Merge branch 'master' into ccnc-port

2026-10-17 07:53:57 +08:00 · 2026-10-16 12:56:47 -04:00 · 2026-10-16 12:40:49 -04:00 · 2026-10-07 13:42:56 -04:00 · 2026-10-07 13:42:44 -04:00 · 2026-09-28 00:28:40 -04:00
30 changed files with 735 additions and 643 deletions
@@ -117,6 +117,20 @@ jobs:
            ${{ github.workspace }}/${{ env.SMALL_PKL }} \
            --device-input "*" --out-of-band --benchmark-runs 1

+      - name: Chunk small pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked into {len(targets)} files')
+          "
+
      - name: Prepare output
        env:
          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
@@ -128,7 +142,8 @@ jobs:
          PKL_BASE="driving_tinygrad.pkl"
          mkdir -p "$OUTPUT_DIR"

-          cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"

          ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)

@@ -206,6 +221,20 @@ jobs:
              raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
          "

+      - name: Chunk big pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked into {len(targets)} files')
+          "
+
      - name: Compile big warp
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
@@ -245,7 +274,8 @@ jobs:
          PKL_BASE="big_driving_tinygrad.pkl"
          mkdir -p "$OUTPUT_DIR"

-          cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"

          PKL_LFS_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.BIG_PKL }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)

@@ -360,14 +390,24 @@ jobs:
          from datetime import datetime, UTC

          dm_dir = Path('dm_output')
-          matches = sorted(dm_dir.glob('dmonitoring_*_tinygrad.pkl'))
-          assert len(matches) == 1, f'expected one DM pkl in {dm_dir}, found {matches}'
-          pkl_name = matches[0].name
+          manifest = list(dm_dir.glob('*.chunkmanifest'))
+          assert manifest, 'No chunkmanifest found'
+          pkl_name = manifest[0].name.removesuffix('.chunkmanifest')
+          num_chunks = int(manifest[0].read_text().strip())
+
+          chunks = []
+          for i in range(num_chunks):
+              chunk = dm_dir / f'{pkl_name}.chunk{i+1:02d}of{num_chunks:02d}'
+              chunks.append({
+                  'file_name': chunk.name,
+                  'sha256': hashlib.sha256(chunk.read_bytes()).hexdigest()
+              })

          digest = hashlib.sha256()
-          with open(dm_dir / pkl_name, 'rb') as f:
-              while block := f.read(1024*1024):
-                  digest.update(block)
+          for c in chunks:
+              with open(dm_dir / c['file_name'], 'rb') as f:
+                  while block := f.read(1024*1024):
+                      digest.update(block)

          metadata = {
              'bundles': [{
@@ -381,7 +421,8 @@ jobs:
                      'type': 'chunked',
                      'artifact': {
                          'file_name': pkl_name,
-                          'download_uri': {'url': '', 'sha256': digest.hexdigest()}
+                          'download_uri': {'url': '', 'sha256': digest.hexdigest()},
+                          'chunks': chunks
                      }
                  }]
              }]
@@ -444,6 +485,20 @@ jobs:
            ${{ github.workspace }}/${{ env.DM_ONNX }} \
            ${{ github.workspace }}/${{ env.DM_PKL }}

+      - name: Chunk DM pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.DM_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked {pkl} into {len(targets)} chunks')
+          "
+
      - name: Compile DM warp
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
@@ -476,7 +531,8 @@ jobs:
      - name: Prepare DM output
        run: |
          mkdir -p dm_output
-          cp ${{ github.workspace }}/${{ env.DM_PKL }} dm_output/
+          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
+          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/

      - name: Upload DM artifact
@@ -137,7 +137,6 @@ jobs:
    needs: build_model
    runs-on: ubuntu-latest
    permissions:
-      actions: read
      id-token: write
      contents: write
    steps:
@@ -180,21 +179,18 @@ jobs:
          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

      - name: Download and extract model artifact
-        env:
-          GH_TOKEN: ${{ github.token }}
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          id=$(gh api -X GET "repos/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID/artifacts" -f name="$ARTIFACT_NAME" --jq '.artifacts[0].id')
-          url=$(curl -sf -o /dev/null -w '%{redirect_url}' -H "Authorization: Bearer $GH_TOKEN" "https://api.github.com/repos/$GITHUB_REPOSITORY/actions/artifacts/$id/zip")
-          sudo apt-get install -y -qq aria2 > /dev/null
-          aria2c -q -x16 -s16 -k8M --max-tries=5 --file-allocation=none -o model.zip "$url" && unzip -q model.zip -d output && rm model.zip
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output

      - name: Create models folder
        env:
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          cp output/metadata.json "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"

      - name: Upload to Hugging Face
        env:
@@ -1,5 +1,5 @@
-name: Download HF model
-description: Resolve and download models from HuggingFace in parallel
+name: Download HF model chunks
+description: Resolve and download model chunks from HuggingFace in parallel

 inputs:
  hf_repo:
@@ -19,7 +19,7 @@ inputs:
 runs:
  using: composite
  steps:
-    - name: Download models
+    - name: Download model chunks
      shell: bash
      env:
        HF_REPO: ${{ inputs.hf_repo }}
@@ -33,7 +33,7 @@ runs:
        resolve_chunks() {
          local HF_PATH="$1" ONNX_HASH="$2" CANONICAL="$3" DEST_DIR="$4"
          local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
-          local DEFAULTS BUNDLE ARTIFACT FILE_URL BASE_URL
+          local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
          DEFAULTS=$(curl -fsSL "$JSON_URL")
          if [ -n "$TINYGRAD_REF" ]; then
            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg tg "$TINYGRAD_REF" '
@@ -51,12 +51,20 @@ runs:
          fi

          ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
-          FILE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url')
-          BASE_URL=$(echo "$FILE_URL" | sed 's|/[^/]*$||')
+          BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
+          NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')

          mkdir -p "$DEST_DIR"
-          ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${FILE_URL}', safe=':/'))")
-          printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}" >> "$DOWNLOAD_LIST"
+          while IFS= read -r CHUNK_NAME; do
+            CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+' || true)
+            if [ -z "$CHUNK_IDX" ]; then
+              echo "::error::Failed to parse chunk index from: $CHUNK_NAME"
+              return 1
+            fi
+            ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
+            printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
+          done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
+          echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"

          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
@@ -79,7 +87,7 @@ runs:
        done

        TOTAL=$(wc -l < "$DOWNLOAD_LIST")
-        echo "Downloading $TOTAL files with 8 parallel connections..."
+        echo "Downloading $TOTAL chunks with 8 parallel connections..."
        xargs -P8 -d'\n' -I{} bash -c '
          URL="${1%%	*}"
          DEST="${1#*	}"
@@ -149,17 +149,7 @@ jobs:
              git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
              rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
            else
-              sudo apt-get install -y -qq aria2 > /dev/null # Parallel ranges because gh is flaky
-              LFS_URL=$(git config -f "$(git rev-parse --show-toplevel)/.lfsconfig" lfs.url)
-              for f in selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/big_*.pkl; do
-                grep -qs "^version https://git-lfs" "$f" || continue
-                OID=$(awk -F'sha256:' '/^oid/{print $2}' "$f"); SIZE=$(awk '/^size/{print $2}' "$f")
-                HREF=$(curl -fsSL --retry 3 -X POST -H "Accept: application/vnd.git-lfs+json" -H "Content-Type: application/vnd.git-lfs+json" "$LFS_URL/objects/batch" \
-                  -d "{\"operation\":\"download\",\"transfer\":[\"basic\"],\"objects\":[{\"oid\":\"$OID\",\"size\":$SIZE}]}" | jq -r '.objects[0].actions.download.href')
-                aria2c -x 16 -s 16 -k 16M --max-tries=5 --retry-wait=5 --file-allocation=none --summary-interval=30 --allow-overwrite=true \
-                  -d "$(dirname "$f")" -o "$(basename "$f")" "$HREF"
-                echo "$OID  $f" | sha256sum -c -
-              done
+              git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/big_*.pkl" -X ""
              find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
            fi
          fi
@@ -172,7 +162,6 @@ jobs:
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          compression-level: 0
          path: |
            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
@@ -235,11 +224,11 @@ jobs:
          MODEL_SIZE=$(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 OPENPILOT_HACKS=1"
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
            echo "CHESTNUT build"
            export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -251,15 +240,14 @@ jobs:

          if [ -f "${{ env.MODELS_DIR }}/new_arch.txt" ]; then
            echo "Detected new arch"
-            if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
-              DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "big_*driving*.onnx" -print -quit)
-            else
-              DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" ! -name "big_*" -print -quit)
-            fi
+            DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" -print -quit)
            if [ -n "$DOWNLOADED_ONNX" ]; then
              echo "Compiling ONNX: $DOWNLOADED_ONNX"
              env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
-                "$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --benchmark-runs 1
+                "$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --out-of-band --benchmark-runs 1
+
+              echo "Chunking pkl"
+              python3 -c "from openpilot.common.file_chunker import chunk_file, get_chunk_targets; import os; p='$OUTPUT_PKL'; chunk_file(p, get_chunk_targets(p, os.path.getsize(p)))"
            else
              echo "Failed to find downloaded ONNX."
              exit 1
@@ -329,7 +317,8 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
-            --include='/${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}driving_tinygrad.pkl' \
+            --include='*.chunk*' \
+            --include='*.chunkmanifest' \
            --exclude='*' \
            --delete-excluded \
            --chown=comma:comma \
@@ -351,7 +340,6 @@ jobs:
        with:
          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
          path: ${{ env.OUTPUT_DIR }}
-          compression-level: 0

      - name: Upload artifact name file
        uses: actions/upload-artifact@v4
@@ -503,8 +503,8 @@ jobs:
          mkdir -p ${{ env.OUTPUT_DIR }}
          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}

-      - name: Download models from HF
-        uses: ./.github/workflows/download-hf-model
+      - name: Download model chunks from HF
+        uses: ./.github/workflows/download-hf-model-chunks
        with:
          hf_repo: sunnypilot/sunnypilot_models_v1
          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
@@ -573,8 +573,8 @@ jobs:
          mkdir -p ${{ env.OUTPUT_DIR }}
          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}

-      - name: Download models from HF
-        uses: ./.github/workflows/download-hf-model
+      - name: Download model chunks from HF
+        uses: ./.github/workflows/download-hf-model-chunks
        with:
          hf_repo: sunnypilot/sunnypilot_models_v1
          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
@@ -47,22 +47,38 @@ jobs:
        with:
          submodules: true

-      - name: Download model
+      - name: Download Model Chunks in Parallel
        env:
          HF_TOKEN: ${{ secrets.HF_TOKEN }}
-          MODEL_URL: ${{ matrix.artifact.download_uri.url }}
-          MODEL_FILE: ${{ matrix.artifact.file_name }}
-        shell: bash
        run: |
-          mkdir -p /tmp/models
-          AUTH=()
-          if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
-          curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "/tmp/models/$MODEL_FILE" "$MODEL_URL"
+          mkdir -p /tmp/model_chunks
+          echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
+
+          BASE_URL="${{ matrix.artifact.download_uri.url }}"
+          export BASE_DIR=$(dirname "$BASE_URL")
+
+          python3 -c '
+          import json, os
+          with open("chunks.json") as f:
+            chunks = json.load(f)
+          manifest_path = f"/tmp/model_chunks/${{ matrix.artifact.file_name }}.chunkmanifest"
+          with open(manifest_path, "w") as f:
+            f.write(str(len(chunks)))
+          base_dir = os.environ["BASE_DIR"]
+          hf_token = os.environ.get("HF_TOKEN", "")
+          with open("/tmp/curl_config.txt", "w") as f:
+            for c in chunks:
+              fn = c["file_name"]
+              f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
+              if hf_token:
+                f.write(f"header = \"Authorization: Bearer {hf_token}\"\n")
+          '
+          curl -Z --parallel-immediate --parallel-max 12 --retry 3 --retry-all-errors -s -S -f -L -K /tmp/curl_config.txt

      - name: Run Model Compatibility Test
        env:
          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
-          MODEL_DIR: "/tmp/models"
+          MODEL_CHUNK_DIR: "/tmp/model_chunks"
        run: |
          export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
          python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
@@ -55,7 +55,7 @@ def chestnut_action(command):
 def compile_model(onnx_path, pkl_path):
  onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
  cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_onnx.py" '
-         f'"{onnx_path}" "{target_pkl_path}" --out-of-band --benchmark-runs 1')
+         f'"{onnx_path}" "{target_pkl_path}" --device-input "*" --out-of-band --benchmark-runs 1')
  lenv.Command(
    target_pkl_path,
    tinygrad_files + [onnx_path, Value(cmd)],
@@ -1,11 +1,9 @@
 import io
 import pickle
 import struct
-import sys
 from pathlib import Path

 from openpilot.common.file_chunker import get_manifest_path
-from openpilot.common.hardware import AGNOS
 from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id

 MODELS_DIR = Path(__file__).resolve().parent / 'models'
@@ -15,14 +13,15 @@ def modeld_pkl_path(chestnut: bool):
  prefix = 'big_' if chestnut else ''
  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'

