mapd v2

.github/workflows/tests.yaml

@@ -108,6 +108,7 @@ jobs:
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:

.gitmodules

@@ -4,7 +4,6 @@
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
-  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/commaai/msgq.git

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}

RELEASES.md

@@ -1,7 +1,3 @@
-Version 0.10.4 (2026-02-17)
-========================
-* Lexus LS 2018 support thanks to Hacheoy!
-
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249

cereal/custom.capnp

@@ -192,7 +192,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelPersonality @8 :AccelerationPersonality;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -204,11 +203,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-  }
+
   struct SmartCruiseControl {
     vision @0 :Vision;
     map @1 :Map;
@@ -346,7 +341,6 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
-    laneChangeRoadEdge @24;
   }
 }
 
@@ -453,8 +447,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
-  leftLaneChangeEdgeBlock @1 :Bool;
-  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

cereal/log.capnp

@@ -87,7 +87,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
-    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;

cereal/messaging/__init__.py

@@ -13,7 +13,7 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

common/SConscript

@@ -19,6 +19,11 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-common_python = [params_python]
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]
 
 Export('common_python')

common/api/__init__.py

@@ -18,8 +18,8 @@ class Api:
     return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
 
 
 def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:

common/api/base.py

@@ -51,7 +51,7 @@ class BaseApi:
     ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
     return ascii_encoded_text.decode()
 
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
     headers = {}
     if access_token is not None:
       headers['Authorization'] = "JWT " + access_token
@@ -59,9 +59,7 @@ class BaseApi:
     version = self.remove_non_ascii_chars(get_version())
     headers['User-Agent'] = self.user_agent + version
 
-    # TODO: add session to Api
-    req = requests if session is None else session
-    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
   def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str | None = None) -> str:
+def get_short_branch(cwd: str = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str | None = None) -> str:
+def get_branch(cwd: str = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str | None = None) -> str:
+def get_origin(cwd: str = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str | None = None) -> str:
+def get_normalized_origin(cwd: str = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "WMI (Default)"
+#define DEFAULT_MODEL "Dark Souls 2 (Default)"

common/params_keys.h

@@ -133,8 +133,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -153,7 +151,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DynamicFollow", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -171,23 +168,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // toyota specific params
-    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},

common/pid.py

@@ -3,9 +3,15 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+    self._k_p = k_p
+    self._k_i = k_i
+    self._k_d = k_d
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+    if isinstance(self._k_d, Number):
+      self._k_d = [[0], [self._k_d]]
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,11 +13,7 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-#ifdef __APPLE__
-    msgq_path = "/tmp/msgq_" + prefix;
-#else
-    msgq_path = "/dev/shm/msgq_" + prefix;
-#endif
+    msgq_path = Path::shm_path() + "/" + prefix;
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/prefix.py

@@ -1,5 +1,4 @@
 import os
-import platform
 import shutil
 import uuid
 
@@ -10,10 +9,9 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
-    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/transformations/SConscript

@@ -0,0 +1,5 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')

common/transformations/coordinates.cc

@@ -1,6 +1,6 @@
 #define _USE_MATH_DEFINES
 
-#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "common/transformations/coordinates.hpp"
 
 #include <iostream>
 #include <cmath>

common/transformations/orientation.cc

@@ -4,8 +4,8 @@
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "sunnypilot/common/transformations/orientation.hpp"
-#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "common/transformations/coordinates.hpp"
 
 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
   if (quat.w() > 0){
@@ -141,3 +141,4 @@ Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d
 
   return {phi, theta, psi};
 }
+

common/transformations/orientation.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
-#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "common/transformations/coordinates.hpp"
 
 
 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);

common/transformations/tests/test_coordinates.py

@@ -102,36 +102,3 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
-
-  def test_errors(self):
-    # Test wrong shape/type for geodetic2ecef
-    # numpy_wrap raises IndexError for scalar input
-    with np.testing.assert_raises(IndexError):
-      coord.geodetic2ecef(1.0)
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0])
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0, 0, 0])
-
-    with np.testing.assert_raises(TypeError):
-      coord.geodetic2ecef(['a', 'b', 'c'])
-
-    # Test LocalCoord constructor errors
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic([0, 0])
-
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic(1)
-
-    with np.testing.assert_raises(TypeError):
-      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
-
-    # Test wrong shape/type for ecef2geodetic
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2])
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2, 3, 4])
-    with np.testing.assert_raises(IndexError):
-      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,5 +1,4 @@
 import numpy as np
-import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -60,32 +59,3 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-  def test_inputs(self):
-    with pytest.raises(ValueError):
-      euler2quat([1, 2])
-
-    with pytest.raises(ValueError):
-      quat2rot([1, 2, 3])
-
-    with pytest.raises(IndexError):
-      rot2quat(np.zeros((2, 2)))
-
-  def test_euler_rot_consistency(self):
-    rpy = [0.1, 0.2, 0.3]
-    R = euler2rot(rpy)
-
-    # R -> q -> R
-    q = rot2quat(R)
-    R_new = quat2rot(q)
-    np.testing.assert_allclose(R, R_new, atol=1e-15)
-
-    # q -> R -> Euler (quat2euler) -> R
-    rpy_new = quat2euler(q)
-    R_new2 = euler2rot(rpy_new)
-    np.testing.assert_allclose(R, R_new2, atol=1e-15)
-
-    # R -> Euler (rot2euler) -> R
-    rpy_from_rot = rot2euler(R)
-    R_new3 = euler2rot(rpy_from_rot)
-    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -0,0 +1,72 @@
+# cython: language_level=3
+from libcpp cimport bool
+
+cdef extern from "orientation.cc":
+  pass
+
+cdef extern from "orientation.hpp":
+  cdef cppclass Quaternion "Eigen::Quaterniond":
+    Quaternion()
+    Quaternion(double, double, double, double)
+    double w()
+    double x()
+    double y()
+    double z()
+
+  cdef cppclass Vector3 "Eigen::Vector3d":
+    Vector3()
+    Vector3(double, double, double)
+    double operator()(int)
+
+  cdef cppclass Matrix3 "Eigen::Matrix3d":
+    Matrix3()
+    Matrix3(double*)
+
+    double operator()(int, int)
+
+  Quaternion euler2quat(const Vector3 &)
+  Vector3 quat2euler(const Quaternion &)
+  Matrix3 quat2rot(const Quaternion &)
+  Quaternion rot2quat(const Matrix3 &)
+  Vector3 rot2euler(const Matrix3 &)
+  Matrix3 euler2rot(const Vector3 &)
+  Matrix3 rot_matrix(double, double, double)
+  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
+  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
+
+
+cdef extern from "coordinates.cc":
+  cdef struct ECEF:
+    double x
+    double y
+    double z
+
+  cdef struct NED:
+    double n
+    double e
+    double d
+
+  cdef struct Geodetic:
+    double lat
+    double lon
+    double alt
+    bool radians
+
+  ECEF geodetic2ecef(const Geodetic &)
+  Geodetic ecef2geodetic(const ECEF &)
+
+  cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
+    LocalCoord_c(const Geodetic &, const ECEF &)
+    LocalCoord_c(const Geodetic &)
+    LocalCoord_c(const ECEF &)
+
+    NED ecef2ned(const ECEF &)
+    ECEF ned2ecef(const NED &)
+    NED geodetic2ned(const Geodetic &)
+    Geodetic ned2geodetic(const NED &)
+
+cdef extern from "coordinates.hpp":
+  pass

