ci: Dedicated Model Runner (#1922)

* ci: Dedicated Model Runner

* recurse

* not needed

* fix wrapper

* whoops

* bypass

* modeld_v2: restore chestnut link check before big model build

* modeld_v2: stage onnx to disk instead of shared memory

* ci: clear unchunked onnx temps before model build

* ci: stream the pkl hash instead of loading it into memory

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

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

@@ -103,10 +103,10 @@ jobs:
       - run: |
           cd ${{ github.workspace }}/openpilot/openpilot
           if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx" -X "**/selfdrive/modeld/models/dmonitoring_*.onnx"
             rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
           else
-            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
+            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx"
             find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
           fi
       - name: 'Upload Artifact'
@@ -116,7 +116,7 @@ jobs:
           path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
 
   build_model:
-    runs-on: [self-hosted, tici]
+    runs-on: [self-hosted, usbgpu]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -127,7 +127,6 @@ jobs:
           fetch-depth: 1
           submodules: recursive
 
-      - run: git lfs pull
 
       - name: Set environment variables
         id: set-env
@@ -160,7 +159,7 @@ jobs:
           fi
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
 
       - name: Download model artifacts
         uses: actions/download-artifact@v4
@@ -180,6 +179,7 @@ jobs:
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
 
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
@@ -187,27 +187,40 @@ jobs:
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
-            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            TG_FLAGS="$TG_FLAGS_QCOM"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
           fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
             echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
           # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          VISION_ONNX=""
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+            [ -f "$f" ] && VISION_ONNX="$f" && break
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          done
+
+          POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+            [ -f "$f" ] && POLICY_ONNX="$f" && break
+          done
+
+          OFF_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+          done
+
+          ON_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+          done
+
           SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
-            if [ -f "$f" ]; then
+            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
-              SUPERCOMBO_ONNX="$f"
-              break
-            fi
           done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""

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

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

.github/workflows/ui_preview.yaml

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

openpilot/selfdrive/controls/lib/longitudinal_planner.py

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

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

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

openpilot/sunnypilot/livedelay/helpers.py

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

openpilot/sunnypilot/modeld_v2/compile_modeld.py

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

openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py

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

openpilot/sunnypilot/models/fetcher.py

@@ -140,8 +140,8 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v20.json"
-  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"
+  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v20.json"
 
   def __init__(self, params: Params):
     self.params = params

openpilot/system/hardware/hardwared.py

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

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

@@ -4,7 +4,15 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from collections.abc import Callable
+
+import pyray as rl
+
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.list_view import BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, _resolve_value
 
 
 class NoElideButtonAction(ButtonActionSP):
@@ -12,6 +20,38 @@ class NoElideButtonAction(ButtonActionSP):
     return super().get_width_hint() + 1
 
 
+class ScrollingButtonAction(ButtonActionSP):
+  """ButtonActionSP whose value scrolls instead of eliding when it doesn't fit."""
+
+  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH,
+               enabled: bool | Callable[[], bool] = True):
+    super().__init__(text=text, width=width, enabled=enabled)
+    self._value_label = UnifiedLabel("", font_size=style.ITEM_TEXT_FONT_SIZE, font_weight=FontWeight.NORMAL,
+                                     text_color=self._value_color, scroll=True,
+                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
+    if self.value != _resolve_value(value, ""):
+      self._value_label.reset_scroll()
+    super().set_value(value, color)
+    self._value_label.set_text(value)
+    self._value_label.set_text_color(color)
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    """Duplicate of ButtonActionSP._render, with the value drawn by a scrolling label"""
+    self._button.set_text(self.text)
+    self._button.set_enabled(_resolve_value(self.enabled))
+    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._button.render(button_rect)
+
+    if self.value:
+      self._value_label.render(rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height))
+
+    pressed = self._pressed
+    self._pressed = False
+    return pressed
+
+
 class AlertFadeAnimator:
   def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
     from openpilot.common.filter_simple import FirstOrderFilter