-def load_oob(f, chestnut=False):
-  import numpy as np
-  from tinygrad import Context, Tensor
-  device = 'USB+AMD:LLVM' if chestnut else 'QCOM' if AGNOS else 'METAL' if sys.platform == 'darwin' else 'CPU:LLVM'
-  with Context(DEV=device):
-    opcodes = f.read(struct.unpack('<q', f.read(8))[0])
-    buffers = Tensor(np.frombuffer(f.read(), np.uint8)).realize().uop.buffer
-    return type("_Unpickler", (pickle.Unpickler,), {"persistent_load": lambda self, pid: buffers.view(*pid)})(io.BytesIO(opcodes)).load()
+def load_oob(f):
+  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
+  def buffers():
+    while (h := f.read(8)):
+      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
+      if f.readinto(pb) != pb.raw().nbytes:
+        raise EOFError("incomplete model buffer")
+      yield pb
+  return pickle.load(io.BytesIO(opcodes), buffers=buffers())

 def chestnut_present() -> bool:
  for d in USB_DEVICES_PATH.glob("*"):
@@ -134,8 +134,8 @@ class FrameMeta:


 def input_view(buffer: Buffer, shape: tuple[int, ...], dtype: DType, offset: int) -> Tensor:
-  view = buffer.view(math.prod(shape) * dtype.itemsize, offset).ensure_allocated()
-  return Tensor(UOp.from_buffer(view, dtype)).reshape(shape)
+  view = buffer.view(math.prod(shape), dtype, offset).ensure_allocated()
+  return Tensor(UOp.from_buffer(view)).reshape(shape)


 class ModelState(ModelStateBase):
@@ -143,7 +143,7 @@ class ModelState(ModelStateBase):

  def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
    ModelStateBase.__init__(self)
-    jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)), chestnut)
+    jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
    self.model_device = jits['input_specs']['new_img'][2]
    self.input_shapes = {name: (shape, np.dtype(dtype)) for name, (shape, dtype, _) in jits['input_specs'].items()}
    self.state_pairs = {name: f'next_{name}' for name in self.input_shapes if f'next_{name}' in jits['metadata']['output_shapes']}
@@ -230,8 +230,7 @@ def main(demo=False):

  CHESTNUT = chestnut_present() and chestnut_compiled()
  if CHESTNUT:
-    from tinygrad.runtime.ops_amd import AMDDevice
-    AMDDevice.wait_timeout_ms = 3000
+    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
  params = Params()
  params.put_bool("ChestnutLoading", CHESTNUT)
  params.remove("ChestnutActive")
@@ -7,12 +7,14 @@ See the LICENSE.md file in the root directory for more details.
 """

 import argparse
+import atexit
 import codecs
 import gc
 import math
 import multiprocessing as mp
 import os
 import pickle
+import shutil
 import tempfile
 import time
 from functools import partial
@@ -20,8 +22,8 @@ from typing import Any

 import numpy as np

-from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, read_parts, write_bundle
-from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame, record_kernel_linear, serialize_jit
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets, open_file_chunked
+from openpilot.sunnypilot.modeld_v2.helpers import dump_oob, load_oob
 import openpilot.sunnypilot.modeld_v2.stock_dependencies as stock
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info

@@ -53,6 +55,16 @@ def _patch_tinygrad_fetch_fw():
    pass
 _patch_tinygrad_fetch_fw()

+def _patch_ops_serialization():
+  try:
+    from tinygrad.uop.ops import Ops
+    def __reduce_ex__(self, proto):
+      return (getattr, (self.__class__, self.name))
+    Ops.__reduce_ex__ = __reduce_ex__
+  except ImportError:
+    pass
+_patch_ops_serialization()
+
 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
 WARP_INPUTS = ['tfm', 'big_tfm']
 POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
@@ -60,7 +72,6 @@ POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs'
 class MetadataOnnxPBParser(OnnxPBParser):
  def _parse_ModelProto(self) -> dict:
    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
-    self.opset_imports = {}
    for fid, wire_type in self._parse_message(self.reader.len):
      match fid:
        case 7:
@@ -139,10 +150,6 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
  return shapes, sizes


-def host_view(tensor: Tensor) -> np.ndarray: # QCOM -> CPU round trip of tfm takes 5ms longer than host memory view
-  return np.frombuffer(tensor._buffer()._host_mv(), dtype=np.float32).reshape(tensor.shape)
-
-
 def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
                            is_supercombo: bool = False) -> tuple[dict, dict]:
  road_key, _ = _detect_vision_keys(input_shapes)
@@ -178,7 +185,7 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
                  dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_npy_inputs, device=device).realize(),
+    'packed_npy_inputs': Tensor(packed_npy_inputs, device=device if os.getenv('CHESTNUT') else 'NPY').realize(),
  }

  if features_buffer:
@@ -190,11 +197,9 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
  for key in ('tfm', 'big_tfm'):
    if key not in npy_arrays:
      npy_arrays[key] = np.eye(3, dtype=np.float32)
-    queues[key] = Tensor(npy_arrays[key], device=device).realize()
+    queues[key] = Tensor(npy_arrays[key], device='NPY').realize()

-  packed = host_view(queues['packed_npy_inputs'])
-  npy_arrays |= {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed, split_indices) if sizes else [], strict=True)}
-  return queues, npy_arrays | {k: host_view(queues[k]) for k in ('tfm', 'big_tfm')}
+  return queues, npy_arrays


 def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
@@ -216,8 +221,8 @@ def make_warp_queues(device=Device.DEFAULT):
    'tfm': np.zeros((3, 3), dtype=np.float32),
    'big_tfm': np.zeros((3, 3), dtype=np.float32),
  }
-  queues = {k: Tensor(v, device=device).realize() for k, v in npy.items()}
-  return queues, {k: host_view(v) for k, v in queues.items()}
+  queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
+  return queues, npy


 def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
@@ -277,19 +282,8 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
  return run_policy


-class _CheckFrameRecorder:
-  def __init__(self, jit):
-    self.jit, self.frame = jit, None
-
-  def __call__(self, *args, **kwargs):
-    if self.frame is not None or args or self.jit.cnt < 2:
-      return self.jit(*args, **kwargs)
-    self.frame, result = capture_frame(self.jit, kwargs, None)
-    return result
-
-
 def compile_jit(jit_or_fn, input_keys_or_make_inputs, make_queues=None, make_random_inputs=None,
-                benchmark_runs: int = 1, clear_refs=None):
+                benchmark_runs: int = 1, clear_refs=None, return_loaded: bool = True):
  if callable(input_keys_or_make_inputs) and make_queues is None:
    fn = jit_or_fn
    make_inputs = input_keys_or_make_inputs
@@ -340,23 +334,22 @@ def compile_jit(jit_or_fn, input_keys_or_make_inputs, make_queues=None, make_ran

  print('capture + replay')
  gc.collect()
-  recorder = _CheckFrameRecorder(jit)
-  with record_kernel_linear() as recorded:
-    test_val = run_eval(recorder, 42, 3)
-  assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
-  part = serialize_jit(jit, recorded[0], recorder.frame)
-  print(f'plain artifact round trip ({benchmark_runs} runs per seed)')
-  if clear_refs:
-    clear_refs()
-  gc.collect()
-  loaded_jit = PlainJit(part[0], memoryview(part[1]))
+  test_val = run_eval(jit, 42, 3)
+  print(f'pickle round trip ({benchmark_runs} runs per seed)')
+  with tempfile.TemporaryFile(dir=".") as f:
+    dump_oob(jit, f)
+    if clear_refs:
+      clear_refs()
+    gc.collect()
+    f.seek(0)
+    loaded_jit = load_oob(f)

  for seed in (42, 43):
    reference = test_val if seed == 42 else run_eval(jit_or_fn, seed, 1)
    actual = run_eval(loaded_jit, seed, benchmark_runs)
    for ref, val in zip(reference, actual, strict=True):
      np.testing.assert_array_equal(ref, val)
-  return part
+  return loaded_jit if return_loaded else jit


 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -364,6 +357,16 @@ def _parse_size(size_str: str) -> tuple[int, int]:
  return int(width), int(height)


+def read_file_chunked_to_disk(path):
+  if not path:
+    return None
+  tmp_path = f'{path}.unchunked'
+  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, f)
+  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
+  return tmp_path
+
+
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
  runners, keys = [], []
  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
@@ -384,7 +387,10 @@ def _compile_warp_resolution_worker(cam_w, cam_h, model_w, model_h, benchmark_ru
    warp = None
  compiled_jit = compile_jit(warp, WARP_INPUTS, make_warp_queues, make_random_inputs=make_random_warp_inputs,
                            benchmark_runs=benchmark_runs, clear_refs=cleanup_warp)
-  write_bundle(result_path, {(cam_w, cam_h): compiled_jit}, {'device': Device.DEFAULT})
+
+  result_data = (compiled_jit, Device.DEFAULT)
+  with open(result_path, "wb") as f:
+    dump_oob(result_data, f)


 if __name__ == "__main__":
@@ -415,6 +421,12 @@ if __name__ == "__main__":
  model_w, model_h = args.model_size
  output_data = {}

+  args.vision_onnx = read_file_chunked_to_disk(args.vision_onnx)
+  args.policy_onnx = read_file_chunked_to_disk(args.policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_disk(args.off_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
+  args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)
+
  is_unified_supercombo = False
  if args.model_type == 'supercombo':
    assert args.supercombo_onnx
@@ -437,10 +449,8 @@ if __name__ == "__main__":
                                  frame_copy_size=frame_copy_size)
      warp = stock.make_warp(nv12, model_w, model_h)
      run_model_jit = TinyJit(stock.make_run_model(warp, run_policy, model_metadata, frame_copy_size), prune=True)
-      write_bundle(part_path := f"{args.output}.{cam_w}x{cam_h}", {(cam_w, cam_h): compile_jit(run_model_jit, stock.MODELD_INPUTS, make_model_queues,
-                                                                                               benchmark_runs=args.benchmark_runs)})
-      output_data[(cam_w, cam_h)] = read_parts(part_path)[0][(cam_w, cam_h)]
-      os.remove(part_path)
+      compiled_jit = compile_jit(run_model_jit, stock.MODELD_INPUTS, make_model_queues, benchmark_runs=args.benchmark_runs, return_loaded=False)
+      output_data[(cam_w, cam_h)] = compiled_jit
      gc.collect()
    del model_runner, run_policy
    gc.collect()
@@ -508,12 +518,18 @@ if __name__ == "__main__":

      tmp_files.append((cam_w, cam_h, tmp_res.name))
    for cam_w, cam_h, tmp_name in tmp_files:
-      warp_parts, warp_extras = read_parts(tmp_name)
-      output_data[(cam_w, cam_h)] = warp_parts[(cam_w, cam_h)]
-      output_data['input_devices']['warp'] = warp_extras['device']
+      with open(tmp_name, "rb") as f:
+        compiled_jit, dev_name = load_oob(f)
+      output_data[(cam_w, cam_h)] = compiled_jit
+      output_data['input_devices']['warp'] = dev_name
      os.remove(tmp_name)
    output_data['metadata']['warp_dev'] = Device.DEFAULT

-  parts = {key: output_data.pop(key) for key in [key for key, value in output_data.items() if isinstance(value, tuple)]}
-  write_bundle(args.output, parts, output_data)
-  print(f"Saved model to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB, {len(parts)} JITs)")
+  with open(args.output, "wb") as file:
+    dump_oob(output_data, file)
+
+  pkl_size = os.path.getsize(args.output)
+  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
+  chunk_targets = get_chunk_targets(args.output, pkl_size)
+  chunk_file(args.output, chunk_targets)
+  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
@@ -1,59 +1,11 @@
 #!/usr/bin/env python3
-import argparse
+import runpy
 import os
-import sys

-import numpy as np
-
-from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, write_bundle
-from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame, record_kernel_linear, serialize_jit
-
-
-def initialize_check_inputs(arrays: dict):
-  rng = np.random.default_rng(7)
-  for value in arrays.values():
-    value[...] = rng.standard_normal(value.shape) if value.dtype.kind == "f" else rng.integers(0, 2 if value.dtype == np.bool_ else 16, value.shape)
+from openpilot.sunnypilot.modeld_v2.compile_modeld import _patch_ops_serialization


 if __name__ == "__main__":
-  sys.path.insert(0, os.environ.get("TINYGRAD_PATH", "tinygrad_repo"))
-  from examples.openpilot.compile_onnx import onnx_metadata
-  from examples.openpilot.helpers import allocate_inputs, benchmark
-  from tinygrad import Device, Tensor, TinyJit
-  from tinygrad.dtype import _to_np_dtype
-  from tinygrad.nn.onnx import OnnxRunner
-
-  parser = argparse.ArgumentParser(description="Compile a native-architecture ONNX model into a plain tinygrad artifact")
-  parser.add_argument('onnx')
-  parser.add_argument('output')
-  parser.add_argument('--device-input', action='append', default=[])
-  parser.add_argument('--benchmark-runs', type=int, default=20)
-  args = parser.parse_args()
-
-  runner, (properties, output_shapes) = OnnxRunner(args.onnx), onnx_metadata(args.onnx)
-  device_inputs = runner.graph_inputs.keys() if '*' in args.device_input else args.device_input
-  metadata = {'metadata': properties} | {f'{kind}_shapes': {name: tuple(d if isinstance(d, int) else 0 for d in shape) for name, shape in shapes.items()}
-                                         for kind, shapes in [('input', {name: spec.shape for name, spec in runner.graph_inputs.items()}),
-                                                              ('output', output_shapes)]}
-  input_specs = {name: (tuple(s if isinstance(s, int) else 1 for s in spec.shape), np.dtype(_to_np_dtype(spec.dtype)).str,
-                        Device.DEFAULT if name in device_inputs else 'NPY') for name, spec in runner.graph_inputs.items()}
-
-  def model(inputs):
-    return {name: value.contiguous() for name, value in runner({name: value.to(Device.DEFAULT) for name, value in inputs.items()}).items()}
-  output_specs = {name: (value.shape, np.dtype(_to_np_dtype(value.dtype)).name, Device.DEFAULT) for name, value in model(allocate_inputs(input_specs)).items()}
-
-  @TinyJit(prune=True)
-  def jit(output_buffers, **inputs):
-    Tensor.realize(*(output_buffers[name].assign(value) for name, value in model(inputs).items()))
-
-  check_inputs = allocate_inputs(input_specs, initialize_check_inputs) | {'output_buffers': allocate_inputs(output_specs)}
-  with record_kernel_linear() as recorded:
-    for i in range(2 + args.benchmark_runs):
-      benchmark(jit, cb=lambda t, i=i: print(f"  [{i + 1}/{2 + args.benchmark_runs}] {t * 1e3:.2f} ms"), **check_inputs)
-  assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
-
-  frame, _ = capture_frame(jit, check_inputs, 'output_buffers')
-  part = serialize_jit(jit, recorded[0], frame)
-  PlainJit(part[0], memoryview(part[1]))
-  write_bundle(args.output, {'run': part}, {'metadata': metadata, 'input_specs': input_specs, 'output_specs': output_specs})
-  print(f"Saved model to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB, {len(part[0]['calls'])} kernels)")
+  _patch_ops_serialization()
+  upstream_script = os.path.join(os.environ.get("TINYGRAD_PATH", "tinygrad_repo"), "examples/openpilot/compile_onnx.py")
+  runpy.run_path(upstream_script, run_name="__main__")
@@ -5,23 +5,14 @@ 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 builtins
-import contextlib
-import dataclasses
-import functools
-import hashlib
 import io
-import json
-import math
-import mmap
-import os
-import pickle
 import struct
-
-MAGIC = b"SPTGPLN1"
-ALIGNMENT = 256
-METADATA_TYPES = ("slice", "tuple", "list", "dict", "set", "frozenset", "complex")
-RUNTIME_ENVIRONMENT = ("GMMU", "AMD_AQL", "AMD_DISABLE_SDMA", "GRAPH_ONE_KERNEL")
+import pickle
+import inspect
+import importlib
+import tempfile
+import shutil
+import enum


 def _patch_system_flock_acquire():
@@ -41,246 +32,86 @@ def _patch_system_flock_acquire():
    pass
 _patch_system_flock_acquire()

