 
   def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
     if self.cached_params_list is None:

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -15,7 +15,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [

sunnypilot/sunnylink/uploader.py

@@ -1,38 +1,40 @@
 #!/usr/bin/env python3
+import bz2
+import datetime
+import io
 import json
 import os
 import random
-import requests
 import threading
 import time
 import traceback
-import datetime
 from collections.abc import Iterator
+from typing import BinaryIO
 
-from cereal import log
-import cereal.messaging as messaging
-from sunnypilot.sunnylink.api import SunnylinkApi
-from openpilot.common.file_helpers import get_upload_stream
+import requests
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.common.swaglog import cloudlog
+
+import cereal.messaging as messaging
+from cereal import log
+from sunnypilot.sunnylink.api import SunnylinkApi
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
+
 UPLOAD_ATTR_VALUE = b'1'
 
-MAX_UPLOAD_SIZES = {
-  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
-  # bugs, including ones that can cause massive log sizes
-  "qcam": 5*1e6,
-}
+UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
+OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
+
 
 class FakeRequest:
   def __init__(self):
@@ -50,6 +52,7 @@ def get_directory_sort(d: str) -> list[str]:
   o = ["0", ] if d.startswith("2024-") else ["1", ]
   return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
+
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
@@ -62,6 +65,7 @@ def listdir_by_creation(d: str) -> list[str]:
     cloudlog.exception("listdir_by_creation failed")
     return []
 
+
 def clear_locks(root: str) -> None:
   for logdir in os.listdir(root):
     path = os.path.join(root, logdir)
@@ -85,11 +89,11 @@ class Uploader:
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes")
-    requested_routes = [] if r is None else [route for route in r.split(",") if route]
+    requested_routes = [] if r is None else r.split(",")
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
@@ -133,11 +137,11 @@ class Uploader:
       if any(f in fn for f in self.immediate_folders):
         return name, key, fn
 
-    for name, key, fn in upload_files:
-      if name in self.immediate_priority:
-        return name, key, fn
-
-    return None
+    return next(
+      ((name, key, fn)
+       for name, key, fn in upload_files if name in self.immediate_priority),
+      None,
+    )
 
   def do_upload(self, key: str, fn: str):
     url_resp = self.api.get(
@@ -157,15 +161,15 @@ class Uploader:
     if fake_upload:
       return FakeResponse()
 
-    stream = None
-    try:
-      compress = key.endswith('.zst') and not fn.endswith('.zst')
-      stream, _ = get_upload_stream(fn, compress)
-      response = requests.put(url, data=stream, headers=headers, timeout=10)
-      return response
-    finally:
-      if stream:
-        stream.close()
+    with open(fn, "rb") as f:
+      data: BinaryIO
+      if key.endswith('.bz2') and not fn.endswith('.bz2'):
+        compressed = bz2.compress(f.read())
+        data = io.BytesIO(compressed)
+      else:
+        data = f
+
+      return requests.put(url, data=data, headers=headers, timeout=10)
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -179,7 +183,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
+    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:
@@ -220,7 +224,6 @@ class Uploader:
 
     return success
 
-
   def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
@@ -229,8 +232,8 @@ class Uploader:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
-      key += ".zst"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
+      key += ".bz2"
 
     return self.upload(name, key, fn, network_type, metered)
 
@@ -249,6 +252,9 @@ def main(exit_event: threading.Event = None) -> None:
   params = Params()
   dongle_id = params.get("SunnylinkDongleId")
 
+  offroad_transition_prev = 0.
+  offroad_last = False
+
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
@@ -259,13 +265,35 @@ def main(exit_event: threading.Event = None) -> None:
   backoff = 0.1
   while not exit_event.is_set():
     sm.update(0)
+
     offroad = params.get_bool("IsOffroad")
-    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
+    t = time.monotonic()
+    if offroad and not offroad_last and t > 300.:
+      offroad_transition_prev = time.monotonic()
+    offroad_last = offroad
+
+    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
     if network_type == NetworkType.none:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
       continue
 