common/transformations/transformations.py

@@ -1,342 +0,0 @@
-import numpy as np
-
-
-# Constants
-a = 6378137.0
-b = 6356752.3142
-esq = 6.69437999014e-3
-e1sq = 6.73949674228e-3
-
-
-def geodetic2ecef_single(g):
-  """
-  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
-  """
-  try:
-    if len(g) != 3:
-      raise ValueError("Geodetic must be size 3")
-  except TypeError:
-    raise ValueError("Geodetic must be a sequence of length 3") from None
-
-  lat, lon, alt = g
-  lat = np.radians(lat)
-  lon = np.radians(lon)
-  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
-  return np.array([x, y, z])
-
-
-def ecef2geodetic_single(e):
-  """
-  Convert ECEF to geodetic coordinates using Ferrari's solution.
-  """
-  x, y, z = e
-  r = np.sqrt(x**2 + y**2)
-  Esq = a**2 - b**2
-  F = 54 * b**2 * z**2
-  G = r**2 + (1 - esq) * z**2 - esq * Esq
-  C = (esq**2 * F * r**2) / (G**3)
-  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
-  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
-  Q = np.sqrt(1 + 2 * esq**2 * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
-  U = np.sqrt((r - esq * r_0)**2 + z**2)
-  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
-  Z_0 = b**2 * z / (a * V)
-  h = U * (1 - b**2 / (a * V))
-  lat = np.arctan((z + e1sq * Z_0) / r)
-  lon = np.arctan2(y, x)
-  return np.array([np.degrees(lat), np.degrees(lon), h])
-
-
-def euler2quat_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a quaternion.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
-  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
-  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
-
-  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
-  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
-  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
-  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def quat2euler_single(q):
-  """
-  Convert a quaternion to Euler angles (roll, pitch, yaw).
-  """
-  w, x, y, z = q
-  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
-  sin_arg = 2 * (w * y - z * x)
-  sin_arg = np.clip(sin_arg, -1.0, 1.0)
-  theta = np.arcsin(sin_arg)
-  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
-  return np.array([gamma, theta, psi])
-
-
-def quat2rot_single(q):
-  """
-  Convert a quaternion to a 3x3 rotation matrix.
-  """
-  w, x, y, z = q
-  xx, yy, zz = x * x, y * y, z * z
-  xy, xz, yz = x * y, x * z, y * z
-  wx, wy, wz = w * x, w * y, w * z
-
-  mat = np.array([
-    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
-    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
-    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
-  ])
-  return mat
-
-
-def rot2quat_single(rot):
-  """
-  Convert a 3x3 rotation matrix to a quaternion.
-  """
-  trace = np.trace(rot)
-  if trace > 0:
-    s = 0.5 / np.sqrt(trace + 1.0)
-    w = 0.25 / s
-    x = (rot[2, 1] - rot[1, 2]) * s
-    y = (rot[0, 2] - rot[2, 0]) * s
-    z = (rot[1, 0] - rot[0, 1]) * s
-  else:
-    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
-      w = (rot[2, 1] - rot[1, 2]) / s
-      x = 0.25 * s
-      y = (rot[0, 1] + rot[1, 0]) / s
-      z = (rot[0, 2] + rot[2, 0]) / s
-    elif rot[1, 1] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
-      w = (rot[0, 2] - rot[2, 0]) / s
-      x = (rot[0, 1] + rot[1, 0]) / s
-      y = 0.25 * s
-      z = (rot[1, 2] + rot[2, 1]) / s
-    else:
-      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
-      w = (rot[1, 0] - rot[0, 1]) / s
-      x = (rot[0, 2] + rot[2, 0]) / s
-      y = (rot[1, 2] + rot[2, 1]) / s
-      z = 0.25 * s
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def euler2rot_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  cx, sx = np.cos(phi), np.sin(phi)
-  cy, sy = np.cos(theta), np.sin(theta)
-  cz, sz = np.cos(psi), np.sin(psi)
-
-  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
-  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
-  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
-
-  return Rz @ Ry @ Rx
-
-
-def rot2euler_single(rot):
-  """
-  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
-  """
-  return quat2euler_single(rot2quat_single(rot))
-
-
-def rot_matrix(roll, pitch, yaw):
-  """
-  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
-  """
-  return euler2rot_single([roll, pitch, yaw])
-
-
-def axis_angle_to_rot(axis, angle):
-  """
-  Convert an axis-angle representation to a 3x3 rotation matrix.
-  """
-  c = np.cos(angle / 2)
-  s = np.sin(angle / 2)
-  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
-  return quat2rot_single(q)
-
-
-class LocalCoord:
-  """
-  A class to handle conversions between ECEF and local NED coordinates.
-  """
-  def __init__(self, geodetic=None, ecef=None):
-    """
-    Initialize LocalCoord with either geodetic or ECEF coordinates.
-    """
-    if geodetic is not None:
-      self.init_ecef = geodetic2ecef_single(geodetic)
-      lat, lon, _ = geodetic
-    elif ecef is not None:
-      self.init_ecef = np.array(ecef)
-      lat, lon, _ = ecef2geodetic_single(ecef)
-    else:
-      raise ValueError("Must provide geodetic or ecef")
-
-    lat = np.radians(lat)
-    lon = np.radians(lon)
-
-    self.ned2ecef_matrix = np.array([
-      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
-      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
-      [np.cos(lat), 0, -np.sin(lat)]
-    ])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-
-  @classmethod
-  def from_geodetic(cls, geodetic):
-    """
-    Create a LocalCoord instance from geodetic coordinates.
-    """
-    return cls(geodetic=geodetic)
-
-  @classmethod
-  def from_ecef(cls, ecef):
-    """
-    Create a LocalCoord instance from ECEF coordinates.
-    """
-    return cls(ecef=ecef)
-
-  def ecef2ned_single(self, ecef):
-    """
-    Convert a single ECEF point to NED coordinates relative to the origin.
-    """
-    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
-
-  def ned2ecef_single(self, ned):
-    """
-    Convert a single NED point to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix @ ned + self.init_ecef
-
-  def geodetic2ned_single(self, geodetic):
-    """
-    Convert a single geodetic point to NED coordinates.
-    """
-    ecef = geodetic2ecef_single(geodetic)
-    return self.ecef2ned_single(ecef)
-
-  def ned2geodetic_single(self, ned):
-    """
-    Convert a single NED point to geodetic coordinates.
-    """
-    ecef = self.ned2ecef_single(ned)
-    return ecef2geodetic_single(ecef)
-
-  @property
-  def ned_from_ecef_matrix(self):
-    """
-    Returns the rotation matrix from ECEF to NED coordinates.
-    """
-    return self.ecef2ned_matrix
-
-  @property
-  def ecef_from_ned_matrix(self):
-    """
-    Returns the rotation matrix from NED to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix
-
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-  """
-  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent ECEF Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-  zero = np.array(ecef_init)
-
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  phi, theta, psi = ned_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])
-
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-  """
-  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent NED Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  phi, theta, psi = ecef_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  zero = np.array(ecef_init)
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -0,0 +1,173 @@
+# distutils: language = c++
+# cython: language_level = 3
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
+
+
+import numpy as np
+cimport numpy as np
+
+cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
+    return np.array([
+        [m(0, 0), m(0, 1), m(0, 2)],
+        [m(1, 0), m(1, 1), m(1, 2)],
+        [m(2, 0), m(2, 1), m(2, 2)],
+    ])
+
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
+    assert m.shape[0] == 3
+    assert m.shape[1] == 3
+    return Matrix3(<double*>m.data)
+
+cdef ECEF list2ecef(ecef):
+    cdef ECEF e
+    e.x = ecef[0]
+    e.y = ecef[1]
+    e.z = ecef[2]
+    return e
+
+cdef NED list2ned(ned):
+    cdef NED n
+    n.n = ned[0]
+    n.e = ned[1]
+    n.d = ned[2]
+    return n
+
+cdef Geodetic list2geodetic(geodetic):
+    cdef Geodetic g
+    g.lat = geodetic[0]
+    g.lon = geodetic[1]
+    g.alt = geodetic[2]
+    return g
+
+def euler2quat_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Quaternion q = euler2quat_c(e)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def quat2euler_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Vector3 e = quat2euler_c(q)
+    return [e(0), e(1), e(2)]
+
+def quat2rot_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Matrix3 r = quat2rot_c(q)
+    return matrix2numpy(r)
+
+def rot2quat_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Quaternion q = rot2quat_c(r)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def euler2rot_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Matrix3 r = euler2rot_c(e)
+    return matrix2numpy(r)
+
+def rot2euler_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Vector3 e = rot2euler_c(r)
+    return [e(0), e(1), e(2)]
+
+def rot_matrix(roll, pitch, yaw):
+    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
+
+    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
+
+    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def geodetic2ecef_single(geodetic):
+    cdef Geodetic g = list2geodetic(geodetic)
+    cdef ECEF e = geodetic2ecef_c(g)
+    return [e.x, e.y, e.z]
+
+def ecef2geodetic_single(ecef):
+    cdef ECEF e = list2ecef(ecef)
+    cdef Geodetic g = ecef2geodetic_c(e)
+    return [g.lat, g.lon, g.alt]
+
+
+cdef class LocalCoord:
+    cdef LocalCoord_c * lc
+
+    def __init__(self, geodetic=None, ecef=None):
+        assert (geodetic is not None) or (ecef is not None)
+        if geodetic is not None:
+            self.lc = new LocalCoord_c(list2geodetic(geodetic))
+        elif ecef is not None:
+            self.lc = new LocalCoord_c(list2ecef(ecef))
+
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
+    @classmethod
+    def from_geodetic(cls, geodetic):
+        return cls(geodetic=geodetic)
+
+    @classmethod
+    def from_ecef(cls, ecef):
+        return cls(ecef=ecef)
+
+    def ecef2ned_single(self, ecef):
+        assert self.lc
+        cdef ECEF e = list2ecef(ecef)
+        cdef NED n = self.lc.ecef2ned(e)
+        return [n.n, n.e, n.d]
+
+    def ned2ecef_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef ECEF e = self.lc.ned2ecef(n)
+        return [e.x, e.y, e.z]
+
+    def geodetic2ned_single(self, geodetic):
+        assert self.lc
+        cdef Geodetic g = list2geodetic(geodetic)
+        cdef NED n = self.lc.geodetic2ned(g)
+        return [n.n, n.e, n.d]
+
+    def ned2geodetic_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef Geodetic g = self.lc.ned2geodetic(n)
+        return [g.lat, g.lon, g.alt]
+
+    def __dealloc__(self):
+        del self.lc