-
-class ArtifactMismatch(RuntimeError):
-  pass
-
-
-class Blob:
-  def __init__(self, sink=None):
-    self.chunks: list = []
-    self.locations: dict[bytes, list[int]] = {}
-    self.size, self.write = 0, sink.write if sink else self.chunks.append
-
-  def add(self, data) -> list[int]:
-    if (key := hashlib.blake2b(data, digest_size=16).digest()) not in self.locations:
-      start = self.size + -self.size % ALIGNMENT
-      self.write(bytes(start - self.size)), self.write(data)
-      self.locations[key], self.size = [start, start + memoryview(data).nbytes], start + memoryview(data).nbytes
-    return self.locations[key]
-
-
-class _MetadataUnpickler(pickle.Unpickler):
-  def find_class(self, module, name):
-    if module == "builtins" and name in METADATA_TYPES:
-      return getattr(builtins, name)
-    raise pickle.UnpicklingError(f"{module}.{name} is not allowed in model metadata")
-
-
-def flatten(value) -> list:
-  if isinstance(value, (tuple, list)):
-    return [tensor for item in value for tensor in flatten(item)]
-  return [] if value is None else [value]
-
-
-def _relocate(value, part_blob: memoryview, blob: Blob):
-  if isinstance(value, dict):
-    return {k: blob.add(part_blob[slice(*v)]) if k in ("lib", "init", "data") else _relocate(v, part_blob, blob) for k, v in value.items()}
-  return [_relocate(v, part_blob, blob) for v in value] if isinstance(value, list) else value
-
-
-def write_bundle(path: str, parts: dict, extras: dict | None = None):
-  blob = Blob()
-  headers = {key: _relocate(part_header, memoryview(part_blob), blob) for key, (part_header, part_blob) in parts.items()}
-  extras_location = blob.add(pickle.dumps(extras or {}, protocol=4))
-  entries = [{"key": list(key) if isinstance(key, tuple) else key, "blob": [0, blob.size], "header": header} for key, header in headers.items()]
-  header = json.dumps({"parts": entries, "extras": extras_location}).encode()
-  with open(path, "wb") as file:
-    file.write(MAGIC + struct.pack("<Q", len(header)) + header + bytes(-(len(MAGIC) + 8 + len(header)) % ALIGNMENT))
-    file.writelines(blob.chunks)
-
-
-def read_parts(path: str) -> tuple[dict, dict]:
-  with open(path, "rb") as file:
-    data = memoryview(mmap.mmap(file.fileno(), 0, access=mmap.ACCESS_READ))
-  if bytes(data[:len(MAGIC)]) != MAGIC:
-    raise ValueError(f"{path} is not a plain tinygrad model, recompile it with compile_modeld.py")
-  start = len(MAGIC) + 8 + struct.unpack_from("<Q", data, len(MAGIC))[0]
-  header, blob = json.loads(bytes(data[len(MAGIC) + 8:start])), data[start + -start % ALIGNMENT:]
-  parts = {tuple(e["key"]) if isinstance(e["key"], list) else e["key"]: (e["header"], blob[slice(*e["blob"])]) for e in header["parts"]}
-  return parts, _MetadataUnpickler(io.BytesIO(bytes(blob[slice(*header["extras"])]))).load()
-
-
-def load_model(path: str, device_map: dict | None = None, verify: bool = True, cache: bool = True) -> dict:
-  parts, extras = read_parts(path)
-  if cache and (cached := _read_cache(path, parts, device_map)) is not None:
-    return extras | cached
-  shared: dict = {}
-  jits = {key: PlainJit(header, blob, device_map, verify, shared) for key, (header, blob) in parts.items()}
-  if cache:
-    _write_cache(path, jits, device_map)
-  return extras | jits
-
-
-@functools.cache
-def tinygrad_identity() -> str:
-  import tinygrad
-  root, digest = os.path.dirname(tinygrad.__file__), hashlib.sha256()
-  for directory, _, files in sorted(os.walk(root)):
-    for name in sorted(file for file in files if file.endswith(".py")):
-      stat = os.stat(path := os.path.join(directory, name))
-      digest.update(f"{os.path.relpath(path, root)}:{stat.st_size}:{stat.st_mtime_ns};".encode())
-  return digest.hexdigest()
-
-
-def _cache_key(path: str, device_map: dict | None) -> bytes:
-  stat = os.stat(path)
-  return json.dumps({"format": MAGIC.decode(), "tinygrad": tinygrad_identity(), "size": stat.st_size, "mtime_ns": stat.st_mtime_ns,
-                     "device_map": sorted((device_map or {}).items()), "env": [os.environ.get(name, "") for name in RUNTIME_ENVIRONMENT]}).encode()
-
-
-def _cache_header_matches(file, path: str, device_map: dict | None) -> bool:
-  return file.read(struct.unpack("<Q", file.read(8))[0]) == _cache_key(path, device_map)
-
-
-def cache_is_fresh(path: str, device_map: dict | None = None) -> bool: # entry point for warmup proc
+def _pad_args(func, args, kwargs):
  try:
-    with open(f"{path}.cache", "rb") as file:
-      return _cache_header_matches(file, path, device_map)
-  except (OSError, struct.error):
-    return False
-
-
-def _read_cache(path: str, parts: dict, device_map: dict | None) -> dict | None:
-  try:
-    with open(f"{path}.cache", "rb") as file:
-      if not _cache_header_matches(file, path, device_map):
-        return None
-      shared: dict = {}
-      buffers = {repr(key): _allocate_buffers(header, blob, device_map, shared) for key, (header, blob) in parts.items()}
-      return type("_Unpickler", (pickle.Unpickler,), {"persistent_load": lambda self, pid: buffers[pid[0]][pid[1]]})(file).load()
+    sig = inspect.signature(func)
  except Exception:
-    return None
+    return args, kwargs
+  params = list(sig.parameters.values())
+  if inspect.isfunction(func) and params and params[0].name in ('cls', 'self'):
+    params = params[1:]
+
+  new_args = list(args)
+  has_varargs = any(p.kind == inspect.Parameter.VAR_POSITIONAL for p in params)
+  if len(new_args) > len(params) and not has_varargs:
+    new_args = new_args[:len(params)]
+
+  for i in range(len(new_args), len(params)):
+    param = params[i]
+    if param.kind in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD):
+      continue
+    val = param.default if param.default is not inspect.Parameter.empty else None
+    new_args.append(val)
+  return new_args, kwargs


-def _write_cache(path: str, jits: dict, device_map: dict | None) -> None:
-  from tinygrad.device import Buffer
-  owners = {id(buffer): (repr(key), index) for key, jit in jits.items() for index, buffer in enumerate(jit.buffers)}
+def _dynamic_factory(real_class):
+  if isinstance(real_class, type) and issubclass(real_class, enum.Enum):
+    return real_class

-  class _Pickler(pickle.Pickler):
-    def persistent_id(self, obj):
-      return owners.get(id(obj)) if isinstance(obj, Buffer) else None
+  def factory(*args, **kwargs):
+    try:
+      return real_class(*args, **kwargs)
+    except TypeError:
+      new_args, new_kwargs = _pad_args(real_class, args, kwargs)
+      return real_class(*new_args, **new_kwargs)

-  key, tmp_path = _cache_key(path, device_map), f"{path}.cache.{os.getpid()}.tmp"
-  with contextlib.suppress(Exception):
-    with open(tmp_path, "wb") as file:
-      file.write(struct.pack("<Q", len(key)) + key)
-      _Pickler(file, protocol=5).dump({name: _Jit(jit.captured, jit.input_names, jit.buffers) for name, jit in jits.items()})
-    os.replace(tmp_path, f"{path}.cache")
+  class DynamicMeta(type(real_class)):
+    def __call__(cls, *args, **kwargs):
+      return factory(*args, **kwargs)
+
+  class DynamicProxy(real_class, metaclass=DynamicMeta):
+    __slots__ = ()
+
+    def __new__(cls, *args, **kwargs):
+      return factory(*args, **kwargs)
+
+  DynamicProxy.__name__ = real_class.__name__
+  DynamicProxy.__module__ = real_class.__module__
+  return DynamicProxy


-# Everything below this comment block calls tinygrad internals, so after a tinygrad bump this
-# is the only code to update, and models are not recompiled. How to do this when discountchubbs is not available:
-#   1. run modeld_v2/tests/test_plain_artifact.py on the new tinygrad and fix each failing call against the new API: Buffer,
-#      UOp.from_buffer/param (ParamArg), ProgramInfo, Target, KernelInfo, compile_linear, CapturedJit and
-#      _prepare_jit_inputs in tinygrad/engine/jit.py
-#   2. load a real model with verify=True: ArtifactMismatch means the rebuilt graph still differs from the one that was compiled
-# The boot cache is keyed on the tinygrad source, so it rebuilds itself. Only a change in how the device runs kernel binaries needs a recompile.
-# Honestly, I would just have your clanker try it because you likely have zero idea what you are looking at lol..
-
-def _dtype(text: str):
-  from tinygrad.dtype import dtypes
-  return eval(text, {"__builtins__": {}}, {"dtypes": dtypes})
+class DynamicTinygradUnpickler(pickle.Unpickler):
+  def find_class(self, module, name):
+    real_class = getattr(importlib.import_module(module), name)
+    if module.startswith("tinygrad"):
+      return _dynamic_factory(real_class)
+    return real_class


-def _device(recorded: str, device_map: dict | None) -> str:
-  from tinygrad import Device
-  device_map = device_map or {}
-  return Device.canonicalize(device_map.get(recorded, device_map.get(recorded.split(":", 1)[0], recorded)))
+def load_oob(f):
+  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
+  def buffers():
+    while (h := f.read(8)):
+      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
+      f.readinto(pb)
+      yield pb
+  return DynamicTinygradUnpickler(io.BytesIO(opcodes), buffers=buffers()).load()


-def _allocate_buffers(header: dict, blob: memoryview, device_map: dict | None, shared: dict) -> list:
-  import numpy as np
-  from tinygrad.device import Buffer
-  written = {call["args"][i]["buffer"] for call in header["calls"] for i in (call["outs"] if call["kind"] == "program" else (0,))
-             if "buffer" in call["args"][i]}
-  buffers = []
-  for index, entry in enumerate(header["buffers"]):
-    device, data = _device(entry["device"], device_map), blob[slice(*entry["init"])] if "init" in entry else None
-    # read-only data the parts share in the file (weights common to every camera resolution) is uploaded once to the nut
-    key = (device, entry["dtype"], np.frombuffer(data, np.uint8).ctypes.data, len(data)) if data and index not in written else object()
-    if key not in shared:
-      shared[key] = Buffer(device, entry["nbytes"], initial_value=pickle.PickleBuffer(data) if data else None).ensure_allocated()
-    buffers.append(shared[key])
-  return buffers
+def dump_oob(obj, f):
+  with tempfile.TemporaryFile(dir=".") as tmp:
+    def buffer_cb(buffer):
+      data = buffer.raw()
+      tmp.write(struct.pack('<q', len(data)))
+      tmp.write(data)
+      buffer.release()
+      return False