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

@@ -0,0 +1,166 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import math
+
+import numpy as np
+import pyray as rl
+
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.list_view import ItemAction
+
+FONT_SIZE = style.ITEM_TEXT_FONT_SIZE
+ICON_SIZE = 56
+ICON_PADDING = 12
+
+BAR_WIDTH = 1100
+BAR_HEIGHT = 20
+BAR_GAP = 16
+BAR_RADIUS = BAR_HEIGHT / 2
+CAPSULE_POINTS = 24
+
+RAIL_COLOR = rl.Color(60, 60, 60, 255)
+FILL_COLOR = rl.Color(30, 121, 232, 255)
+# rl.WHITE is a tuple; the shimmer path reads .a off the color
+TEXT_COLOR = rl.Color(255, 255, 255, 255)
+
+SWEEP_SPEED = 550.0  # px/s
+SWEEP_BAND = 240.0   # highlight half-width, px
+SWEEP_DIM = 0.65
+
+
+class DownloadStatusAction(ItemAction):
+  """Model download row: a name + percent over a progress rail while downloading, a name + icon otherwise."""
+
+  def __init__(self):
+    super().__init__(width=BAR_WIDTH)
+    self.name = ""
+    self.status_text = ""
+    self.downloading = False
+    self.text_color = rl.GRAY
+    self.icon: str | None = None
+    self.icon_color: rl.Color | None = None
+    self._font = gui_app.font(FontWeight.NORMAL)
+    # raw progress arrives in steps, one per 128KB chunk the manager publishes
+    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
+    # integrated per frame; (t * speed) % span jumps whenever the fill width changes
+    self._sweep = 0.0
+
+    self._name_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
+                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    self._percent_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def update(self, name, downloading=False, progress=0.0, status_text="", text_color=rl.GRAY, icon=None, icon_color=None):
+    if downloading and not self.downloading:
+      self._name_label.reset_shimmer()
+      self._progress.x = progress
+      self._sweep = 0.0
+    self.name = name
+    self.downloading = downloading
+    self.status_text = status_text
+    self.text_color = text_color
+    self.icon = icon
+    self.icon_color = icon_color
+    self._name_label._shimmer = downloading
+    if downloading:
+      self._progress.update(progress)
+      self._sweep += SWEEP_SPEED / gui_app.target_fps
+
+  @property
+  def _idle_text(self) -> str:
+    return f"{self.name} - {self.status_text}" if self.status_text else self.name
+
+  def get_width_hint(self) -> float:
+    if self.downloading:
+      return BAR_WIDTH
+    width = measure_text_cached(self._font, self._idle_text, FONT_SIZE).x
+    if self.icon:
+      width += ICON_SIZE + ICON_PADDING
+    return width
+
+  def _render(self, rect: rl.Rectangle):
+    if self.downloading:
+      self._render_downloading(rect)
+    else:
+      self._render_idle(rect)
+
+  def _sweep_gradient(self, width: float) -> Gradient:
+    # clearance at both ends keeps the wrap offscreen
+    center = (self._sweep % (width + 2 * SWEEP_BAND)) - SWEEP_BAND
+
+    def band(x: float) -> float:
+      return max(0.0, 1.0 - abs(x - center) / SWEEP_BAND)
+
+    # sampling the corners is exact for a piecewise linear band
+    xs = sorted({0.0, width} | {min(max(center + o, 0.0), width) for o in (-SWEEP_BAND, 0.0, SWEEP_BAND)}, reverse=True)
+    # the gradient axis runs right-to-left in screen space
+    stops = [1.0 - x / width for x in xs]
+    # alpha here is the lift over the SWEEP_DIM base, not the final opacity
+    colors = [rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * band(x))) for x in xs]
+    return Gradient(start=(0.0, 0.0), end=(1.0, 0.0), colors=colors, stops=stops)
+
+  @staticmethod
+  def _capsule(rect: rl.Rectangle) -> np.ndarray:
+    """Rounded-end ribbon so the gradient covers the caps."""
+    r = rect.height / 2
+    cy = rect.y + r
+    top, bottom = [], []
+    for i in range(CAPSULE_POINTS):
+      x = rect.x + rect.width * i / (CAPSULE_POINTS - 1)
+      d = min(x - rect.x, rect.x + rect.width - x, r)
+      h = math.sqrt(max(r * r - (r - d) ** 2, 0.0))
+      top.append((x, cy - h))
+      bottom.append((x, cy + h))
+    return np.array(top + bottom[::-1], dtype=np.float32)
+
+  def _draw_fill(self, rail: rl.Rectangle, fill_width: float):
+    if fill_width <= 0:
+      return
+    fill = rl.Rectangle(rail.x, rail.y, fill_width, rail.height)
+    rl.draw_rectangle_rounded(fill, 1.0, 10, rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * SWEEP_DIM)))
+    draw_polygon(fill, self._capsule(fill), gradient=self._sweep_gradient(fill_width))
+
+  def _render_downloading(self, rect: rl.Rectangle):
+    percent = f"{int(self._progress.x)}%"
+    text_height = measure_text_cached(self._font, percent, FONT_SIZE).y
+    top = rect.y + (rect.height - (text_height + BAR_GAP + BAR_HEIGHT)) / 2
+
+    text_rect = rl.Rectangle(rect.x, top, rect.width, text_height)
+    self._name_label.set_text(self.name)
+    self._name_label.render(text_rect)
+    self._percent_label.set_text(percent)
+    self._percent_label.render(text_rect)
+
+    rail = rl.Rectangle(rect.x, top + text_height + BAR_GAP, rect.width, BAR_HEIGHT)
+    rl.draw_rectangle_rounded(rail, 1.0, 10, RAIL_COLOR)
+    self._draw_fill(rail, max(0.0, min(rect.width, rect.width * (self._progress.x / 100.0))))
+
+  def _render_idle(self, rect: rl.Rectangle):
+    text = self._idle_text
+    text_size = measure_text_cached(self._font, text, FONT_SIZE)
+    right = rect.x + rect.width
+
+    if self.icon:
+      texture = gui_app.texture(self.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
+      rl.draw_texture_v(texture, rl.Vector2(right - texture.width, rect.y + (rect.height - texture.height) / 2),
+                        self.icon_color or self.text_color)
+      right -= texture.width + ICON_PADDING
+
+    rl.draw_text_ex(self._font, text, rl.Vector2(right - text_size.x, rect.y + (rect.height - text_size.y) / 2),
+                    FONT_SIZE, 0, self.text_color)
+
+
+def download_status_item(title):
+  return ListItemSP(title=title, action_item=DownloadStatusAction(), title_color=style.ITEM_TEXT_COLOR)