common/util.py

@@ -0,0 +1,46 @@
+import os
+import subprocess
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count

common/utils.py

@@ -7,61 +7,14 @@ import time
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
+from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
-
-
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
-
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -154,11 +107,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
         try:
           return func(*args, **kwargs)
         except Exception:
-          print(f"{func.__name__} failed, trying again")
+          cloudlog.exception(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        print(f"{func.__name__} failed after retry")
+        cloudlog.error(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.4"
+#define COMMA_VERSION "0.10.3"

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="16"
+  export AGNOS_VERSION="15.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -14,7 +14,7 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod-plus",  # cars + qcomgpsd
+  "crcmod",       # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # hardwared
@@ -49,7 +49,7 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
+  "xattr", # used in place of 'os.getxattr' for macos compatibility
 
   # athena
   "PyJWT",
@@ -72,7 +72,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib > 5.5.0.3",
+  "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186
   "qrcode",
   "mapbox-earcut",
 ]
@@ -87,7 +87,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "ty",
+  "mypy",
   "pytest",
   "pytest-cpp",
   "pytest-subtests",
@@ -107,13 +107,15 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
+  "dbus-next", # TODO: remove once we moved everything to jeepney
   "dictdiffer",
   "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
-  "pyopencl",
+  "pygame",
+  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
@@ -179,6 +181,42 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
+[tool.mypy]
+python_version = "3.11"
+exclude = [
+  "cereal/",
+  "msgq/",
+  "msgq_repo/",
+  "opendbc/",
+  "opendbc_repo/",
+  "panda/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "teleoprtc/",
+  "teleoprtc_repo/",
+  "third_party/",
+]
+
+# third-party packages
+ignore_missing_imports=true
+
+# helpful warnings
+warn_redundant_casts=true
+warn_unreachable=true
+warn_unused_ignores=true
+
+# restrict dynamic typing
+warn_return_any=true
+
+# allow implicit optionals for default args
+implicit_optional = true
+
+local_partial_types=true
+explicit_package_bases=true
+disable_error_code = "annotation-unchecked"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -237,43 +275,3 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.format]
 quote-style = "preserve"
-
-[tool.ty.src]
-exclude = [
-  "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-  "third_party/",
-]
-
-[tool.ty.rules]
-# Ignore unresolved imports for Cython-compiled modules (.pyx)
-unresolved-import = "ignore"
-# Ignore unresolved attributes - many from capnp and Cython modules
-unresolved-attribute = "ignore"
-# Ignore invalid method overrides - signature variance issues
-invalid-method-override = "ignore"
-# Ignore possibly-missing-attribute - too many false positives
-possibly-missing-attribute = "ignore"
-# Ignore invalid assignment - often intentional monkey-patching
-invalid-assignment = "ignore"
-# Ignore no-matching-overload - numpy/ctypes overload matching issues
-no-matching-overload = "ignore"
-# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
-invalid-argument-type = "ignore"
-# Ignore call-non-callable - false positives from dynamic types
-call-non-callable = "ignore"
-# Ignore unsupported-operator - false positives from dynamic types
-unsupported-operator = "ignore"
-# Ignore not-subscriptable - false positives from dynamic types
-not-subscriptable = "ignore"
-# not-iterable errors are now fixed