-
-def _program_uop(call: dict, lib: bytes):
-  from tinygrad.helpers import Target
-  from tinygrad.uop.ops import KernelInfo, Ops, ProgramInfo, UOp
-  parameters = []
-  for name, compact_slot, dtype, shape in call["signature"]:
-    parameter = UOp.param(call["globals"][compact_slot], _dtype(dtype), math.prod(shape))
-    image = (shape[0], shape[1]) if len(shape) == 3 and shape[2] == 4 else None
-    parameters.append(parameter.replace(arg=dataclasses.replace(parameter.arg, name=name, image=image)))
-  info = ProgramInfo(global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), vars=(), globals=tuple(call["globals"]),
-                     outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=Target(**call["target"]))
-  return UOp(Ops.PROGRAM, src=(UOp(Ops.SINK, arg=KernelInfo(name=call["name"])), UOp(Ops.LINEAR, src=tuple(parameters)),
-                               UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
-
-
-class _Jit:
-  def __init__(self, captured, input_names: list, buffers: list):
-    self.captured, self.input_names, self.buffers = captured, input_names, buffers
-
-  def __call__(self, *args, **kwargs):
-    import tinygrad.engine.jit as jit
-    input_uops, var_vals, names, _ = jit._prepare_jit_inputs(args, kwargs)
-    if names != self.input_names:
-      raise ValueError(f"expected inputs {self.input_names}, got {names}")
-    return self.captured(input_uops, var_vals)
-
-
-class PlainJit(_Jit):
-  def __init__(self, header: dict, blob: memoryview, device_map: dict | None = None, verify: bool = True, shared: dict | None = None):
-    import numpy as np
-    import tinygrad.engine.jit as jit
-    from tinygrad import Tensor
-    from tinygrad.device import Buffer
-    from tinygrad.dtype import dtypes
-    from tinygrad.uop.ops import Ops, UOp
-
-    inputs = {spec["slot"]: spec for spec in header["inputs"]}
-    buffers = _allocate_buffers(header, blob, device_map, {} if shared is None else shared)
-    bases = [UOp.from_buffer(buffer, _dtype(entry["dtype"])) for buffer, entry in zip(buffers, header["buffers"], strict=True)]
-
-    def argument(described: dict):
-      if "input" in described:
-        spec = inputs[described["input"]]
-        return UOp.param(described["input"], _dtype(spec["dtype"]), spec["numel"], _device(spec["device"], device_map))
-      base, dtype, offset, nbytes = bases[described["buffer"]], _dtype(described["dtype"]), described["offset"], described["nbytes"]
-      if offset == 0 and nbytes == header["buffers"][described["buffer"]]["nbytes"] and dtype == base.dtype:
-        return base
-      return (base if base.dtype.itemsize == 1 else base.bitcast(dtypes.uint8)).shrink(((offset, offset + nbytes),)).bitcast(dtype)
-
-    calls = []
-    for call in header["calls"]:
-      arguments = [argument(described) for described in call["args"]]
-      if call["kind"] == "program":
-        calls.append(_program_uop(call, bytes(blob[slice(*call["lib"])])).call(*arguments))
-      else:
-        calls.append(arguments[0].store_call(arguments[1]))
-    # stand-ins for JIT inputs: copy staging to GPU is decided from the input buffers, the real ones bind per call
-    stand_ins = {slot: UOp.from_buffer(Buffer(_device(spec["device"], device_map), spec["numel"] * _dtype(spec["dtype"]).itemsize).ensure_allocated(),
-                                       _dtype(spec["dtype"])) for slot, spec in inputs.items()}
-    input_uops = tuple(stand_ins.get(slot, next(iter(stand_ins.values()), None)) for slot in range(max(stand_ins, default=-1) + 1))
-    linear = jit.compile_linear(UOp(Ops.LINEAR, src=tuple(calls)), beam=0, input_uops=input_uops, cache=False)
-
-    returned = [Tensor(argument(t)).reshape(tuple(t["shape"])) for t in header["returns"]["tensors"]]
-    ret = {"NoneType": None, "Tensor": returned[0] if returned else None, "tuple": tuple(returned), "list": returned}[header["returns"]["kind"]]
-    super().__init__(jit.CapturedJit(ret, linear, header["input_names"], []), header["input_names"], buffers)
-
-    if not verify or not (check := header.get("check")):
-      return
-    def array(stored):
-      return np.frombuffer(blob[slice(*stored["data"])], dtype=np.dtype(stored["dtype"])).reshape(stored["shape"]).copy()
-    kwargs: dict = {}
-    for path, stored, device in check["inputs"]:
-      tensor = Tensor(array(stored), device=_device(device, device_map)).realize()
-      kwargs[path[0]] = tensor if len(path) == 1 else {**kwargs.get(path[0], {}), path[1]: tensor}
-    result = self(**kwargs)
-    outputs = kwargs[check["output_container"]].values() if check["output_container"] else flatten(result)
-    for index, (got, stored) in enumerate(zip([t.numpy() for t in outputs], check["outputs"], strict=True)):
-      expected = array(stored)
-      if got.shape != expected.shape or not np.allclose(got, expected, rtol=1e-3, atol=1e-3, equal_nan=True):
-        raise ArtifactMismatch(f"output {index} differs from the compile-time reference frame; recompile the model")
+    stream = io.BytesIO()
+    pickle.Pickler(stream, protocol=5, buffer_callback=buffer_cb).dump(obj)
+    opcodes = stream.getvalue()
+    f.write(struct.pack('<q', len(opcodes)))
+    f.write(opcodes)
+    tmp.seek(0)
+    shutil.copyfileobj(tmp, f)
@@ -23,8 +23,8 @@ from tinygrad.uop.ops import UOp


 def input_view(buffer: Buffer, shape: tuple[int, ...], dtype: DType, offset: int) -> Tensor:
-  view = buffer.view(math.prod(shape) * dtype.itemsize, offset).ensure_allocated()
-  return Tensor(UOp.from_buffer(view, dtype)).reshape(shape)
+  view = buffer.view(math.prod(shape), dtype, offset).ensure_allocated()
+  return Tensor(UOp.from_buffer(view)).reshape(shape)


 class BaseModelAdapter:
@@ -168,7 +168,8 @@ class NativeTinygradAdapter(BaseModelAdapter):
    stride, y_height, uv_height, _ = get_nv12_info(self.cam_w, self.cam_h)
    self.frame_copy_size = stride * (y_height + uv_height)

-    self._vision_input_names = ['img', 'big_img']
+    self.input_shapes_orig = self.jits['metadata']['input_shapes']
+    self._vision_input_names = [k for k in self.input_shapes_orig if 'img' in k]
    self.vision_output_slices = pickle.loads(codecs.decode(self.jits['metadata']['metadata']['output_slices'].encode(), 'base64'))

    self.run_warp = self._load_warp()
@@ -24,6 +24,7 @@ from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
 from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -41,7 +42,7 @@ from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
-from openpilot.sunnypilot.modeld_v2.helpers import load_model
+from openpilot.sunnypilot.modeld_v2.helpers import load_oob
 from openpilot.sunnypilot.modeld_v2.model_adapters import get_model_adapter
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
@@ -51,7 +52,8 @@ BIG_MODEL_TIMEOUT = 60


 def _pkl_exists(path):
-  return os.path.exists(path)
+  from openpilot.common.file_chunker import get_manifest_path
+  return os.path.exists(path) or os.path.exists(get_manifest_path(path))


 def _find_driving_pkl(bundle):
@@ -106,7 +108,7 @@ class ModelState(ModelStateBase):

  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = load_model(pkl_path)
+    jits = load_oob(open_file_chunked(pkl_path))

    metadata = jits['metadata']
    self.WARP_DEV = metadata.get('warp_dev', 'QCOM') if COMMA_HARDWARE else 'CPU'
@@ -256,8 +258,7 @@ def main(demo=False):

  CHESTNUT = chestnut_present()
  if CHESTNUT:
-    from tinygrad.runtime.ops_amd import AMDDevice
-    AMDDevice.wait_timeout_ms = 3000
+    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'

  params = Params()
  params.put_bool("ChestnutLoading", CHESTNUT)
@@ -1,90 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import dataclasses
-import mmap
-import tempfile
-from contextlib import contextmanager
-from unittest import mock
-
-import numpy as np
-
-from openpilot.sunnypilot.modeld_v2.helpers import Blob, flatten
-
-# Compile time only/ see discountchubbs 4 assistance: turns a captured TinyJit into plain data that helpers.load_model rebuilds. It reads internals of the
-# tinygrad that compiles the model, so a tinygrad bump that breaks it blocks new builds, never loading already built models.
-@contextmanager
-def record_kernel_linear():
-  import tinygrad.engine.jit as jit
-  import tinygrad.engine.realize as realize
-  recorded, hcq_compile, compile_linear = [], realize.hcq_compile, jit.compile_linear
-
-  def recording_compile_linear(*args, **kwargs):
-    with mock.patch.object(realize, "hcq_compile", lambda linear, *a, **k: (recorded.append(linear), hcq_compile(linear, *a, **k))[1]):
-      return compile_linear(*args, **kwargs)
-
-  with mock.patch.object(jit, "compile_linear", recording_compile_linear):
-    yield recorded
-
-
-def capture_frame(jit, kwargs: dict, output_container: str | None = None):
-  inputs = [([name] if key is None else [name, key], tensor.numpy().copy(), tensor.device)
-            for name, value in kwargs.items() for key, tensor in (value.items() if isinstance(value, dict) else [(None, value)])]
-  result = jit(**kwargs)
-  outputs = kwargs[output_container].values() if output_container else flatten(result)
-  return {"inputs": inputs, "outputs": [tensor.numpy().copy() for tensor in outputs], "output_container": output_container}, result
-
-
-def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict, memoryview]:
-  from tinygrad.uop.ops import Ops
-  sink = tempfile.TemporaryFile(dir=".")
-  blob, bases, input_specs = Blob(sink), {}, {}
-
-  def store(array) -> dict:
-    array = np.ascontiguousarray(array)
-    return {"data": blob.add(array.tobytes()), "dtype": array.dtype.str, "shape": list(array.shape)}
-
-  def describe(uop) -> dict:
-    if uop.op is Ops.PARAM:
-      input_specs.setdefault(uop.arg.slot, {"dtype": repr(uop.dtype), "numel": int(uop.max_numel()), "device": uop.device})
-      return {"input": uop.arg.slot}
-    buffer = uop.buffer
-    root = buffer._base if buffer._base is not None else buffer
-    base = bases.setdefault(id(root), (len(bases), root, uop.base.dtype if buffer._base is None else uop.dtype))
-    return {"buffer": base[0], "offset": buffer.offset if buffer._base is not None else 0, "nbytes": buffer.nbytes, "dtype": repr(uop.dtype)}
-
-  calls, written, needs_init = [], set(), set()
-  for call in kernel_linear.src:
-    ast, arguments = call.src[0], [describe(argument) for argument in call.src[1:]]
-    if ast.op is Ops.PROGRAM:
-      elf, info = ast.to_elf(), ast.arg
-      global_size, local_size = info.launch_dims({})
-      calls.append({"kind": "program", "name": elf.name, "lib": blob.add(bytes(elf.lib)), "target": dataclasses.asdict(elf.target),
-                    "signature": [[name, slot, repr(dtype), [int(x) for x in shape]] for name, slot, dtype, shape in elf.signature],
-                    "global_size": [int(x) for x in global_size], "local_size": [int(x) for x in local_size],
-                    "globals": list(info.globals), "outs": list(info.outs), "ins": list(info.ins), "args": arguments})
-      outs, ins = info.outs, info.ins
-    elif ast.op is Ops.COPY:
-      calls.append({"kind": "copy", "args": arguments})
-      outs, ins = (0,), (1,)
-    else:
-      raise ValueError(f"unsupported call {ast.op} {ast.arg}")
-    needs_init |= {arguments[i]["buffer"] for i in ins if "buffer" in arguments[i] and arguments[i]["buffer"] not in written}
-    written |= {arguments[i]["buffer"] for i in outs if "buffer" in arguments[i]}
-
-  ret = jit.captured.ret
-  returns = {"kind": type(ret).__name__, "tensors": [describe(t.uop.base) | {"shape": [int(x) for x in t.shape]} for t in flatten(ret)]}
-  buffers = [{"nbytes": base.nbytes, "device": base.device, "dtype": repr(dtype)}
-             | ({"init": blob.add(base.as_memoryview())} if index in needs_init else {}) for index, base, dtype in bases.values()]
-  names = list(jit.captured.expected_names)
-  if check is not None:
-    check = {"inputs": [[path, store(array), device] for path, array, device in check["inputs"]], "outputs": [store(array) for array in check["outputs"]],
-             "output_container": check["output_container"]}
-  header = {"input_names": names, "buffers": buffers, "calls": calls, "returns": returns, "check": check,
-            "inputs": [{"slot": slot, "name": names[slot] if slot < len(names) else None} | input_specs[slot] for slot in sorted(input_specs)]}
-  with sink:
-    sink.flush()
-    return header, memoryview(mmap.mmap(sink.fileno(), 0, access=mmap.ACCESS_READ) if blob.size else b"")
@@ -188,8 +188,10 @@ def make_pkl_data(archetype):


 def write_pkl(tmp_path, archetype):
+  from openpilot.sunnypilot.modeld_v2.helpers import dump_oob
  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
-  pkl_path.write_bytes(pickle.dumps(make_pkl_data(archetype)))
+  with open(pkl_path, 'wb') as f:
+    dump_oob(make_pkl_data(archetype), f)
  return pkl_path


@@ -209,7 +211,6 @@ def patch_modeld(monkeypatch):
  def _patch(bundle):
    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
-    monkeypatch.setattr(modeld_module, 'load_model', lambda path: pickle.loads(pathlib.Path(path).read_bytes()))

  return _patch

@@ -90,6 +90,7 @@ class TestStockEquivalence(OpenpilotTestCase):

  def test_unified_run_model(self, tmp_path, monkeypatch, patch_modeld):
    from openpilot.common.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.helpers import dump_oob
    shapes = {'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256), 'features_buffer': (1, 24, 32, 512),
              'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2), 'action_t': (1, 2)}
    import codecs
@@ -101,7 +102,8 @@ class TestStockEquivalence(OpenpilotTestCase):
      (CAM_W, CAM_H): tests_helpers._noop_jit,
      'run_policy': tests_helpers._noop_jit,
    }
-    (tmp_path / 'driving_test_tinygrad.pkl').write_bytes(pickle.dumps(pkl_data))
+    with open(tmp_path / 'driving_test_tinygrad.pkl', 'wb') as f:
+      dump_oob(pkl_data, f)
    bundle = DummyBundle(models=[DummyModel('supercombo', 'driving_test_tinygrad.pkl')])
    patch_modeld(bundle)
    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
@@ -5,12 +5,16 @@ 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
 import unittest
+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


@@ -164,6 +168,36 @@ class TestOutputSlicePreservation(OpenpilotTestCase):
      "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
+
+
 class Test4DFeaturesBuffer(OpenpilotTestCase):
  def test_get_policy_npy_shapes_4d(self):
    from openpilot.sunnypilot.modeld_v2.compile_modeld import get_policy_npy_shapes
@@ -5,11 +5,13 @@ 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 pickle
+import io
 import requests

+from openpilot.common.file_chunker import get_chunk_name
 from openpilot.common.hardware import hw
 from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.modeld_v2.helpers import dump_oob
 import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
 from openpilot.sunnypilot.modeld_v2.tests import helpers as tests_helpers
 from openpilot.sunnypilot.modeld_v2.tests.helpers import DummyModel, DummyBundle, CAM_W, CAM_H
@@ -41,11 +43,14 @@ class TestFallback(OpenpilotTestCase):
    small_json = requests.get(ModelFetcher.MODEL_URL).json()
    small_bundle = ModelParser.parse_models(small_json)[-1]