openpilot/system/webrtc/tests/test_stream_session.py

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

openpilot/system/webrtc/webrtcd.py

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

pyproject.toml

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

release/ci/model_generator.py

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

release/ci/publish.sh

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

uv.lock

@@ -381,20 +381,20 @@ wheels = [
 
 [[package]]
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-version = "2.1.0"
+version = "3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2a/78/6e9e20106224083cfb817d2d3c26e80e72258d617b616721a169b87081e0/deepmerge-2.1.0.tar.gz", hash = "sha256:07ca7a7b8935df596c512fa8161877c0487ac61f691c07766e7d71d2b23bdd2f", size = 21449, upload-time = "2026-06-22T05:46:07.669Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b7/6c/9f4577a36d5f463a3a3f8322bd65d33e1a1a6b6ba1d692a5ebc3cba19015/deepmerge-3.0.tar.gz", hash = "sha256:14ed69f063de64b7743985c732ccff5d6c34ff4560946e7fbfd99086b853b9ce", size = 22279, upload-time = "2026-08-17T05:50:53.161Z" }
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+    { url = "https://files.pythonhosted.org/packages/a8/d7/7f19bedd30b90b72865aeec3a29127bed6dee6c9ef0324bb5b4d424bb0e3/deepmerge-3.0-py3-none-any.whl", hash = "sha256:c8541c3e186dc88d19a5513ad3a0b2d0b22beaa780969fc0c13b995a64265365", size = 14855, upload-time = "2026-08-17T05:50:52.218Z" },
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 [[package]]
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-version = "3.32.2"
+version = "3.32.3"
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@@ -478,7 +478,7 @@ wheels = [
 
 [[package]]
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-version = "1.27.0"
+version = "1.28.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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@@ -491,18 +491,18 @@ dependencies = [
     { name = "tqdm" },
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 ]
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+    { url = "https://files.pythonhosted.org/packages/51/0e/eafef18f1a75e125e68395db21131db0cf868a128ecd2fce69b4df6c584b/huggingface_hub-1.28.0-py3-none-any.whl", hash = "sha256:58a8bacb03072edfc38067065e9dc24bbb34805410fcd36a1632de0b329660bb", size = 793202, upload-time = "2026-08-18T12:27:12.719Z" },
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 [[package]]
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-version = "3.18"
+version = "3.19"
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+    { url = "https://files.pythonhosted.org/packages/57/b0/0e52c878c53f245edd3a11020f20979b3f490f245af532c7cae3027754b5/idna-3.19-py3-none-any.whl", hash = "sha256:815e7be7a7806d54abb586dc943addc79e8b2ee16915059658cbeff4b1b43bf4", size = 68550, upload-time = "2026-08-18T05:14:22.343Z" },
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 [[package]]
@@ -847,7 +847,7 @@ requires-dist = [
     { name = "rednose", marker = "extra == 'submodules'", editable = "rednose_repo" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
-    { name = "scons" },
+    { name = "scons", specifier = "==4.10.1" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
     { name = "sounddevice" },
@@ -971,11 +971,11 @@ wheels = [
 
 [[package]]
 name = "pygments"
-version = "2.20.0"
+version = "2.21.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c3/b2/bc9c9196916376152d655522fdcebac55e66de6603a76a02bca1b6414f6c/pygments-2.20.0.tar.gz", hash = "sha256:6757cd03768053ff99f3039c1a36d6c0aa0b263438fcab17520b30a303a82b5f", size = 4955991, upload-time = "2026-03-29T13:29:33.898Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/49/2e/ced460408999b33da6b31b0021b0f37d329e202d4169aeb164493778f25b/pygments-2.21.0.tar.gz", hash = "sha256:610ca751c9bc2492b38eb9a38a7fbc93edbbb2d7182edaf34e66ae493dee5c8c", size = 5005329, upload-time = "2026-08-17T08:02:48.824Z" }
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+    { url = "https://files.pythonhosted.org/packages/71/46/17f022dd3e953bf20a04a028a21ec746d942f8d2af30fa0f124fa0e6a684/pygments-2.21.0-py3-none-any.whl", hash = "sha256:2363c69b61c4a97c838da3b130dcd6468f4848992b21a82f2a63ec34377137d9", size = 1250147, upload-time = "2026-08-17T08:02:44.912Z" },
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 [[package]]
@@ -1136,11 +1136,11 @@ wheels = [
 
 [[package]]
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+version = "4.10.1"
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 [[package]]
@@ -1285,7 +1285,6 @@ requires-dist = [
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     { name = "pytest", marker = "extra == 'testing-minimal'" },
     { name = "pytest-split", marker = "extra == 'testing-minimal'" },
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