+    if params.get_bool("DisableOnroadUploads"):
+      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
+        if not offroad:
+          cloudlog.info("not uploading: onroad uploads disabled")
+        else:
+          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
+          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
+          if time_left > 2.0 * 60.0:
+            time_left_str = f"{int(time_left / 60)} minute(s)"
+          else:
+            time_left_str = f"{int(time_left)} seconds(s)"
+          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
+        if allow_sleep:
+          time.sleep(60)
+        continue
+
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success is None:
       backoff = 60 if offroad else 5
@@ -273,7 +301,7 @@ def main(exit_event: threading.Event = None) -> None:
       backoff = 0.1
     else:
       cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff*2, 120)
+      backoff = min(backoff * 2, 120)
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 

system/hardware/hardwared.py

@@ -382,11 +382,6 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # Offroad power monitoring
     voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
-
-    # GitHub runner auto off: 9V is used as the threshold because most desktop runners
-    # will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
-    params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
-
     power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())

system/manager/process_config.py

@@ -62,8 +62,7 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
 def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and (
-    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
+  return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
 
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""
@@ -175,7 +174,7 @@ procs += [
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 
-if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
+if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
 managed_processes = {p.name: p for p in procs}

system/ui/lib/wifi_manager.py

@@ -101,8 +101,8 @@ class WifiManager:
     """Connect to the DBus system bus."""
     try:
       self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
-      while not await self._find_wifi_device():
-        await asyncio.sleep(1)
+      if not await self._find_wifi_device():
+        raise ValueError("No Wi-Fi device found")
 
       await self._setup_signals(self.device_path)
       self.active_ap_path = await self.get_active_access_point()

system/ui/sunnypilot/lib/list_view.py

@@ -1,121 +0,0 @@
-import pyray as rl
-
-from openpilot.system.ui.widgets.list_view import ToggleAction, ListItem, ItemAction
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from collections.abc import Callable
-
-from openpilot.system.ui.sunnypilot.lib.toggle import ToggleSP
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-
-style = styles.Default
-
-
-class ToggleActionSP(ToggleAction):
-  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True):
-    ToggleAction.__init__(self, initial_state, width, enabled)
-    self.toggle = ToggleSP(initial_state=initial_state)
-
-class ListItemSP(ListItem):
-  def __init__(self, title: str = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
-               description_visible: bool = False, callback: Callable | None = None,
-               action_item: ItemAction | None = None):
-    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
-
-  def get_item_height(self, font: rl.Font, max_width: int) -> float:
-    if not self.is_visible:
-      return 0
-
-    total_width = self._rect.width - (2 * style.ITEM_PADDING)  # Full width minus padding
-    max_width = int(total_width - (2 * style.ITEM_PADDING))
-
-    current_description = self.get_description()
-    if self.description_visible and current_description:
-      if (
-              not self._wrapped_description
-              or current_description != self._prev_description
-              or max_width != self._prev_max_width
-      ):
-        self._prev_max_width = max_width
-        self._prev_description = current_description
-
-        wrapped_lines = wrap_text(self._font, current_description, style.ITEM_DESC_FONT_SIZE, max_width)
-        self._wrapped_description = "\n".join(wrapped_lines)
-        self._description_height = len(wrapped_lines) * style.ITEM_DESC_FONT_SIZE + 10
-      return style.ITEM_BASE_HEIGHT + self._description_height - (style.ITEM_BASE_HEIGHT - style.ITEM_DESC_V_OFFSET) + style.ITEM_PADDING
-    return style.ITEM_BASE_HEIGHT
-
-  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
-    if not self.action_item:
-      return rl.Rectangle(0, 0, 0, 0)
-
-    right_width = self.action_item.rect.width
-    if right_width == 0:  # Full width action (like DualButtonAction)
-      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
-                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
-
-    action_width = self.action_item.rect.width
-    if isinstance(self.action_item, ToggleAction):
-      action_x = item_rect.x
-    else:
-      action_x = item_rect.x + item_rect.width - action_width
-    action_y = item_rect.y
-    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
-
-  def _render(self, _):
-    content_x = self._rect.x + style.ITEM_PADDING
-    text_x = content_x
-    left_action_item = isinstance(self.action_item, ToggleAction)
-
-    if left_action_item:
-      left_rect = rl.Rectangle(
-        content_x,
-        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
-        style.TOGGLE_WIDTH,
-        style.TOGGLE_HEIGHT
-      )
-      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING
-
-      # Draw title
-      if self.title:
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
-
-      # Render toggle and handle callback
-      if self.action_item.render(left_rect) and self.action_item.enabled:
-        if self.callback:
-          self.callback()
-
-    else:
-      if self.title:
-        # Draw main text
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
-
-        # Draw right item if present
-        if self.action_item:
-          right_rect = self.get_right_item_rect(self._rect)
-          right_rect.y = self._rect.y
-          if self.action_item.render(right_rect) and self.action_item.enabled:
-            # Right item was clicked/activated
-            if self.callback:
-              self.callback()
-
-    # Draw description if visible
-    current_description = self.get_description()
-    if self.description_visible and current_description and self._wrapped_description:
-      rl.draw_text_ex(
-        self._font,
-        self._wrapped_description,
-        rl.Vector2(content_x, self._rect.y + style.ITEM_DESC_V_OFFSET),
-        style.ITEM_DESC_FONT_SIZE,
-        0,
-        style.ITEM_DESC_TEXT_COLOR,
-      )
-
-def toggle_item_sp(title: str, description: str | Callable[[], str] | None = None, initial_state: bool = False,
-                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = ToggleActionSP(initial_state=initial_state, enabled=enabled)
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)