release/README.md

@@ -4,17 +4,18 @@
 ## release checklist
 
 ### Go to staging
-- [ ] make a GitHub issue to track release with this checklist
+- [ ] make a GitHub issue to track release
 - [ ] create release master branch
-  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
-  - [ ] revert risky commits (double check with autonomy team)
-  - [ ] push the new branch
-- [ ] push to staging:
-  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
-  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
+- [ ] update RELEASES.md
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] build new userdata partition from `release3-staging`
 - [ ] post on Discord, tag `@release crew`
 
+Updating staging:
+1. either rebase on master or cherry-pick changes
+2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
+3. build new userdata partition from `release3-staging`
+
 ### Go to release
 - [ ] before going to release, test the following:
   - [ ] update from previous release -> new release
@@ -25,7 +26,7 @@
   - [ ] check sentry, MTBF, etc.
   - [ ] stress test passes in production
 - [ ] publish the blog post
-- [ ] `git reset --hard origin/release-mici-staging`
+- [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`

scripts/lint/lint.sh

@@ -55,7 +55,7 @@ function run_tests() {
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "ty" ty check
+    run "mypy" mypy $PYTHON_FILES
     run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
@@ -69,7 +69,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
-  echo -e "  ${BOLD}ty${NC}"
+  echo -e "  ${BOLD}mypy${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
   echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
@@ -81,11 +81,11 @@ function help() {
   echo "          Specify tests to skip separated by spaces"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op lint ty ruff"
-  echo "          Only run the ty and ruff tests"
+  echo "  op lint mypy ruff"
+  echo "          Only run the mypy and ruff tests"
   echo ""
-  echo "  op lint --skip ty ruff"
-  echo "          Skip the ty and ruff tests"
+  echo "  op lint --skip mypy ruff"
+  echo "          Skip the mypy and ruff tests"
   echo ""
   echo "  op lint"
   echo "          Run all the tests"

selfdrive/car/car_specific.py

@@ -1,8 +1,7 @@
-from cereal import car, log
+from cereal import car, log, custom
+import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
-from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
-from opendbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -12,6 +11,33 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
+# TODO: the goal is to abstract this file into the CarState struct and make events generic
+class MockCarState:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
+
+  def update(self, CS: car.CarState, CS_SP: custom.CarStateSP):
+    self.sm.update(0)
+    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
+
+    CS.vEgo = self.sm[gps_sock].speed
+    CS.vEgoRaw = self.sm[gps_sock].speed
+
+    return CS, CS_SP
+
+
+BRAND_EXTRA_GEARS = {
+  'ford': [GearShifter.low, GearShifter.manumatic],
+  'nissan': [GearShifter.brake],
+  'chrysler': [GearShifter.low],
+  'honda': [GearShifter.sport],
+  'toyota': [GearShifter.sport],
+  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
+  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+  'hyundai': [GearShifter.sport, GearShifter.manumatic]
+}
+
+
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -22,12 +48,14 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
+    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
+
     if self.CP.brand in ('body', 'mock'):
-      return Events()
+      events = Events()
 
-    events = self.create_common_events(CS, CS_prev)
+    elif self.CP.brand == 'chrysler':
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
-    if self.CP.brand == 'chrysler':
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
@@ -37,6 +65,8 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
+
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
@@ -57,9 +87,11 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+
       if self.CP.openpilotLongitudinalControl:
         # Only can leave standstill when planner wants to move
-        if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
+        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -71,6 +103,8 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
+
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -80,6 +114,8 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
+
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
@@ -87,26 +123,27 @@ class CarSpecificEvents:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
-      # if CC.eps_timer_soft_disable_alert:
+      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
+    elif self.CP.brand == 'hyundai':
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
+
+    else:
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
+                           allow_button_cancel=True):
     events = Events()
 
-    CI = interfaces[self.CP.carFingerprint]
-    # TODO: cleanup the honda-specific logic
-    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
-    # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
-    # so only use it for cancel when running openpilot longitudinal
-    allow_button_cancel = self.CP.brand != 'hyundai'
-
     if CS.doorOpen:
       events.add(EventName.doorOpen)
     if CS.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
+    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
+       CS.gearShifter not in extra_gears):
       events.add(EventName.wrongGear)
     if CS.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -120,8 +157,6 @@ class CarSpecificEvents:
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
-    if CS.stockLkas:
-      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:

selfdrive/car/card.py

@@ -10,7 +10,7 @@ from cereal import car, log, custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
+
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -19,6 +19,7 @@ from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
+from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
@@ -122,13 +123,7 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
-    # set alternative experiences from parameters
-    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
-    if sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-
-
     # mads
     set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
@@ -144,7 +139,7 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired:
+    if self.CP.secOcRequired and not is_release:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -184,6 +179,7 @@ class Car:
     self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
+    self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
@@ -204,6 +200,8 @@ class Car:
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
+    if self.CP.brand == 'mock':
+      CS, CS_SP = self.mock_carstate.update(CS, CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)

selfdrive/controls/lib/desire_helper.py

@@ -56,7 +56,7 @@ class DesireHelper:
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected):
+  def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -88,8 +88,8 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
-                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -327,10 +327,8 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, a_cruise_min_override=None, t_follow_override=None):
-    t_follow = t_follow_override if t_follow_override is not None else get_T_FOLLOW(personality)
-    a_cruise_min = a_cruise_min_override if a_cruise_min_override is not None else CRUISE_MIN_ACCEL
-
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+    t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
@@ -352,7 +350,7 @@ class LongitudinalMpc:
 