-    oob_bytes = pickle.dumps(tests_helpers.make_pkl_data(tests_helpers.ARCHETYPES['supercombo_non20hz']))
-    monkeypatch.setattr(modeld_module, 'load_model', lambda path: pickle.loads(open(path, 'rb').read()))
+    buf = io.BytesIO()
+    dump_oob(tests_helpers.make_pkl_data(tests_helpers.ARCHETYPES['supercombo_non20hz']), buf)
+    oob_bytes = buf.getvalue()

    for bundle in (big_bundle, small_bundle):
-      (tmp_path / bundle.models[0].artifact.fileName).write_bytes(oob_bytes)
+      artifact = bundle.models[0].artifact
+      for i in range(len(artifact.chunks)):
+        (tmp_path / get_chunk_name(artifact.fileName, i, len(artifact.chunks))).write_bytes(oob_bytes if i == 0 else b"")

    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: small_bundle)
    assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=False).chestnut is False
@@ -7,14 +7,71 @@ See the LICENSE.md file in the root directory for more details.

 import os
 import unittest
-
-from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, load_model
+from unittest.mock import patch
+from openpilot.common.file_chunker import open_file_chunked
+from openpilot.sunnypilot.modeld_v2.helpers import load_oob
+from tinygrad.device import Device


-class TestRegistryModels(unittest.TestCase):
-  def test_model_loads(self):
-    if not (base_name := os.environ.get("MODEL_BASE_NAME")):
-      self.skipTest("MODEL_BASE_NAME env var not set, skipping integration test.")
-    bundle = load_model(os.path.join(os.environ.get("MODEL_DIR", "/tmp/models"), base_name), {"QCOM": "CPU", "AMD": "CPU"}, verify=False, cache=False)
-    jits = [value for value in bundle.values() if isinstance(value, PlainJit)]
-    assert "metadata" in bundle and jits and all(len(jit.captured.linear.src) > 0 for jit in jits)
+class TestLegacyModels(unittest.TestCase):
+  def test_legacy_model_load(self):
+    base_name = os.environ.get("MODEL_BASE_NAME")
+    if not base_name:
+      raise unittest.SkipTest("MODEL_BASE_NAME env var not set, skipping integration test.")
+    chunk_dir = os.environ.get("MODEL_CHUNK_DIR", "/tmp/model_chunks")
+    base_path = os.path.join(chunk_dir, base_name)
+
+    try:
+      f = open_file_chunked(base_path)
+    except Exception as error:
+      self.fail(f"Failed to open chunked file {base_path}: {error}")
+    self.addCleanup(f.close)
+
+    real_getitem = Device.__class__.__getitem__
+
+    def safe_getitem(device_self, ix):
+      if ix == "QCOM" and not os.path.exists("/dev/kgsl-3d0"):
+        return real_getitem(device_self, "CPU")
+      if ix == "AMD" and not os.path.exists("/dev/kfd"):
+        return real_getitem(device_self, "CPU")
+      return real_getitem(device_self, ix)
+
+    with patch.object(Device.__class__, "__getitem__", safe_getitem):
+      obj = load_oob(f)
+
+      assert isinstance(obj, dict), "Parsed object is not a dictionary"
+      assert "metadata" in obj, "Metadata key is missing"
+
+      def traverse_jits(d):
+        if hasattr(d, "captured") and d.captured is not None:
+          linear_attr = getattr(d.captured, "_linear", None)
+          if linear_attr is None:
+            try:
+              linear_attr = getattr(d.captured, "linear", None)
+            except AssertionError as e:
+              if "alloc size must be positive" in str(e):
+                return
+              raise
+
+          if linear_attr is not None:
+            stack = [linear_attr]
+            visited = set()
+            while stack:
+              node = stack.pop()
+              if id(node) in visited:
+                continue
+              visited.add(id(node))
+              if hasattr(node, "src") and node.src is not None:
+                for child in node.src:
+                  stack.append(child)
+        elif isinstance(d, dict):
+          for v in d.values():
+            traverse_jits(v)
+        elif isinstance(d, (list, tuple)):
+          for v in d:
+            traverse_jits(v)
+
+      if "run_model" in obj:
+        traverse_jits(obj["run_model"])
+      if "run_policy" in obj:
+        traverse_jits(obj["run_policy"])
@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-"""
-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 os
-os.environ['GMMU'] = '0'
-import multiprocessing
-import time
-from openpilot.common.hardware.hw import Paths
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.modeld.helpers import chestnut_present
-from openpilot.sunnypilot.modeld_v2.helpers import cache_is_fresh, load_model
-from openpilot.sunnypilot.models.helpers import get_selected_bundle
-
-
-def main():
-  """
-  The main entry point for offroad cache creation.
-  Runs every 10 seconds and checks for stale model caches.
-  Chestnut cache needs the gpu to build, so that slot waits until it is plugged in, or simply runs during modeld startup.
-  """
-  params, failed, spawn = Params(), set(), multiprocessing.get_context("spawn")
-  while True:
-    for bundle in [get_selected_bundle(params, source) for source in (("qcom", "chestnut") if chestnut_present() else ("qcom",))]:
-      path = os.path.join(Paths.model_root(), bundle.models[0].artifact.fileName) if bundle and bundle.models else ""
-      if not os.path.isfile(path) or cache_is_fresh(path) or (attempt := (path, os.stat(path).st_mtime_ns)) in failed:
-        continue
-      (worker := spawn.Process(target=load_model, args=(path,), daemon=True)).start()
-      worker.join()
-      if not cache_is_fresh(path):
-        cloudlog.error(f"model cache warmup failed for {path} with exit code {worker.exitcode}")
-        failed.add(attempt)
-    time.sleep(10)
-
-
-if __name__ == "__main__":
-  main()
@@ -6,10 +6,12 @@ See the LICENSE.md file in the root directory for more details.
 """

 import time
+import os
 import requests
 from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 from openpilot.cereal import custom

@@ -24,11 +26,35 @@ class ModelParser:
    download_uri.sha256 = download_uri_data.get("sha256")
    return download_uri

+  @staticmethod
+  def _parse_chunk(chunk_data) -> custom.ModelManagerSP.Chunk:
+    chunk = custom.ModelManagerSP.Chunk()
+    chunk.fileName = chunk_data.get("file_name")
+    chunk.sha256 = chunk_data.get("sha256")
+    return chunk
+
  @staticmethod
  def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
    artifact = custom.ModelManagerSP.Artifact()
    artifact.fileName = artifact_data.get("file_name")
    artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
+
+    if "chunks" in artifact_data:
+      artifact.chunks = [ModelParser._parse_chunk(chunk_data) for chunk_data in artifact_data["chunks"]]
+
+      try:
+        model_dir = Paths.model_root()
+        os.makedirs(model_dir, exist_ok=True)
+        manifest_path = os.path.join(model_dir, f"{artifact.fileName}.chunkmanifest")
+        num_chunks = str(len(artifact.chunks))
+
+        if not os.path.exists(manifest_path) or open(manifest_path).read().strip() != num_chunks:
+          with open(manifest_path, "w") as f:
+            f.write(num_chunks)
+          cloudlog.info(f"Wrote chunk manifest for {artifact.fileName}: {num_chunks} chunks")
+      except Exception as e:
+        cloudlog.warning(f"Failed to write chunk manifest for {artifact.fileName}: {e}")
+
    return artifact

  @staticmethod
@@ -112,8 +138,8 @@ 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_v25.json"
-  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v28.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v23.json"
+  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v27.json"

  MODEL_SOURCES = {
    "qcom": (MODEL_URL, ""),
@@ -244,3 +270,5 @@ if __name__ == "__main__":
      model_overrides = {override.key: override.value for override in bundle.overrides}
      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
+      if model.artifact.chunks:
+        print(f"Contains {len(model.artifact.chunks)} chunks.")
@@ -16,7 +16,7 @@ from openpilot.common.hardware.hw import Paths
 from openpilot.selfdrive.modeld.helpers import chestnut_present

 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 21
+REQUIRED_JSON_VERSION = 20

 CUSTOM_MODEL_PATH = Paths.model_root()
 ModelManager = custom.ModelManagerSP
@@ -29,8 +29,9 @@ _LAST_VALIDATED_RAW: dict[str, dict | None] = {}


 def _compute_hash(file_path: str) -> str | None:
+  from openpilot.common.file_chunker import open_file_chunked
  try:
-    with open(file_path, 'rb') as file:
+    with open_file_chunked(file_path) as file:
      return hashlib.file_digest(file, "sha256").hexdigest().lower()
  except FileNotFoundError:
    return None
@@ -57,11 +58,20 @@ def is_bundle_version_compatible(bundle: dict) -> bool:

 def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
  artifacts = []
+  from openpilot.common.file_chunker import get_chunk_name
  for model in getattr(bundle, 'models', []) or []:
-    artifact = getattr(model, 'artifact', None)
-    if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
-      if sha256 := getattr(artifact.downloadUri, 'sha256', None):
-        artifacts.append((artifact.fileName, sha256))
+    for artifact in (getattr(model, 'artifact', None),):
+      if artifact and getattr(artifact, 'fileName', None):
+        if len(artifact.chunks) > 0:
+          for i, chunk in enumerate(artifact.chunks):
+            chunk_name = get_chunk_name(artifact.fileName, i, len(artifact.chunks))
+            if getattr(chunk, 'sha256', None):
+              artifacts.append((chunk_name, chunk.sha256))
+        else:
+          if getattr(artifact, 'downloadUri', None):
+            sha256 = getattr(artifact.downloadUri, 'sha256', None)
+            if sha256:
+              artifacts.append((artifact.fileName, sha256))
  return artifacts


@@ -109,6 +109,50 @@ class ModelManagerSP:
    # Clean up start time after download completes
    del self._download_start_times[model.fileName]

+  async def _download_chunked(self, base_url: str, base_path: str, artifact, skip: frozenset[int] | set[int] = frozenset()) -> None:
+    from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
+
+    num_chunks = len(artifact.chunks)
+    if num_chunks == 0:
+      raise ValueError("No chunks defined in artifact")
+
+    manifest_path = get_manifest_path(base_path)
+    self._download_start_times[artifact.fileName] = time.monotonic()
+
+    # Shared connection saves a TCP+TLS handshake per chunk.
+    # Keep sequential: the link saturates on one stream and Session is not thread-safe.
+    completed = len(skip)
+    with requests.Session() as session:
+      for i, _ in enumerate(artifact.chunks):
+        if i in skip:
+          continue
+        chunk_url = get_chunk_name(base_url, i, num_chunks)
+        chunk_path = get_chunk_name(base_path, i, num_chunks)
+        chunk_downloaded = 0
+        with session.get(chunk_url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
+          response.raise_for_status()
+          chunk_size = int(response.headers.get("content-length", 0))
+          with open(chunk_path, 'wb') as f:  # noqa: ASYNC230
+            for data in response.iter_content(chunk_size=self._chunk_size):
+              f.write(data)
+              chunk_downloaded += len(data)
+              if self._download_interrupted():
+                raise DownloadCancelled("Download cancelled")
+              intra = chunk_downloaded / max(chunk_size, 1)
+              progress = min(99.0, ((completed + intra) / num_chunks) * 100)
+              artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+              artifact.downloadProgress.progress = progress
+              artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
+              self._sync_artifact_progress(artifact)
+              self._report_status()
+        completed += 1
+
+    with open(manifest_path, 'w') as f:  # noqa: ASYNC230
+      f.write(str(num_chunks))
+    if os.path.isfile(base_path):  # noqa: ASYNC240
+      os.remove(base_path)
+    del self._download_start_times[artifact.fileName]
+
  async def _process_artifact(self, artifact, destination_path: str) -> None:
    if not artifact.downloadUri.uri:
      return None
@@ -121,7 +165,28 @@ class ModelManagerSP:
    full_path = os.path.join(destination_path, filename)

    try:
-      if await verify_file(full_path, expected_hash):
+      # progress counts only valid chunks so a resumed download continues the
+      # bar from where verification left it, instead of falling back to zero
+      is_cached = False
+      valid_chunks: set[int] = set()
+      if len(artifact.chunks) > 0:
+        from openpilot.common.file_chunker import get_chunk_name
+        num_chunks = len(artifact.chunks)
+        for i, chunk in enumerate(artifact.chunks):
+          if self._download_interrupted():
+            raise DownloadCancelled("Download cancelled")
+          if await verify_file(get_chunk_name(full_path, i, num_chunks), chunk.sha256):
+            valid_chunks.add(i)
+          artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.verifying
+          artifact.downloadProgress.progress = (len(valid_chunks) / num_chunks) * 100
+          self._sync_artifact_progress(artifact)
+          self._report_status()
+        is_cached = len(valid_chunks) == num_chunks
+      else:
+        if await verify_file(full_path, expected_hash):
+          is_cached = True
+
+      if is_cached:
        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
        artifact.downloadProgress.progress = 100
        artifact.downloadProgress.eta = 0
@@ -129,9 +194,17 @@ class ModelManagerSP:
        self._report_status()
        return

-      await self._download_file(url, full_path, artifact)
-      if not await verify_file(full_path, expected_hash):
-        raise ValueError(f"Hash validation failed for {filename}")
+      if len(artifact.chunks) > 0:
+        await self._download_chunked(url, full_path, artifact, skip=valid_chunks)
+        from openpilot.common.file_chunker import get_chunk_name
+        for i, chunk in enumerate(artifact.chunks):
+          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
+          if not await verify_file(chunk_path, chunk.sha256):
+            raise ValueError(f"Hash validation failed for chunk {i+1} of {filename}")
+      else:
+        await self._download_file(url, full_path, artifact)
+        if not await verify_file(full_path, expected_hash):
+          raise ValueError(f"Hash validation failed for {filename}")