system/ui/sunnypilot/lib/styles.py

@@ -1,34 +0,0 @@
-import pyray as rl
-from dataclasses import dataclass
-
-@dataclass
-class Default:
-  # Base Colors
-  ON_BG_COLOR = rl.Color(28, 101, 186, 255) # Blue
-  OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
-  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255) # Dull Blue
-  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
-  ITEM_TEXT_COLOR = rl.WHITE
-  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
-
-  # Widget/Control Dimensions
-  ITEM_BASE_HEIGHT = 170
-  ITEM_PADDING = 30
-  ITEM_TEXT_FONT_SIZE = 50
-  ITEM_DESC_FONT_SIZE = 40
-  ITEM_DESC_V_OFFSET = 150
-
-  TOGGLE_HEIGHT = 100
-  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
-  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
-
-  BUTTON_WIDTH = 250
-  BUTTON_HEIGHT = 100
-
-  # Toggle Colors
-  TOGGLE_ON_COLOR = ON_BG_COLOR
-  TOGGLE_OFF_COLOR = OFF_BG_COLOR
-  TOGGLE_KNOB_COLOR = rl.WHITE
-  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
-  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
-  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey

system/ui/sunnypilot/lib/toggle.py

@@ -1,89 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.widgets.toggle import Toggle
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-
-style = styles.Default
-
-class ToggleSP(Toggle):
-  def __init__(self, initial_state=False):
-    Toggle.__init__(self, initial_state)
-
-  def _render(self, rect: rl.Rectangle):
-    self.update()
-    if self._enabled:
-      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
-      knob_color = style.TOGGLE_KNOB_COLOR
-    else:
-      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
-      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
-
-    # Draw background
-    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
-
-    # Draw outline first
-    outline_color = style.TOGGLE_ON_COLOR
-    if not self._enabled:
-        # Use a more subtle color for disabled state
-        outline_color = rl.Color(outline_color.r // 2, outline_color.g // 2, outline_color.b // 2, 255)
-
-    # Draw outline by drawing a slightly larger rounded rectangle behind the background
-    outline_rect = rl.Rectangle(bg_rect.x - 2, bg_rect.y - 2, bg_rect.width + 4, bg_rect.height + 4)
-    rl.draw_rectangle_rounded(outline_rect, 1.0, 10, outline_color)
-
-    # Draw actual background
-    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
-
-    # Draw knob to sit inside the background
-    knob_padding = 5
-    knob_radius = style.TOGGLE_BG_HEIGHT / 2 - knob_padding
-
-    left_edge = bg_rect.x + knob_padding
-    right_edge = bg_rect.x + bg_rect.width - knob_padding
-
-    knob_travel_distance = right_edge - left_edge - 2 * knob_radius
-    min_knob_x = left_edge + knob_radius
-    knob_x = min_knob_x + knob_travel_distance * self._progress
-    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
-
-    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, knob_color)
-
-    symbol_size = knob_radius / 2
-
-    if self._state and (self._enabled or self._progress > 0.5):
-        # Draw checkmark when toggle is ON
-        start_x = knob_x - symbol_size * 0.8
-        start_y = knob_y
-        mid_x = knob_x - symbol_size * 0.1
-        mid_y = knob_y + symbol_size * 0.6
-        end_x = knob_x + symbol_size * 0.8
-        end_y = knob_y - symbol_size * 0.5
-
-        rl.draw_line_ex(
-            rl.Vector2(int(start_x), int(start_y)),
-            rl.Vector2(int(mid_x), int(mid_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(mid_x), int(mid_y)),
-            rl.Vector2(int(end_x), int(end_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-    else:
-        # Draw X when toggle is OFF
-        x_size_factor = 0.65
-        x_offset = symbol_size * x_size_factor
-
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x - x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x + x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x + x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x - x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )