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
+      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
       # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),

selfdrive/controls/lib/longitudinal_planner.py

@@ -124,11 +124,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if mode == 'acc':
-      if sp_accel_clip := LongitudinalPlannerSP.get_accel_clip(self, v_ego, mode):
-        accel_clip = sp_accel_clip
-      else:
-        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-
+      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
     else:
@@ -158,9 +154,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    a_cruise_min_override = LongitudinalPlannerSP.get_cruise_min_accel(self, v_ego)
-    t_follow_override = LongitudinalPlannerSP.get_t_follow(self, v_ego)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality, a_cruise_min_override=a_cruise_min_override, t_follow_override=t_follow_override)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)

selfdrive/debug/car/hyundai_enable_radar_points.py

@@ -108,11 +108,11 @@ if __name__ == "__main__":
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
-  session_type : SESSION_TYPE = 0x07
+  session_type : SESSION_TYPE = 0x07 # type: ignore
   uds_client.diagnostic_session_control(session_type)
 
   print("[HARDWARE/SOFTWARE VERSION]")
-  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
   fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
   print(fw_version)
   if fw_version not in SUPPORTED_FW_VERSIONS.keys():
@@ -120,7 +120,7 @@ if __name__ == "__main__":
     sys.exit(1)
 
   print("[GET CONFIGURATION]")
-  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
   current_config = uds_client.read_data_by_identifier(config_data_id)
   config_values = SUPPORTED_FW_VERSIONS[fw_version]
   new_config = config_values.default_config if args.default else config_values.tracks_enabled

selfdrive/debug/car/vw_mqb_config.py

@@ -55,7 +55,7 @@ if __name__ == "__main__":
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
     odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
-    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
     coding_text = current_coding.hex()
 
     print("\nEPS diagnostic data\n")
@@ -126,9 +126,9 @@ if __name__ == "__main__":
     new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
 
     try:
-      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
       key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
-      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
       print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
@@ -148,7 +148,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
-      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
       print("Make sure the comma processes are stopped: tmux kill-session -t comma")
@@ -156,7 +156,7 @@ if __name__ == "__main__":
 
     try:
       # Read back result just to make 100% sure everything worked
-      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()  # type: ignore
       print(f"   New coding:   {current_coding_text}")
     except (NegativeResponseError, MessageTimeoutError):
       print("Reading back updated coding failed!")

selfdrive/debug/cpu_usage_stat.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:

selfdrive/debug/cycle_alerts.py

@@ -99,7 +99,8 @@ def cycle_alerts(duration=200, is_metric=False):
       alert = AM.process_alerts(frame, [])
       print(alert)
       for _ in range(duration):
-        dat = messaging.new_message('selfdriveState')
+        dat = messaging.new_message()
+        dat.init('selfdriveState')
         dat.selfdriveState.enabled = False
 
         if alert:
@@ -111,7 +112,8 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.selfdriveState.alertSound = alert.audible_alert
         pm.send('selfdriveState', dat)
 
-        dat = messaging.new_message('deviceState')
+        dat = messaging.new_message()
+        dat.init('deviceState')
         dat.deviceState.started = True
         pm.send('deviceState', dat)
 

selfdrive/debug/fingerprint_from_route.py

@@ -28,12 +28,11 @@ def get_fingerprint(lr):
 
   # TODO: also print the fw fingerprint merged with the existing ones
   # show FW fingerprint
-  if fw:
-    print("\nFW fingerprint:\n")
-    for f in fw:
-      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
-      print(f"      {f.fwVersion},")
-      print("    ],")
+  print("\nFW fingerprint:\n")
+  for f in fw:
+    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+    print(f"      {f.fwVersion},")
+    print("    ],")
   print()
   print(f"VIN: {vin}")
 

selfdrive/debug/fuzz_fw_fingerprint.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 import random
 from collections import defaultdict
 

selfdrive/debug/measure_torque_time_to_max.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 
 import os
 import argparse

selfdrive/debug/test_fw_query_on_routes.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 
 from collections import defaultdict
 import argparse

selfdrive/locationd/calibrationd.py

@@ -47,7 +47,7 @@ DEBUG = os.getenv("DEBUG") is not None
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:
@@ -92,7 +92,7 @@ class Calibrator:
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray | None = None) -> None:
+                  smooth_from: np.ndarray = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:

selfdrive/locationd/helpers.py

@@ -94,7 +94,7 @@ class PointBuckets:
   def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int | None = None) -> Any:
+  def get_points(self, num_points: int = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points

selfdrive/locationd/paramsd.py

@@ -127,8 +127,8 @@ class VehicleParamsLearner:
 
     if not self.active:
       # Reset time when stopped so uncertainty doesn't grow
-      self.kf.filter.set_filter_time(t)
-      self.kf.filter.reset_rewind()
+      self.kf.filter.set_filter_time(t)  # type: ignore
+      self.kf.filter.reset_rewind()      # type: ignore
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     x = self.kf.x

selfdrive/locationd/torqued.py

@@ -35,7 +35,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
 
 
 def slope2rot(slope):

selfdrive/modeld/SConscript

@@ -1,7 +1,7 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

selfdrive/modeld/modeld.py

@@ -33,7 +33,7 @@ from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -298,7 +298,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -396,10 +395,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

selfdrive/selfdrived/alertmanager.py

@@ -14,7 +14,7 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''

selfdrive/selfdrived/events.py

@@ -303,15 +303,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
-  EventName.stockLkas: {
-    ET.PERMANENT: Alert(
-      "TAKE CONTROL",
-      "Stock LKAS: Lane Departure Detected",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
-    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
-  },
-
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",
@@ -767,13 +758,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
     ET.PERMANENT: Alert(
-      "Unknown Vehicle Variant",
+      "CAN Error: Check Connections",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"),
+    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
   },
 
   EventName.canBusMissing: {

selfdrive/selfdrived/selfdrived.py

@@ -233,8 +233,8 @@ class SelfdriveD(CruiseHelper):
 
       # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
       if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-            (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-            (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
@@ -295,22 +295,16 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
-      mdv2sp = self.sm['modelDataV2SP']
-
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-            (CS.rightBlindspot and direction == LaneChangeDirection.right):
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
-
-      elif mdv2sp.leftLaneChangeEdgeBlock or mdv2sp.rightLaneChangeEdgeBlock:
-        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
-
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
     elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                     LaneChangeState.laneChangeFinishing):
+                                                    LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
     # Handle lane turn
@@ -505,7 +499,7 @@ class SelfdriveD(CruiseHelper):
 
     # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
     if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
+           if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
     return CS

selfdrive/test/fuzzy_generation.py

@@ -44,7 +44,7 @@ class FuzzyGenerator:
     except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
     fields_to_generate = schema.non_union_fields + single_fill
     return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})

selfdrive/test/process_replay/migration.py

@@ -1,6 +1,5 @@
 from collections import defaultdict
 from collections.abc import Callable
-from typing import cast
 import capnp
 import functools
 import traceback
@@ -70,7 +69,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
     if migration.product in grouped: # skip if product already exists
       continue
 