      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
      artifact.downloadProgress.progress = 100
@@ -140,6 +213,7 @@ class ModelManagerSP:
      self._report_status()

    except DownloadCancelled:
+      # a cancel keeps whatever is on disk: complete chunks resume the next attempt
      self._download_start_times.pop(artifact.fileName, None)
      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
      artifact.downloadProgress.eta = 0
@@ -151,8 +225,9 @@ class ModelManagerSP:

    except Exception as e:
      cloudlog.error(f"Error downloading {filename}: {str(e)}")
-      if os.path.isfile(full_path):  # noqa: ASYNC240
-        os.remove(full_path)
+      for f in [full_path] + [p for p in (os.path.join(destination_path, f) for f in os.listdir(destination_path)) if filename in p]:
+        if os.path.isfile(f):  # noqa: ASYNC240
+          os.remove(f)
      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
      artifact.downloadProgress.eta = 0
      self._sync_artifact_progress(artifact)
@@ -285,11 +360,12 @@ class ModelManagerSP:
          if model.artifact.fileName:
            active_files.append(model.artifact.fileName)

-    # Remove all files except active ones
+    # Remove all files except active ones (including their chunk files)
    model_dir = Paths.model_root()
    try:
      for filename in os.listdir(model_dir):
-        if filename not in active_files:
+        base = filename.split('.chunk')[0] if '.chunk' in filename else filename
+        if base not in active_files and filename not in active_files:
          file_path = os.path.join(model_dir, filename)
          if os.path.isfile(file_path):
            os.remove(file_path)
@@ -17,9 +17,11 @@ from typing import Any
 from unittest import mock

 import requests
+from urllib3.connectionpool import HTTPConnectionPool

 from openpilot.cereal import custom
 from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.sunnypilot.models import manager as manager_module
 from openpilot.sunnypilot.models.fetcher import ModelFetcher, get_cached_bundles
@@ -28,6 +30,7 @@ from openpilot.sunnypilot.models.helpers import (get_active_bundle, get_active_s
                                                  resolve_bundle_by_ref, validate_active_bundles)
 from openpilot.sunnypilot.models.manager import ModelManagerSP

+CHUNK_BODIES = [b'A' * 5000, b'B' * 5000, b'C' * 3000]
 WHOLE_BODY = b'Z' * 9000


@@ -46,7 +49,12 @@ class DownloadHandler(http.server.BaseHTTPRequestHandler):
    pass

  def _body_for(self, path):
-    return WHOLE_BODY if path.endswith('.pkl') else None
+    if path.endswith('.whole'):
+      return WHOLE_BODY
+    for i in range(len(CHUNK_BODIES)):
+      if path.endswith(get_chunk_name('', i, len(CHUNK_BODIES))):
+        return CHUNK_BODIES[i]
+    return None

  def do_GET(self):
    type(self).request_paths.append(self.path)
@@ -111,19 +119,35 @@ class ManagerDownloadTestBase(OpenpilotTestCase):
    if artifact is not None:
      self.reported.append(float(artifact.downloadProgress.progress))

-  def make_artifact(self):
+  def make_artifact(self, chunked: bool):
    bundle = custom.ModelManagerSP.ModelBundle.new_message()
    bundle.init('models', 1)
    artifact = bundle.models[0].artifact
    artifact.fileName = 'driving_test_tinygrad.pkl'
-    artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl'
-    artifact.downloadUri.sha256 = sha256(WHOLE_BODY)
+    if chunked:
+      artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl'
+      artifact.downloadUri.sha256 = sha256(b''.join(CHUNK_BODIES))
+      artifact.init('chunks', len(CHUNK_BODIES))
+      for i, body in enumerate(CHUNK_BODIES):
+        artifact.chunks[i].sha256 = sha256(body)
+    else:
+      artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl.whole'
+      artifact.downloadUri.sha256 = sha256(WHOLE_BODY)
    self._bundle = bundle
    self.artifact = artifact
    return artifact

+  def chunk_paths(self, base_path):
+    return [get_chunk_name(base_path, i, len(CHUNK_BODIES)) for i in range(len(CHUNK_BODIES))]
+
+  def assert_no_partials(self, base_path):
+    leftovers = [p for p in [base_path, get_manifest_path(base_path)] + self.chunk_paths(base_path)
+                 if os.path.isfile(p)]
+    assert leftovers == [], f"partial files left behind: {leftovers}"
+
+
 class TestManagerDownload(ManagerDownloadTestBase):
-  """Exercises the real _download_file against a local server."""
+  """Exercises the real _download_file / _download_chunked against a local server."""

  def run_with_server(self, fn):
    with http_server_context(handler=DownloadHandler) as (host, port):
@@ -132,7 +156,7 @@ class TestManagerDownload(ManagerDownloadTestBase):

  def test_download_file_writes_exact_bytes(self):
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=False)
      path = os.path.join(self.dest, artifact.fileName)
      asyncio.run(self.manager._download_file(artifact.downloadUri.uri, path, artifact))
      with open(path, 'rb') as f:
@@ -142,67 +166,111 @@ class TestManagerDownload(ManagerDownloadTestBase):
      assert artifact.fileName not in self.manager._download_start_times
    self.run_with_server(body)

+  def test_download_chunked_writes_all_chunks_and_manifest(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      for i, expected in enumerate(CHUNK_BODIES):
+        with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+          assert f.read() == expected, f"chunk {i} body mismatch"
+
+      with open(get_manifest_path(base_path)) as f:
+        assert f.read() == str(len(CHUNK_BODIES))
+
+      assert not os.path.isfile(base_path), "base file should be removed after chunking"
+      assert artifact.fileName not in self.manager._download_start_times
+    self.run_with_server(body)
+
  def test_progress_is_monotonic_and_bounded(self):
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
-      asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))

      assert self.reported, "expected progress reports"
      for a, b in zip(self.reported, self.reported[1:], strict=False):
        assert b >= a, f"progress went backwards: {a} -> {b}"
+      assert max(self.reported) <= 99.0, f"chunked progress must stay <=99 until verify, got {max(self.reported)}"
+    self.run_with_server(body)
+
+  def test_session_is_reused_across_chunks(self):
+    """One connection pool shared across every chunk."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+
+      pools = []
+      original = HTTPConnectionPool.urlopen
+
+      def tracked(pool_self, *args, **kwargs):
+        pools.append(id(pool_self))
+        return original(pool_self, *args, **kwargs)
+
+      with mock.patch.object(HTTPConnectionPool, 'urlopen', tracked):
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      assert len(pools) == len(CHUNK_BODIES), f"expected one request per chunk, got {len(pools)}"
+      assert len(set(pools)) == 1, f"connection pool not reused across chunks: {len(set(pools))} pools"
    self.run_with_server(body)

  def test_http_error_propagates(self):
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
-      DownloadHandler.fail_paths = {'/' + artifact.fileName: 404}
+      failing = '/' + os.path.basename(get_chunk_name(artifact.downloadUri.uri, 1, len(CHUNK_BODIES)))
+      DownloadHandler.fail_paths = {failing: 404}

      with self.assertRaises(requests.exceptions.HTTPError):
-        asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
-      assert not os.path.isfile(base_path)
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      # chunk 1 failed, so its file and the manifest must not exist
+      assert not os.path.isfile(get_chunk_name(base_path, 1, len(CHUNK_BODIES)))
+      assert not os.path.isfile(get_manifest_path(base_path))
    self.run_with_server(body)

  def test_cancellation_mid_transfer(self):
    """Cancellation is checked inside the byte loop; it must still fire after the port."""
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
      self.manager.params.get.return_value = None  # cancelled

      with self.assertRaises(Exception) as ctx:
-        asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
      assert 'cancelled' in str(ctx.exception).lower()
+      assert not os.path.isfile(get_manifest_path(base_path))
    self.run_with_server(body)

  def test_repeat_downloads_are_stable(self):
    """Back-to-back runs must produce identical bytes and leak no start-time state."""
    def body():
      for _ in range(2):
-        artifact = self.make_artifact()
+        artifact = self.make_artifact(chunked=True)
        base_path = os.path.join(self.dest, artifact.fileName)
-        asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
-        with open(base_path, 'rb') as f:
-          assert f.read() == WHOLE_BODY
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+        for i, expected in enumerate(CHUNK_BODIES):
+          with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+            assert f.read() == expected
        assert self.manager._download_start_times == {}
    self.run_with_server(body)

  def test_download_ref_present_keeps_download_alive(self):
    """A pending download request (DownloadRef set) must not be cancelled mid-transfer."""
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
      self.manager.params.get.side_effect = lambda key: b"ref" if key == "ModelManager_DownloadRef" else None
      self.manager._download_ref = b"ref"
-      asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
-      assert os.path.isfile(base_path)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+      assert os.path.isfile(get_manifest_path(base_path))
    self.run_with_server(body)

  def test_cancellation_via_download_ref(self):
    """Removing DownloadRef mid-transfer cancels the download."""
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
      checks = {"n": 0}

@@ -215,19 +283,20 @@ class TestManagerDownload(ManagerDownloadTestBase):
      self.manager.params.get.side_effect = get
      self.manager._download_ref = b"ref"
      with self.assertRaises(Exception) as ctx:
-        asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
      assert 'cancelled' in str(ctx.exception).lower()
+      assert not os.path.isfile(get_manifest_path(base_path))
    self.run_with_server(body)

  def test_replaced_download_ref_queues_instead_of_cancelling(self):
    """Selecting another model mid-transfer lets the running download finish."""
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
      self.manager.params.get.side_effect = lambda key: b"other-ref" if key == "ModelManager_DownloadRef" else None
      self.manager._download_ref = b"ref"
-      asyncio.run(self.manager._download_file(artifact.downloadUri.uri, base_path, artifact))
-      assert os.path.isfile(base_path)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+      assert os.path.isfile(get_manifest_path(base_path))
    self.run_with_server(body)

  def test_replaced_download_ref_is_kept(self):
@@ -246,10 +315,11 @@ class TestManagerDownload(ManagerDownloadTestBase):
  def test_cached_bundle_cancel_skips_slot_write(self):
    """A cancel must stop an already-on-disk bundle before it is applied to the slot."""
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      base_path = os.path.join(self.dest, artifact.fileName)
-      with open(base_path, 'wb') as f:
-        f.write(WHOLE_BODY)
+      for i, data in enumerate(CHUNK_BODIES):
+        with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'wb') as f:
+          f.write(data)
      self._bundle.ref = "test-ref"
      params, store = self._make_params_with_store()
      store["ModelManager_DownloadRef"] = None  # removed -> cancelled
@@ -259,7 +329,42 @@ class TestManagerDownload(ManagerDownloadTestBase):
        asyncio.run(self.manager._download_bundle(self._bundle, self.dest, "qcom"))
      assert 'cancelled' in str(ctx.exception).lower()
      assert "ModelManager_ActiveBundle" not in store
-      assert os.path.isfile(base_path), "cancel must not delete the cached model"
+      assert all(os.path.isfile(p) for p in self.chunk_paths(base_path)), "cancel must not delete cached chunks"
+    self.run_with_server(body)
+
+  def test_resume_skips_valid_chunks(self):
+    """A chunk already on disk is kept and not re-downloaded; progress starts above its share."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      with open(get_chunk_name(base_path, 0, len(CHUNK_BODIES)), 'wb') as f:
+        f.write(CHUNK_BODIES[0])
+
+      asyncio.run(self.manager._process_artifact(artifact, self.dest))
+
+      chunk0_suffix = get_chunk_name('', 0, len(CHUNK_BODIES))
+      assert not any(p.endswith(chunk0_suffix) for p in DownloadHandler.request_paths), "valid chunk was re-downloaded"
+      for i, expected in enumerate(CHUNK_BODIES):
+        with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+          assert f.read() == expected
+      assert os.path.isfile(get_manifest_path(base_path))
+      assert min(self.reported) >= (1 / len(CHUNK_BODIES)) * 100 - 1, "progress must not restart below the resumed share"
+    self.run_with_server(body)
+
+  def test_verify_reports_valid_fraction_then_cached(self):
+    """A fully cached bundle publishes climbing verify progress and ends cached."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      for i, data in enumerate(CHUNK_BODIES):
+        with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'wb') as f:
+          f.write(data)
+
+      asyncio.run(self.manager._process_artifact(artifact, self.dest))
+
+      assert DownloadHandler.request_paths == [], "cached bundle must not hit the network"
+      assert [round(p) for p in self.reported[:3]] == [33, 67, 100]
+      assert artifact.downloadProgress.status == custom.ModelManagerSP.DownloadStatus.cached
    self.run_with_server(body)

  def _make_params_with_store(self):
@@ -279,7 +384,7 @@ class TestManagerDownload(ManagerDownloadTestBase):
  def test_download_writes_qcom_slot(self):
    """A download resolved to the qcom source writes the qcom active bundle slot only."""
    def body():
-      artifact = self.make_artifact()
+      artifact = self.make_artifact(chunked=True)
      self._bundle.ref = "test-ref"
      self._bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
      params, store = self._make_params_with_store()
@@ -291,13 +396,15 @@ class TestManagerDownload(ManagerDownloadTestBase):
      assert self.manager.selected_bundle.status == custom.ModelManagerSP.DownloadStatus.downloaded
      assert self.manager.active_bundle is not None and self.manager.active_bundle.ref == "test-ref"
      assert self.manager.active_bundle.status == custom.ModelManagerSP.DownloadStatus.downloaded
-      assert os.path.isfile(os.path.join(self.dest, artifact.fileName))
+      chunk_names = [get_chunk_name(artifact.fileName, i, len(artifact.chunks)) for i in range(len(artifact.chunks))]
+      missing = [c for c in chunk_names if not os.path.isfile(os.path.join(self.dest, c))]
+      assert missing == [], f"chunks missing from the cache: {missing}"
    self.run_with_server(body)

  def test_download_writes_chestnut_slot(self):
    """A download resolved to the chestnut source writes the chestnut active bundle slot only."""
    def body():
-      self.make_artifact()
+      self.make_artifact(chunked=True)
      self._bundle.ref = "big-ref"
      self._bundle.minimumSelectorVersion = helpers.REQUIRED_JSON_VERSION
      params, store = self._make_params_with_store()
@@ -675,7 +782,7 @@ class TestEffectiveSource(OpenpilotTestCase):