system/ui/widgets/button.py

@@ -32,7 +32,7 @@ BUTTON_TEXT_COLOR = {
   ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
   ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
-  ButtonStyle.ACTION: rl.BLACK,
+  ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
   ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
   ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255),
   ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255),

tools/mac_setup.sh

@@ -50,7 +50,7 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
-cask "font-noto-color-emoji"
+brew "font-noto-color-emoji"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"

tools/tuning/measure_steering_accuracy.py

@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
     active = sm['controlsState'].active
     steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
             if len(model_points):
               self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited_by_safety:
+            if steer_limited_by_controls:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
               self.speed_group_stats[group][angle_abs]["saturated"] += 1

uv.lock

@@ -415,31 +415,31 @@ wheels = [
 
 [[package]]
 name = "cython"
-version = "3.1.3"
+version = "3.1.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/18/ab/915337fb39ab4f4539a313df38fc69938df3bf14141b90d61dfd5c2919de/cython-3.1.3.tar.gz", hash = "sha256:10ee785e42328924b78f75a74f66a813cb956b4a9bc91c44816d089d5934c089", size = 3186689, upload-time = "2025-08-13T06:19:13.619Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/18/40/7b17cd866158238db704965da1b5849af261dbad393ea3ac966f934b2d39/cython-3.1.2.tar.gz", hash = "sha256:6bbf7a953fa6762dfecdec015e3b054ba51c0121a45ad851fa130f63f5331381", size = 3184825, upload-time = "2025-06-09T07:08:48.465Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b5/51/54f5d1bed7b7d003d0584996a030542497aeb05b9241782c217ea71061f5/cython-3.1.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:4b3b2f6587b42efdece2d174a2aa4234da4524cc6673f3955c2e62b60c6d11fd", size = 3002973, upload-time = "2025-08-13T06:19:50.777Z" },
-    { url = "https://files.pythonhosted.org/packages/05/07/b4043fed60070ee21b0d9ff3a877d2ecdc79231e55119ce852b79b690306/cython-3.1.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:963cf640d049fcca1cefd62d1653f859892d6dc8e4d958eb49a5babc491de6a1", size = 2865389, upload-time = "2025-08-13T06:19:52.675Z" },
-    { url = "https://files.pythonhosted.org/packages/b4/e3/67d349b5310a40f281e153e826ca24d9f7ba2997c06800eda781253dccfd/cython-3.1.3-cp311-cp311-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:2ab05d1bf2d5522ecff35d94ca233b77db2300413597c3ca0b6448377fa4bd7c", size = 3410316, upload-time = "2025-08-13T06:19:55.217Z" },
-    { url = "https://files.pythonhosted.org/packages/49/c4/84aae921135174111091547fa726ea5f8bba718cd12b2589a70c2aab8d5c/cython-3.1.3-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:cd517e3be052fb49443585b01f02f46080b3408e32c1108a0fdc4cc25b3c9d30", size = 3189568, upload-time = "2025-08-13T06:19:57.503Z" },
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