-    sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, []))
+    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
     msg_gen = [(i, lr[i]) for i in sorted_indices]
     r_ops, a_ops, d_ops = migration(msg_gen)
     replace_ops.extend(r_ops)

selfdrive/test/process_replay/process_replay.py

@@ -614,9 +614,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None,
-  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
-  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
+  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
+  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)

selfdrive/test/process_replay/regen.py

@@ -16,7 +16,7 @@ from openpilot.tools.lib.openpilotci import get_url
 
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] | None = None,
+  lr: LogIterable, frs: dict[str, Any] = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)

selfdrive/test/update_ci_routes.py

@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 

selfdrive/ui/layouts/home.py

@@ -39,7 +39,7 @@ class HomeLayout(Widget):
 
     self.current_state = HomeLayoutState.HOME
     self.last_refresh = 0
-    self.settings_callback: Callable[[], None] | None = None
+    self.settings_callback: callable | None = None
 
     self.update_available = False
     self.alert_count = 0

selfdrive/ui/layouts/settings/settings.py

@@ -145,18 +145,20 @@ class SettingsLayout(Widget):
     if panel.instance:
       panel.instance.render(content_rect)
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return
+      return True
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
         self.set_current_panel(panel_type)
-        return
+        return True
+
+    return False
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:

selfdrive/ui/lib/prime_state.py

@@ -1,6 +1,5 @@
 from enum import IntEnum
 import os
-import requests
 import threading
 import time
 
@@ -30,7 +29,6 @@ class PrimeState:
   def __init__(self):
     self._params = Params()
     self._lock = threading.Lock()
-    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self.prime_type: PrimeType = self._load_initial_state()
 
     self._running = False
@@ -52,7 +50,7 @@ class PrimeState:
 
     try:
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)

selfdrive/ui/mici/layouts/onboarding.py

@@ -169,8 +169,8 @@ class TrainingGuideDMTutorial(Widget):
 
   def _update_state(self):
     super()._update_state()
-    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+    if device.awake:
+      ui_state.params.put_bool("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -240,20 +240,19 @@ class TrainingGuideDMTutorial(Widget):
       ring_color,
     )
 
-    if self._dialog._camera_view.frame:
-      self._back_button.render(rl.Rectangle(
-        self._rect.x + 8,
-        self._rect.y + self._rect.height - self._back_button.rect.height,
-        self._back_button.rect.width,
-        self._back_button.rect.height,
-      ))
+    self._back_button.render(rl.Rectangle(
+      self._rect.x + 8,
+      self._rect.y + self._rect.height - self._back_button.rect.height,
+      self._back_button.rect.width,
+      self._back_button.rect.height,
+    ))
 
-      self._good_button.render(rl.Rectangle(
-        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-        self._rect.y + self._rect.height - self._good_button.rect.height,
-        self._good_button.rect.width,
-        self._good_button.rect.height,
-      ))
+    self._good_button.render(rl.Rectangle(
+      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+      self._rect.y + self._rect.height - self._good_button.rect.height,
+      self._good_button.rect.width,
+      self._good_button.rect.height,
+    ))
 
     # rounded border
     rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)

selfdrive/ui/mici/layouts/settings/firehose.py

@@ -1,4 +1,3 @@
-import requests
 import threading
 import time
 import pyray as rl
@@ -45,7 +44,6 @@ class FirehoseLayoutBase(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
@@ -205,7 +203,7 @@ class FirehoseLayoutBase(Widget):
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)

selfdrive/ui/mici/layouts/settings/network/wifi_ui.py

@@ -36,6 +36,8 @@ class WifiIcon(Widget):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 89, 64))
 
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64)
+    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64)
     self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64)
     self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64)
     self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64)
@@ -55,13 +57,17 @@ class WifiIcon(Widget):
       return
 
     # Determine which wifi strength icon to use
-    strength = round(self._network.strength / 100 * 2)
-    if strength == 2:
+    strength = round(self._network.strength / 100 * 4)
+    if strength == 4:
       strength_icon = self._wifi_full_txt
-    elif strength == 1:
+    elif strength == 3:
       strength_icon = self._wifi_medium_txt
-    else:
+    elif strength == 2:
       strength_icon = self._wifi_low_txt
+    elif self._network.strength < 0:
+      strength_icon = self._wifi_slash_txt
+    else:
+      strength_icon = self._wifi_none_txt
 
     icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2)
     icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2)
@@ -382,7 +388,7 @@ class WifiUIMici(BigMultiOptionDialog):
       else:
         network_button = WifiItem(network)
 
-      self._scroller.add_widget(network_button)
+      self.add_button(network_button)
 
     # remove networks no longer present
     self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
@@ -396,10 +402,11 @@ class WifiUIMici(BigMultiOptionDialog):
       self._wifi_manager.connect_to_network(ssid, password)
       self._update_buttons()
 
-  def _on_option_selected(self, option: str):
-    super()._on_option_selected(option)
+  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
+    super()._on_option_selected(option, smooth_scroll)
 
-    if option in self._networks:
+    # only open if button is already selected
+    if option in self._networks and option == self._selected_option:
       self._network_info_page.set_current_network(self._networks[option])
       self._open_network_manage_page()
 
@@ -446,7 +453,7 @@ class WifiUIMici(BigMultiOptionDialog):
     current_selection = self.get_selected_option()
     if self._restore_selection and current_selection in self._networks:
       self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection)
+      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
       self._restore_selection = None
 
     super()._render(_)

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -222,9 +222,6 @@ class AlertRenderer(Widget):
     self._alert_y_filter.update(self._rect.y - 50 if alert is None else self._rect.y)
     self._alpha_filter.update(0 if alert is None else 1)
 
-    if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
-
     if alert is None:
       # If still animating out, keep the previous alert
       if self._alpha_filter.x > 0.01 and self._prev_alert is not None:

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -19,9 +19,6 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
-
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -354,14 +351,6 @@ class AugmentedRoadView(CameraView):
 
     return self._cached_matrix
 
-  def show_event(self):
-    if gui_app.sunnypilot_ui():
-      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
-
-  def hide_event(self):
-    if gui_app.sunnypilot_ui():
-      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
-
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -121,17 +121,12 @@ class HudRenderer(Widget):
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
     self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
-    self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
-    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
-    self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
-    self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
-
   def set_wheel_critical_icon(self, critical: bool):
     """Set the wheel icon to critical or normal state."""
     self._show_wheel_critical = critical
@@ -180,79 +175,19 @@ class HudRenderer(Widget):
     if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
       self._torque_bar.render(rect)
 
-    draw_set_speed = False
     if self.is_cruise_set:
-      alpha = self._set_speed_alpha_filter.update(
-        0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
-        self._can_draw_top_icons and self._engaged
-      )
-      draw_set_speed = alpha >= 1e-2
-
-    if draw_set_speed:
       self._draw_set_speed(rect)
 
     self._draw_steering_wheel(rect)
 