@unittest.skipUnless(os.environ.get('RUN_INTEGRATION_TESTS'), 'requires external network')
 class TestLiveModelManifest(OpenpilotTestCase):
-  """Every artifact URL in the published manifest must resolve."""
+  """Every artifact and chunk URL in the published manifest must resolve."""

  def test_all_manifest_urls_available(self):
    from openpilot.sunnypilot.models.fetcher import ModelFetcher
@@ -687,7 +794,10 @@ class TestLiveModelManifest(OpenpilotTestCase):
    for bundle in manifest.get('bundles', []):
      for model in bundle.get('models', []):
        artifact = model['artifact']
-        urls = [artifact['download_uri']['url']]
+        url = artifact['download_uri']['url']
+        chunks = artifact.get('chunks', [])
+        urls = ([url] if not chunks
+                else [get_chunk_name(url, i, len(chunks)) for i in range(len(chunks))])
        for u in urls:
          try:
            r = session.head(u, timeout=15, allow_redirects=True)
@@ -170,7 +170,6 @@ procs += [
  # Models
  PythonProcess("models_manager", "openpilot.sunnypilot.models.manager", only_offroad),
  NativeProcess("modeld_tinygrad", "openpilot/sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
-  PythonProcess("modeld_warmup", "openpilot.sunnypilot.modeld_v2.warmup", only_offroad),

  # Backup
  PythonProcess("backup_manager", "openpilot.sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
@@ -54,10 +54,18 @@ def create_pkl_name(full_name: str) -> str:


 def _hash_pkl(pkl_path: Path) -> str:
+  manifest = Path(f"{pkl_path}.chunkmanifest")
+  if manifest.exists():
+    num_chunks = int(manifest.read_text().strip())
+    paths = [Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}") for i in range(num_chunks)]
+  else:
+    paths = [pkl_path]
+
  digest = hashlib.sha256()
-  with pkl_path.open('rb') as f:
-    while block := f.read(1024 * 1024):
-      digest.update(block)
+  for path in paths:
+    with path.open('rb') as f:
+      while block := f.read(1024 * 1024):
+        digest.update(block)
  return digest.hexdigest()


@@ -66,9 +74,22 @@ def _find_driving_pkl(output_path: Path) -> Path | None:
    matches = sorted(output_path.glob(pattern))
    if matches:
      return matches[0]
+  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'))
  return None


+def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
+  manifest = Path(f"{old_pkl}.chunkmanifest")
+  if manifest.exists():
+    for f in sorted(old_pkl.parent.glob(f"{old_pkl.name}.chunk*")):
+      f.rename(old_pkl.parent / f.name.replace(old_pkl.name, new_pkl.name, 1))
+    return new_pkl
+  return old_pkl.rename(new_pkl)
+
+
 def _hash_onnx_files(model_dir: Path) -> str | None:
  onnx_files = [f for f in sorted(model_dir.glob("*.onnx")) if f.stat().st_size > 1024]
  if not onnx_files:
@@ -81,9 +102,22 @@ def _hash_onnx_files(model_dir: Path) -> str | None:
  return digest.hexdigest()


-def generate_model(driving_pkl: Path) -> dict:
+def generate_chunked_model(driving_pkl: Path) -> dict:
  tinygrad_hash = _hash_pkl(driving_pkl)

+  chunks_config = []
+  manifest_file = Path(f"{driving_pkl}.chunkmanifest")
+  if manifest_file.exists():
+    num_chunks = int(manifest_file.read_text().strip())
+    for i in range(num_chunks):
+      chunk_path = Path(f"{driving_pkl}.chunk{i + 1:02d}of{num_chunks:02d}")
+      if chunk_path.exists():
+        chunk_hash = hashlib.sha256(chunk_path.read_bytes()).hexdigest()
+        chunks_config.append({
+          "file_name": chunk_path.name,
+          "sha256": chunk_hash
+        })
+
  artifact_data = {
    "file_name": driving_pkl.name,
    "download_uri": {
@@ -92,6 +126,9 @@ def generate_model(driving_pkl: Path) -> dict:
    }
  }

+  if chunks_config:
+    artifact_data["chunks"] = chunks_config
+
  return {
    "type": "chunked",
    "artifact": artifact_data,
@@ -156,11 +193,11 @@ if __name__ == "__main__":
  if _pkl:
    new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl"
    if not new_pkl.exists():
-      _driving_pkl = _driving_pkl.rename(new_pkl)
+      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
    else:
      _driving_pkl = new_pkl

-  _model_metadata = generate_model(_driving_pkl)
+  _model_metadata = generate_chunked_model(_driving_pkl)
  _onnx_sha256 = args.onnx_sha256 or _hash_onnx_files(Path(args.model_dir))
  create_metadata_json([_model_metadata], _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch,
                       onnx_sha256=_onnx_sha256, is_big=is_big)
@@ -79,6 +79,8 @@ def main():
  artifact = bundle['models'][0]['artifact']
  hf_base = f"https://huggingface.co/datasets/{args.hf_repo}/resolve/main/{args.hf_defaults_path}/{folder_name}"
  artifact['download_uri']['url'] = f"{hf_base}/{artifact['file_name']}"
+  for chunk in artifact.get('chunks', []):
+    chunk['url'] = f"{hf_base}/{chunk['file_name']}"

