Merge branch 'master' into ccnc-port-qol-quick-force

This reverts commit 15e5d2efb9.

.github/workflows/test_models.yml

@@ -1,87 +0,0 @@
-name: Test Models Compatibility With New Tinygrad
-on:
-  push:
-    paths:
-      - 'tinygrad_repo/**'
-      - '.github/workflows/test_models.yml'
-      - 'openpilot/sunnypilot/modeld_v2/**'
-  pull_request:
-    paths:
-      - 'tinygrad_repo/**'
-      - '.github/workflows/test_models.yml'
-      - 'openpilot/sunnypilot/modeld_v2/**'
-  workflow_dispatch:
-
-jobs:
-  generate-matrix:
-    runs-on: ubuntu-latest
-    outputs:
-      models: ${{ steps.set-matrix.outputs.models }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Fetch and Parse json
-        id: set-matrix
-        run: |
-          python3 -c '
-          import json, urllib.request, sys, os, re
-
-          with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
-            content = f.read()
-            match = re.search(r"MODEL_URL\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", content)
-            if not match:
-              raise ValueError("MODEL_URL not found in fetcher.py")
-            url = match.group(1)
-
-          req = urllib.request.urlopen(url)
-          data = json.loads(req.read())
-
-          artifacts = []
-          for bundle in data.get("bundles", []):
-            for model in bundle.get("models", []):
-              if "artifact" in model:
-                artifacts.append(model["artifact"])
-
-          with open(os.environ["GITHUB_OUTPUT"], "a") as f:
-            f.write(f"models={json.dumps(artifacts)}\n")
-          '
-
-  test-model:
-    name: Test ${{ matrix.artifact.file_name }}
-    needs: generate-matrix
-    runs-on: ubuntu-latest
-    container: ghcr.io/commaai/openpilot-base:latest
-    strategy:
-      fail-fast: false
-      matrix:
-        artifact: ${{ fromJson(needs.generate-matrix.outputs.models) }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Download Model Chunks in Parallel
-        run: |
-          mkdir -p /tmp/model_chunks
-          echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
-
-          BASE_URL="${{ matrix.artifact.download_uri.url }}"
-          BASE_DIR=$(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)))
-          for c in chunks:
-            print(c["file_name"])
-          ' | xargs -I {} -P 10 bash -c "echo 'Downloading {}...' && curl -f -s -S -L -o '/tmp/model_chunks/{}' \"$BASE_DIR/{}\""
-
-      - name: Run Model Compatibility Test
-        env:
-          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
-          MODEL_CHUNK_DIR: "/tmp/model_chunks"
-          PYTHONPATH: ".:./tinygrad_repo"
-        run: |
-          python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py

openpilot/selfdrive/ui/mici/layouts/settings/device.py

@@ -62,7 +62,25 @@ class MiciFccModal(NavRawScrollPanel):
     rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
 
 
-def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
+class DisengageDialog(BigDialog):
+  def __init__(self, title: str, description: str, disengaged_callback: Callable[[], None]):
+    super().__init__(title, description)
+    self._disengaged_callback = disengaged_callback
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.engaged and not self.is_dismissing:
+      self.dismiss(self._disengaged_callback)
+
+
+class EngagedConfirmationDialog(BigConfirmationDialog):
+  def _update_state(self):
+    super()._update_state()
+    if ui_state.engaged and not self.is_dismissing:
+      self.dismiss()
+
+
+def engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
   if not ui_state.engaged:
     def confirm_callback():
       # Check engaged again in case it changed while the dialog was open
@@ -70,23 +88,26 @@ def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.T
       if not ui_state.engaged:
         callback()
 
-    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
+    gui_app.push_widget(EngagedConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback,
+                                                  exit_on_confirm=exit_on_confirm, red=red))
   else:
-    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+    gui_app.push_widget(DisengageDialog("", f"Disengage to {action_text}",
+                                           lambda: engaged_confirmation_click(callback, action_text, icon,
+                                                                               exit_on_confirm=exit_on_confirm, red=red)))
 
 
 class EngagedConfirmationCircleButton(BigCircleButton):
   def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
                red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
     super().__init__(icon, red, icon_offset)
-    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+    self.set_click_callback(lambda: engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class EngagedConfirmationButton(BigButton):
   def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
                exit_on_confirm: bool = True, red: bool = False):
     super().__init__(text, "", icon)
-    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
+    self.set_click_callback(lambda: engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class DeviceInfoLayoutMici(Widget):

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

@@ -6,9 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
-from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, engaged_confirmation_click
 from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -93,10 +93,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
       dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
                                   confirm_callback=lambda: _set_offroad_status(False))
     else:
-      if ui_state.engaged:
-        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
-        return
-
-      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
-                                  confirm_callback=lambda: _set_offroad_status(True))
+      engaged_confirmation_click(lambda: _set_offroad_status(True), "force offroad", self.icon_offroad_slider, red=True)
+      return
     gui_app.push_widget(dlg)

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -1,93 +0,0 @@
-import io
-import struct
-import pickle
-import inspect
-import importlib
-import enum
-
-
-def _pad_args(func, args, kwargs):
-  try:
-    sig = inspect.signature(func)
-  except Exception:
-    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 _enum_factory(enum_class):
-  def factory(*args, **kwargs):
-    try:
-      return enum_class(*args, **kwargs)
-    # OptOps and UOp objects in the .pkl are left over from the compilation phase,
-    # reassignment does nothing because they aren't tied to the execution graph
-    # It never executes or evaluates the UOp nodes again.
-    except ValueError:
-      return list(enum_class)[0]
-  factory.__name__ = enum_class.__name__
-  factory.__module__ = enum_class.__module__
-  return factory
-
-
-def _dynamic_factory(real_class):
-  if isinstance(real_class, type) and issubclass(real_class, enum.Enum):
-    return _enum_factory(real_class)
-
-  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)
-
-  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
-
-
-class DynamicTinygradUnpickler(pickle.Unpickler):
-  def find_class(self, module, name):
-    if module == "tinygrad.ops":
-      try:
-        importlib.import_module("tinygrad.uops")
-        module = "tinygrad.uops"
-      except ImportError:
-        pass
-    real_class = getattr(importlib.import_module(module), name)
-    if module.startswith("tinygrad"):
-      return _dynamic_factory(real_class)
-    return real_class
-
-
-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()

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -17,7 +17,7 @@ from tinygrad.tensor import Tensor
 
 import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import chestnut_present
+from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
@@ -52,7 +52,6 @@ from openpilot.sunnypilot.modeld_v2.compile_modeld import (derive_frame_skip, ma
                                                            WARP_INPUTS, POLICY_INPUTS)
 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_oob
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 

openpilot/sunnypilot/modeld_v2/tests/test_models.py

@@ -1,33 +0,0 @@
-import os
-from unittest.mock import patch
-import pytest
-from tinygrad.device import Device
-from openpilot.common.file_chunker import open_file_chunked
-from openpilot.sunnypilot.modeld_v2.helpers import load_oob
-
-
-class TestLegacyModels:
-  def test_legacy_model_load(self):
-    base_name = os.environ.get("MODEL_BASE_NAME")
-    if not base_name:
-      pytest.skip("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 e:
-      pytest.fail(f"Failed to open chunked file {base_path}: {e}")
-
-    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")
-      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"