-    self._draw_blind_spot_indicators(rect)
-
-  def _draw_blind_spot_indicators(self, rect: rl.Rectangle) -> None:
-    sm = ui_state.sm
-    car_state = sm['carState']
-
-    try:
-      left_detected = car_state.leftBlindspot
-    except AttributeError:
-      left_detected = False
-
-    try:
-      right_detected = car_state.rightBlindspot
-    except AttributeError:
-      right_detected = False
-
-    self._blind_spot_left_alpha_filter.update(1.0 if left_detected else 0.0)
-    self._blind_spot_right_alpha_filter.update(1.0 if right_detected else 0.0)
-
-    BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
-    BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
-
-    if self._blind_spot_left_alpha_filter.x > 0.01:
-      pos_x = int(rect.x + BLIND_SPOT_MARGIN_X)
-      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
-      alpha = int(255 * self._blind_spot_left_alpha_filter.x)
-      color = rl.Color(255, 255, 255, alpha)
-      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
-
-    if self._blind_spot_right_alpha_filter.x > 0.01:
-      pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
-      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
-      alpha = int(255 * self._blind_spot_right_alpha_filter.x)
-      color = rl.Color(255, 255, 255, alpha)
-      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)
-
-  def _has_blind_spot_detected(self) -> bool:
-    car_state = ui_state.sm['carState']
-    try:
-      left_detected = car_state.leftBlindspot
-    except AttributeError:
-      left_detected = False
-
-    try:
-      right_detected = car_state.rightBlindspot
-    except AttributeError:
-      right_detected = False
-
-    return left_detected or right_detected
-
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
-    has_blind_spot = self._has_blind_spot_detected()
-
     if self._show_wheel_critical:
       self._wheel_alpha_filter.update(255)
       self._wheel_y_filter.update(0)
     else:
-      if ui_state.status == UIStatus.DISENGAGED or has_blind_spot:
+      if ui_state.status == UIStatus.DISENGAGED:
         self._wheel_alpha_filter.update(0)
         self._wheel_y_filter.update(wheel_txt.height / 2)
       else:

selfdrive/ui/mici/onroad/speed_limit_ui.py

@@ -1,3 +1,9 @@
+"""
+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 pyray as rl
 from dataclasses import dataclass
 from openpilot.common.constants import CV
@@ -68,9 +74,6 @@ class SpeedLimitRenderer(Widget):
   def _render(self, rect: rl.Rectangle) -> None:
     self._update_state()
 
-    if not self.speed_limit_valid:
-      return
-
     sign_width = SPEED_LIMIT_WIDTH_METRIC if ui_state.is_metric else SPEED_LIMIT_WIDTH_IMPERIAL
     sign_height = SPEED_LIMIT_HEIGHT
     sign_margin = 12
@@ -79,18 +82,19 @@ class SpeedLimitRenderer(Widget):
 
     sign_rect = rl.Rectangle(sign_x, sign_y, sign_width, sign_height)
 
-    speed_str = str(round(self.speed_limit))
-    speed_color = COLORS.white if self.current_speed <= self.speed_limit else COLORS.red
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid else "--"
+    speed_color = COLORS.white if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
 
     if ui_state.is_metric:
-      self._draw_vienna_sign(sign_rect, speed_str, "", speed_color, True)
+      self._draw_vienna_sign(sign_rect, speed_str, "", speed_color, self.speed_limit_valid)
     else:
-      self._draw_mutcd_sign(sign_rect, speed_str, "", speed_color, True)
+      self._draw_mutcd_sign(sign_rect, speed_str, "", speed_color, self.speed_limit_valid)
+
     if self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit:
       self._draw_upcoming_speed_limit(sign_rect)
 
   def _draw_vienna_sign(self, sign_rect: rl.Rectangle, speed_str: str, sub_text: str, speed_color: rl.Color, has_speed_limit: bool) -> None:
-    """Draw EU/Vienna sign."""
+    """Draw EU/Vienna"""
     center = rl.Vector2(sign_rect.x + sign_rect.width / 2, sign_rect.y + sign_rect.height / 2)
     outer_radius = min(sign_rect.width, sign_rect.height) / 2
     circle_size = outer_radius * 2
@@ -133,7 +137,7 @@ class SpeedLimitRenderer(Widget):
     rl.draw_text_ex(self._font_bold, speed_str, speed_value_pos, font_size, 0, speed_color)
 
   def _draw_upcoming_speed_limit(self, sign_rect: rl.Rectangle) -> None:
-    """Draw upcoming speed limit."""
+    """Draw upcoming speed limit indicator."""
     speed_str = str(round(self.next_speed_limit))
     distance_str = self._format_distance(self.next_speed_limit_distance)
 

selfdrive/ui/mici/widgets/button.py

@@ -71,7 +71,7 @@ class BigCircleButton(Widget):
 
 
 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable | None = None):
+  def __init__(self, icon: str, toggle_callback: Callable = None):
     super().__init__(icon, False)
     self._toggle_callback = toggle_callback
 
@@ -251,7 +251,7 @@ class BigButton(Widget):
 
 
 class BigToggle(BigButton):
-  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None):
+  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None):
     super().__init__(text, value, "")
     self._checked = initial_state
     self._toggle_callback = toggle_callback
@@ -288,8 +288,8 @@ class BigToggle(BigButton):
 
 
 class BigMultiToggle(BigToggle):
-  def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None,
-               select_callback: Callable | None = None):
+  def __init__(self, text: str, options: list[str], toggle_callback: Callable = None,
+               select_callback: Callable = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     assert len(options) > 0
     self._options = options
@@ -327,8 +327,8 @@ class BigMultiToggle(BigToggle):
 
 
 class BigMultiParamToggle(BigMultiToggle):
-  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
-               select_callback: Callable | None = None):
+  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None,
+               select_callback: Callable = None):
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -345,7 +345,7 @@ class BigMultiParamToggle(BigMultiToggle):
 
 
 class BigParamControl(BigToggle):
-  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
+  def __init__(self, text: str, param: str, toggle_callback: Callable = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -361,7 +361,7 @@ class BigParamControl(BigToggle):
 
 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None):
+  def __init__(self, icon: str, param: str, toggle_callback: Callable = None):
     super().__init__(icon, toggle_callback)
     self._param = param
     self.params = Params()

selfdrive/ui/mici/widgets/dialog.py

@@ -4,17 +4,17 @@ import pyray as rl
 from typing import Union
 from collections.abc import Callable
 from typing import cast
+from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
 
 DEBUG = False
 
@@ -137,7 +137,7 @@ class BigInputDialog(BigDialogBase):
                hint: str,
                default_text: str = "",
                minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] | None = None):
+               confirm_callback: Callable[[str], None] = None):
     super().__init__(None, None)
     self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                     font_weight=FontWeight.MEDIUM)
@@ -317,36 +317,39 @@ class BigMultiOptionDialog(BigDialogBase):
   BACK_TOUCH_AREA_PERCENTAGE = 0.1
 
   def __init__(self, options: list[str], default: str | None,
-               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None):
+               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None):
     super().__init__(right_btn, right_btn_callback=right_btn_callback)
     self._options = options
     if default is not None:
       assert default in options
 
-    self._default_option: str | None = default
-    self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "")
+    self._default_option: str = default or (options[0] if len(options) > 0 else "")
+    self._selected_option: str = self._default_option
     self._last_selected_option: str = self._selected_option
 