  print(f"Uploading model to {args.hf_defaults_path}/{folder_name}/")
  api.upload_folder(
Author	SHA1	Message	Date
royjr	f5ea257318	Merge branch 'master' into ccnc-port	2026-10-16 12:56:47 -04:00
royjr	92a39eb58c	Merge branch 'master' into ccnc-port	2026-10-16 12:40:49 -04:00
royjr	107a14650e	Merge branch 'master' into ccnc-port	2026-10-07 13:42:56 -04:00
royjr	9dd71b14a7	Update opendbc_repo	2026-10-07 13:42:44 -04:00
royjr	45f7fcdd05	Update opendbc_repo	2026-09-28 00:28:40 -04:00
royjr	dfd06dbf69	Update opendbc_repo	2026-09-23 21:47:39 -04:00
royjr	110f453d5f	Update opendbc_repo	2026-09-17 00:04:11 -04:00
royjr	320b9e8783	Merge branch 'master' into ccnc-port	2026-09-16 13:01:07 -04:00
royjr	12f2c30c14	Merge branch 'master' into ccnc-port	2026-09-07 00:44:44 -04:00
royjr	0999b0cbe9	Merge branch 'master' into ccnc-port	2026-09-02 15:16:21 -04:00
royjr	ed1121e61c	Update opendbc_repo	2026-09-02 15:16:02 -04:00
royjr	50d7f75bfc	Merge branch 'master' into ccnc-port	2026-08-30 16:21:17 -04:00
royjr	15c7f52e40	Merge branch 'master' into ccnc-port	2026-08-28 20:28:33 -04:00
royjr	8dfe04a318	Merge branch 'master' into ccnc-port	2026-08-24 14:19:36 -04:00
royjr	9648ac2f04	Merge branch 'master' into ccnc-port	2026-08-23 21:48:17 -04:00
royjr	a03a11e333	Merge branch 'master' into ccnc-port	2026-08-23 19:36:45 -04:00
royjr	53b1070b09	Merge branch 'master' into ccnc-port	2026-08-23 11:05:40 -04:00
royjr	68bf6d8162	Merge branch 'master' into ccnc-port	2026-08-22 13:19:05 -04:00
royjr	8b472291d0	Merge branch 'master' into ccnc-port	2026-08-21 17:12:13 -04:00
royjr	797c8d4293	Update opendbc_repo	2026-08-21 17:09:31 -04:00
royjr	7568528507	Merge branch 'master' into ccnc-port	2026-08-19 12:53:59 -04:00
royjr	6665c3acf6	Merge branch 'master' into ccnc-port	2026-08-17 10:14:33 -04:00
royjr	3b13eb4d0d	Update opendbc_repo	2026-08-17 10:14:19 -04:00
royjr	f7eb4c2561	Update opendbc_repo	2026-08-15 01:39:27 -04:00
royjr	be9255358c	Update opendbc_repo	2026-08-15 01:35:33 -04:00
royjr	f48ccb5d7a	Merge branch 'master' into ccnc-port	2026-08-14 20:42:45 -04:00
royjr	99559d6749	Update opendbc_repo	2026-08-14 20:42:36 -04:00
royjr	4b6f0ffb46	Merge branch 'master' into ccnc-port	2026-08-11 11:56:46 -04:00
royjr	55415382ce	Update opendbc_repo	2026-08-11 11:56:38 -04:00
royjr	9f30901eb6	Merge branch 'master' into ccnc-port	2026-08-10 16:33:50 -04:00
royjr	d2045d24fb	Update opendbc_repo	2026-08-10 16:33:37 -04:00
royjr	6488a11e4d	Merge branch 'master' into ccnc-port	2026-08-02 14:27:34 -04:00
royjr	7b22b65313	Merge branch 'master' into ccnc-port	2026-07-27 15:29:04 -04:00
royjr	b59a50101e	Update opendbc_repo	2026-07-27 15:28:51 -04:00
royjr	3e30962bd3	Merge branch 'master' into ccnc-port	2026-07-25 03:04:23 -04:00
royjr	3274043063	Update opendbc_repo	2026-07-25 03:04:12 -04:00
royjr	c624550d2e	Merge branch 'master' into ccnc-port	2026-07-20 15:52:41 -04:00
royjr	6759038671	Merge branch 'master' into ccnc-port	2026-07-20 09:18:18 -04:00
royjr	aa636e75c8	Merge branch 'master' into ccnc-port	2026-07-16 00:23:49 -04:00
royjr	5ff3c3bd8d	Update opendbc_repo	2026-07-16 00:23:43 -04:00
royjr	1e11b52290	Update opendbc_repo	2026-07-14 00:40:02 -04:00
royjr	76e0204025	Update opendbc_repo	2026-07-14 00:37:13 -04:00
royjr	cc88f2cbd6	Update opendbc_repo	2026-07-10 22:00:25 -04:00
royjr	ee0ac199a4	Update opendbc_repo	2026-07-03 08:08:29 -04:00
royjr	d5ed828eaa	Update opendbc_repo	2026-07-01 19:30:06 -04:00
royjr	9fca585f2a	Merge branch 'master' into ccnc-port	2026-06-30 22:14:33 -04:00
royjr	bb1259303e	Update opendbc_repo	2026-06-30 22:14:23 -04:00
royjr	e135051ca8	Merge branch 'master' into ccnc-port	2026-06-13 22:38:22 -04:00
royjr	12bef55d8a	Update opendbc_repo	2026-06-13 22:12:00 -04:00
royjr	2f7a45e6c8	Merge branch 'master' into ccnc-port	2026-06-08 22:01:57 -04:00
royjr	936ebfc12b	Update opendbc_repo	2026-06-08 22:01:44 -04:00
royjr	aa0c9dc0eb	Merge branch 'master' into ccnc-port	2026-06-04 09:52:35 -04:00
royjr	7476a866e7	Update opendbc_repo	2026-06-04 09:52:06 -04:00
royjr	610d857e33	Merge branch 'master' into ccnc-port	2026-05-28 08:30:40 -04:00
royjr	d2f47407d0	Update opendbc_repo	2026-05-12 21:03:18 -04:00
royjr	db75ec76ea	Merge branch 'master' into ccnc-port	2026-05-12 20:44:57 -04:00
royjr	24066465d7	Update opendbc_repo	2026-05-12 20:44:48 -04:00
royjr	a7abbd6e25	Update opendbc_repo	2026-04-20 18:22:12 -04:00
royjr	878982447c	Merge branch 'master' into ccnc-port	2026-04-19 12:06:46 -04:00
royjr	576527a36b	Merge branch 'master' into ccnc-port	2026-04-17 05:42:35 -04:00
royjr	ef8c35da24	Update opendbc_repo	2026-04-17 05:41:21 -04:00
royjr	85688b1040	Merge branch 'master' into ccnc-port	2026-04-16 19:48:39 -04:00
royjr	0fb2199130	Update opendbc_repo	2026-04-16 19:47:57 -04:00
royjr	d48d756c1d	Update opendbc_repo	2026-04-08 00:56:54 -04:00
royjr	2ed298a0c9	Merge branch 'master' into ccnc-port	2026-04-08 00:51:13 -04:00
royjr	d68f038949	Update opendbc_repo	2026-04-08 00:51:11 -04:00
royjr	7231571e57	Merge branch 'master' into ccnc-port	2026-04-03 23:34:00 -04:00
royjr	b37f1419d3	Update opendbc_repo	2026-04-03 23:33:19 -04:00
royjr	cd85a66790	Merge branch 'master' into ccnc-port	2026-03-26 00:53:07 -04:00
royjr	305ea87daf	Update opendbc_repo	2026-03-26 00:52:44 -04:00
royjr	4bbfc793e0	Merge branch 'master' into ccnc-port	2026-03-15 15:44:59 -04:00
royjr	d5d983676e	Update opendbc_repo	2026-03-13 16:41:05 -04:00
royjr	de8a96a398	Merge branch 'master' into ccnc-port	2026-03-13 16:41:00 -04:00
royjr	0cbf45f699	Merge branch 'master' into ccnc-port	2026-03-11 23:28:59 -04:00
royjr	0d68a3a2ab	Merge branch 'master' into ccnc-port	2026-03-09 19:58:32 -04:00
royjr	9e85a85059	Update opendbc_repo	2026-03-09 19:58:18 -04:00
royjr	0373c327c0	Update opendbc_repo	2026-03-02 10:10:38 -05:00
royjr	efe9e5c200	Update opendbc_repo	2026-03-02 02:15:05 -05:00
royjr	8a249a45dc	Update opendbc_repo	2026-03-02 02:06:16 -05:00
royjr	bdbefe67f6	Update opendbc_repo	2026-03-02 01:40:31 -05:00
royjr	675bb166ad	Merge branch 'master' into ccnc-port	2026-03-01 17:18:11 -05:00
royjr	1b717a7e88	Merge branch 'master' into ccnc-port	2026-03-01 13:23:30 -05:00
royjr	86f55a8ba9	Update opendbc_repo	2026-03-01 13:23:24 -05:00
royjr	629392d2f7	Update opendbc_repo	2026-02-27 16:31:59 -05:00
royjr	bc414bdc8b	Update opendbc_repo	2026-02-26 23:53:26 -05:00
royjr	7ca5649f2c	Merge branch 'master' into ccnc-port	2026-02-26 23:52:46 -05:00
royjr	641ee8fa87	Update opendbc_repo	2026-02-26 23:52:27 -05:00
royjr	56c276158c	Merge branch 'master' into ccnc-port	2026-02-24 14:12:12 -05:00
royjr	c65308a8bd	Update opendbc_repo	2026-02-24 14:12:01 -05:00
royjr	994e526460	Merge branch 'master' into ccnc-port	2026-02-18 12:06:05 -05:00
royjr	1defae36b7	Update opendbc_repo	2026-02-18 12:05:53 -05:00
royjr	8f029fd0ef	Merge branch 'master' into ccnc-port	2026-02-13 23:01:41 -05:00
royjr	ddb46284dc	Update opendbc_repo	2026-02-13 23:01:16 -05:00
royjr	9effc754d9	Merge branch 'master' into ccnc-port	2026-02-06 01:16:06 -05:00
royjr	e49ffc2a2d	Update opendbc_repo	2026-02-06 01:15:59 -05:00
royjr	2cacd0b3e5	Merge branch 'master' into ccnc-port	2026-01-24 12:50:18 -05:00
royjr	c4b8859dff	Update opendbc_repo	2026-01-24 12:50:11 -05:00
royjr	8fb0953205	Merge branch 'master' into ccnc-port	2026-01-11 22:17:38 -05:00
royjr	63d1c8835f	Merge branch 'master' into ccnc-port	2026-01-10 13:03:48 -05:00
royjr	17a185606d	Merge branch 'master' into ccnc-port	2026-01-09 16:40:32 -05:00
royjr	da10131392	Merge branch 'master' into ccnc-port	2025-12-28 17:18:51 -05:00
royjr	7107c2ba14	Merge branch 'master' into ccnc-port	2025-12-23 12:13:48 -05:00
royjr	95b6e877ac	Update opendbc_repo	2025-12-23 12:13:29 -05:00
royjr	eb02c6570e	Update opendbc_repo	2025-12-21 15:43:04 -05:00
royjr	1be8ae31c4	Merge branch 'master' into ccnc-port	2025-12-19 01:04:42 -05:00
royjr	04dcd38856	Update opendbc_repo	2025-12-19 01:04:30 -05:00
royjr	22ccf0d72f	Merge branch 'master' into ccnc-port	2025-12-15 17:02:50 -05:00
royjr	3c969bb627	Merge branch 'master' into ccnc-port	2025-12-13 23:22:22 -05:00
royjr	20f8011feb	Update opendbc_repo	2025-12-13 23:22:11 -05:00
royjr	9cf17e74a1	Merge branch 'master' into ccnc-port	2025-12-12 23:19:56 -05:00
royjr	2c4efdf557	Merge branch 'master' into ccnc-port	2025-12-07 13:29:48 -05:00
royjr	4cd3d3c16c	Merge branch 'master' into ccnc-port	2025-12-02 12:56:21 -05:00
royjr	637f3ae9c8	Merge branch 'master' into ccnc-port	2025-12-01 14:41:03 -05:00
royjr	464ee80f71	Merge branch 'master' into ccnc-port	2025-11-26 00:27:53 -05:00
royjr	2743a04613	Merge branch 'master' into ccnc-port	2025-11-24 18:44:13 -05:00
royjr	7f9978d001	Merge branch 'master' into ccnc-port	2025-11-22 00:21:15 -05:00
royjr	4b83961c67	Merge branch 'master' into ccnc-port	2025-11-21 16:23:22 -05:00
royjr	c00eaf428a	Update opendbc_repo	2025-11-21 16:23:01 -05:00
royjr	0a9993e8d4	Merge branch 'master' into ccnc-port	2025-11-19 16:49:59 -05:00
royjr	0af214a985	Update opendbc_repo	2025-11-19 16:49:51 -05:00
royjr	af43385e3a	Merge branch 'master' into ccnc-port	2025-11-11 10:19:51 -05:00
royjr	0ab2b8c590	Update opendbc_repo	2025-11-07 19:59:50 -05:00
royjr	67ab18a0de	Merge branch 'master' into ccnc-port	2025-11-07 19:23:51 -05:00
royjr	e87dc15b30	Update opendbc_repo	2025-11-07 19:23:37 -05:00
royjr	192d08516c	Merge branch 'master' into ccnc-port	2025-11-02 19:23:00 -05:00
royjr	3cf001c59c	Update opendbc_repo	2025-11-02 19:22:49 -05:00
royjr	f2ccd021da	Merge branch 'master' into ccnc-port	2025-11-02 14:07:54 -05:00
royjr	c9fc900f64	Update opendbc_repo	2025-11-02 14:07:44 -05:00
royjr	3c37c5ce5d	Update opendbc_repo	2025-10-30 11:28:49 -04:00
royjr	7c45889e4e	Merge branch 'master' into ccnc-port	2025-10-30 11:27:50 -04:00
royjr	2aabb7aee8	Merge branch 'master' into ccnc-port	2025-10-24 14:16:09 -04:00
royjr	3859e9962f	Update opendbc_repo	2025-10-24 14:15:51 -04:00
royjr	810efbab72	Merge branch 'master' into ccnc-port	2025-10-18 07:33:11 -04:00
royjr	ec27bec326	Update opendbc_repo	2025-10-18 07:32:33 -04:00
royjr	250d553157	Merge branch 'master' into ccnc-port	2025-10-14 21:57:32 -04:00
royjr	cea54a0ca8	Update opendbc_repo	2025-10-14 21:57:26 -04:00
royjr	8e72d783bd	Update opendbc_repo	2025-10-13 22:41:21 -04:00
royjr	1b0dc103dc	Merge branch 'master' into ccnc-port	2025-10-11 23:51:46 -04:00
royjr	6c364d292b	Update opendbc_repo	2025-10-11 23:51:31 -04:00
royjr	bcdec2ce84	Merge branch 'master' into ccnc-port	2025-10-10 17:29:05 -04:00
royjr	3deaeb3759	Merge branch 'master' into ccnc-port	2025-10-10 15:02:32 -04:00
royjr	c669f0984a	Update opendbc_repo	2025-10-10 15:02:17 -04:00
royjr	46dd946740	Merge branch 'master' into ccnc-port	2025-10-07 01:36:06 -04:00
royjr	9da4b3653e	Update opendbc_repo	2025-10-07 01:35:58 -04:00
royjr	4e21ae7c50	Update opendbc_repo	2025-10-05 06:21:56 -04:00
royjr	bb91e92237	Update opendbc_repo	2025-10-05 06:01:15 -04:00
royjr	14b4c4f85b	Update opendbc_repo	2025-10-02 09:20:32 -04:00
royjr	0660b542c3	Merge branch 'master' into ccnc-port	2025-10-01 16:01:32 -04:00
royjr	2b893b90c9	Update opendbc_repo	2025-10-01 16:01:26 -04:00
royjr	f5139178ed	Merge branch 'master' into ccnc-port	2025-09-30 14:39:57 -04:00
royjr	fb43b755f2	Update opendbc_repo	2025-09-30 14:39:50 -04:00
royjr	07f5b967d8	Merge branch 'master' into ccnc-port	2025-09-24 21:30:29 -04:00
royjr	ea19c7d3bb	Update opendbc_repo	2025-09-24 21:30:17 -04:00
royjr	e461842cbb	Merge branch 'master' into ccnc-port	2025-09-23 05:55:02 -04:00
royjr	a73c9659d5	Update opendbc_repo	2025-09-23 05:54:50 -04:00
royjr	cb796fbc76	Merge branch 'master' into ccnc-port	2025-09-18 20:10:43 -04:00
royjr	6bf75fc557	Update opendbc_repo	2025-09-18 20:10:37 -04:00
royjr	9a1fc28819	Merge branch 'master' into ccnc-port	2025-09-18 13:54:36 -04:00
royjr	0741d05e92	Update opendbc_repo	2025-09-18 13:54:23 -04:00
royjr	1ad008107d	Merge branch 'master' into ccnc-port	2025-09-15 01:40:27 -04:00
royjr	feebd9df93	Reapply "UI: Developer UI (#1233 )" This reverts commit `15e5d2efb9`.	2025-09-15 01:40:21 -04:00
royjr	c2e5ced3e5	Update opendbc_repo	2025-09-15 01:39:51 -04:00
royjr	15e5d2efb9	Revert "UI: Developer UI (#1233 )" This reverts commit `1bb4ca2547`.	2025-09-12 02:10:29 -04:00
royjr	a3929d0b54	Merge branch 'master' into ccnc-port	2025-09-12 01:40:29 -04:00
royjr	794f8f9991	Update opendbc_repo	2025-09-08 09:27:31 -04:00
royjr	68fa5e3f21	Merge branch 'master' into ccnc-port	2025-09-07 13:13:37 -04:00
royjr	86c6cc1f48	Merge branch 'master' into ccnc-port	2025-09-03 22:22:12 -04:00
royjr	eb7ffbf093	Update opendbc_repo	2025-09-03 10:14:58 -04:00
royjr	3919095752	Update opendbc_repo	2025-09-03 10:05:35 -04:00
royjr	74d63be1c3	Merge branch 'master' into ccnc-port	2025-09-03 09:50:55 -04:00
royjr	8894486a1a	Update opendbc_repo	2025-09-03 09:50:49 -04:00
royjr	810599315d	Merge branch 'master' into ccnc-port	2025-08-31 16:53:30 -04:00
royjr	6f3ab810c8	Update opendbc_repo	2025-08-31 16:53:24 -04:00
royjr	230f78b8d3	Merge branch 'master' into ccnc-port	2025-08-26 12:14:46 -04:00
royjr	f1affec088	Update opendbc_repo	2025-08-26 12:14:22 -04:00
royjr	97d8ef242c	Merge branch 'master' into ccnc-port	2025-08-24 15:12:57 -04:00
royjr	a63fff9b45	Update opendbc_repo	2025-08-24 15:12:46 -04:00
royjr	cb3893daaa	Merge branch 'master' into ccnc-port	2025-08-23 10:33:24 -04:00
royjr	29f60df74b	Merge branch 'master' into ccnc-port	2025-08-22 11:18:27 -04:00
royjr	c6c072e1f4	Update opendbc_repo	2025-08-22 11:18:18 -04:00
royjr	d101cbb83e	Update opendbc_repo	2025-08-13 16:00:04 -04:00
royjr	1536d59633	Update opendbc_repo	2025-08-13 15:28:37 -04:00
royjr	dc99b865ae	Merge branch 'master' into ccnc-port	2025-08-13 12:31:14 -04:00
royjr	e59bc027ff	Merge branch 'master' into ccnc-port	2025-08-13 11:58:05 -04:00
royjr	cf7e5efaca	Update opendbc_repo	2025-08-13 11:57:57 -04:00
royjr	4b44f2eb31	Merge branch 'master' into ccnc-port	2025-08-10 09:18:24 -04:00
royjr	107d2ab400	Update opendbc_repo	2025-08-10 09:18:15 -04:00
royjr	5432d9062c	Merge branch 'master' into ccnc-port	2025-08-04 11:52:29 -04:00
royjr	f533f6c843	Merge branch 'master' into ccnc-port	2025-08-02 06:53:54 -04:00
royjr	58e9ac763c	Update opendbc_repo	2025-08-02 06:53:43 -04:00
royjr	cb50d54169	Merge branch 'master-new' into ccnc-port	2025-07-24 20:23:46 -04:00
royjr	bd5de4ed0a	Merge branch 'master-new' into ccnc-port	2025-07-20 23:49:36 -04:00
royjr	0d4073fadb	Merge branch 'master-new' into ccnc-port	2025-07-19 23:18:26 -04:00
royjr	ebc70dcb52	Merge branch 'master-new' into ccnc-port	2025-07-19 14:37:17 -04:00
royjr	4d0426999e	Update opendbc_repo	2025-07-19 14:36:59 -04:00
royjr	286da42573	Merge branch 'master-new' into ccnc-port	2025-07-16 23:48:23 -04:00
royjr	8a836710a9	Update opendbc_repo	2025-07-16 23:48:06 -04:00
royjr	5d515bcf33	Merge branch 'master-new' into ccnc-port	2025-07-07 05:35:55 -04:00
royjr	1c7f6d5133	Update opendbc_repo	2025-07-03 21:24:01 -04:00
royjr	05d57c7aeb	Update opendbc_repo	2025-07-01 18:30:32 -04:00
royjr	e4b0eaf352	Update opendbc_repo	2025-06-28 19:30:28 -04:00
royjr	a710276472	Merge branch 'master-new' into ccnc-port	2025-06-28 19:22:59 -04:00
royjr	af086db671	Merge branch 'master-new' into ccnc-port	2025-06-28 12:13:26 -04:00
royjr	0d9eb0e25e	Update opendbc_repo submodule to latest commit Advanced the opendbc_repo submodule to commit d309f7ec96e37267c94d12fc4bfe2672ad505b06. This pulls in the latest changes from the opendbc repository.	2025-06-26 14:03:56 -04:00
royjr	0616caed6d	Merge branch 'master-new' into ccnc-port	2025-06-25 19:33:53 -04:00
royjr	095337b3c1	Update opendbc_repo	2025-06-25 19:33:38 -04:00
royjr	1edec2d22c	Update opendbc_repo	2025-06-14 16:14:02 -04:00
royjr	affabb9ee0	Update opendbc_repo	2025-06-14 15:55:07 -04:00
royjr	dc27e8711c	Update opendbc_repo	2025-06-14 14:54:32 -04:00
royjr	cf7329a264	Merge branch 'master-new' into ccnc-port	2025-06-11 21:36:06 -04:00
royjr	5ee5ecd820	Merge branch 'master-new' into ccnc-port	2025-06-08 23:25:13 -04:00
royjr	b064f730dd	Update opendbc_repo	2025-06-08 17:54:43 -04:00