-    # Widget doesn't differentiate between click and drag
-    self._can_click = True
-
     self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
     if self._right_btn is not None:
       self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
 
     for option in options:
-      self._scroller.add_widget(BigDialogOptionButton(option))
+      self.add_button(BigDialogOptionButton(option))
+
+  def add_button(self, button: BigDialogOptionButton):
+    def click_callback(_btn=button):
+      self._on_option_selected(_btn.option)
+
+    button.set_click_callback(click_callback)
+    self._scroller.add_widget(button)
 
   def show_event(self):
     super().show_event()
     self._scroller.show_event()
-    if self._default_option is not None:
-      self._on_option_selected(self._default_option)
+    self._on_option_selected(self._default_option)
 
   def get_selected_option(self) -> str:
     return self._selected_option
 
-  def _on_option_selected(self, option: str):
+  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
     y_pos = 0.0
     for btn in self._scroller._items:
       btn = cast(BigDialogOptionButton, btn)
@@ -362,35 +365,11 @@ class BigMultiOptionDialog(BigDialogBase):
         y_pos = rect_center_y - (btn.rect.y + height / 2)
         break
 
-    self._scroller.scroll_to(-y_pos)
+    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
 
   def _selected_option_changed(self):
     pass
 
-  def _handle_mouse_press(self, mouse_pos: MousePos):
-    super()._handle_mouse_press(mouse_pos)
-    self._can_click = True
-
-  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
-    super()._handle_mouse_event(mouse_event)
-
-    # # TODO: add generic _handle_mouse_click handler to Widget
-    if not self._scroller.scroll_panel.is_touch_valid():
-      self._can_click = False
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    if not self._can_click:
-      return
-
-    # select current option
-    for btn in self._scroller._items:
-      btn = cast(BigDialogOptionButton, btn)
-      if btn.option == self._selected_option:
-        self._on_option_selected(btn.option)
-        break
-
   def _update_state(self):
     super()._update_state()
 

selfdrive/ui/onroad/alert_renderer.py

@@ -116,10 +116,6 @@ class AlertRenderer(Widget):
 
   def _render(self, rect: rl.Rectangle):
     alert = self.get_alert(ui_state.sm)
-
-    if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
-
     if not alert:
       return
 

selfdrive/ui/onroad/augmented_road_view.py

@@ -15,10 +15,10 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
-  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
-  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
+  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
+
+from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
 
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
@@ -224,14 +224,6 @@ class AugmentedRoadView(CameraView):
 
     return self._cached_matrix
 
-  def show_event(self):
-    if gui_app.sunnypilot_ui():
-      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
-
-  def hide_event(self):
-    if gui_app.sunnypilot_ui():
-      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
-
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")

selfdrive/ui/onroad/speed_limit_ui.py

@@ -27,7 +27,7 @@ class SpeedLimitColors:
   grey: rl.Color = rl.Color(145, 155, 149, 241)
   light_grey: rl.Color = rl.Color(200, 200, 200, 255)
   dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
-  bg_dark: rl.Color = rl.Color(20, 20, 20, 230)
+  bg_dark: rl.Color = rl.Color(30, 30, 30, 200)
   card_bg: rl.Color = rl.Color(50, 50, 50, 200)
 
 
@@ -60,7 +60,6 @@ class SpeedLimitRenderer(Widget):
       return
 
     speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
-
     if sm.valid["mapdOut"]:
       mapd = sm["mapdOut"]
       self.speed_limit = mapd.speedLimit * speed_conv
@@ -89,52 +88,52 @@ class SpeedLimitRenderer(Widget):
 
   def _render(self, rect: rl.Rectangle) -> None:
     self._update_state()
-    panel_width = 420
-    panel_height = 280
-    panel_margin = 20
-    panel_x = rect.x + panel_margin
-    panel_y = rect.y + (rect.height - panel_height) / 2
 
+    panel_width = 320
+    panel_height = 340
+    panel_x = rect.x + 12
+    panel_y = rect.y + rect.height / 2 - panel_height / 2
     panel_rect = rl.Rectangle(panel_x, panel_y, panel_width, panel_height)
-    rl.draw_rectangle_rounded(panel_rect, 0.08, 10, COLORS.bg_dark)
-    rl.draw_rectangle_rounded_lines_ex(panel_rect, 0.08, 10, 2, rl.Color(80, 80, 80, 200))
+    rl.draw_rectangle_rounded(panel_rect, 0.1, 10, COLORS.bg_dark)
 
-    padding = 20
-    sign_width = 140 if ui_state.is_metric else 130
-    sign_height = 150 if ui_state.is_metric else 140
-    sign_x = panel_x + padding
-    sign_y = panel_y + padding
+    margin = 15
+    sign_width = 110 if ui_state.is_metric else 100
+    sign_height = 120 if ui_state.is_metric else 110
+    sign_x = panel_x + margin
+    sign_y = panel_y + margin
 
     self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
-    info_x = sign_x + sign_width + 20
-    info_width = panel_width - sign_width - padding * 2 - 20
-    info_y = panel_y + padding + 5
+    info_x = sign_x + sign_width + 15
+    info_width = panel_width - sign_width - margin * 2 - 15
+    info_y = panel_y + 20
 
     # Road name
     self._draw_road_name(info_x, info_y, info_width)
-    info_y += 50
+    info_y += 40
 
     # Road context and lanes
     self._draw_road_details(info_x, info_y, info_width)
-    info_y += 40
+    info_y += 35
 
     # Next speed limit
     self._draw_next_speed_limit(info_x, info_y, info_width)
-    info_y += 40
+
+    info_y = panel_y + sign_height + margin + 25
 
     # Curve speeds
-    self._draw_curve_speeds(info_x, info_y, info_width)
+    self._draw_curve_speeds(panel_x + margin, info_y, panel_width - margin * 2)
+    info_y += 35
 
     # Hazard warning beta
     if self.hazard:
-      hazard_y = panel_y + panel_height - 60
-      self._draw_hazard(panel_x + padding, hazard_y, panel_width - padding * 2)
+      self._draw_hazard(panel_x + margin, info_y, panel_width - margin * 2)
+      info_y += 35
 
     status_text = tr("Map Loaded") if self.tile_loaded else tr("No Map Data")
     status_color = COLORS.green if self.tile_loaded else COLORS.red
-    status_size = measure_text_cached(self._font_medium, status_text, 22)
-    status_pos = rl.Vector2(panel_x + (panel_width - status_size.x) / 2, panel_y + panel_height - 30)
-    rl.draw_text_ex(self._font_medium, status_text, status_pos, 22, 0, status_color)
+    status_size = measure_text_cached(self._font_medium, status_text, 18)
+    status_pos = rl.Vector2(panel_x + (panel_width - status_size.x) / 2, panel_y + panel_height - 28)
+    rl.draw_text_ex(self._font_medium, status_text, status_pos, 18, 0, status_color)
 
   def _draw_speed_limit_sign(self, x: float, y: float, width: float, height: float) -> None:
     speed_str = str(round(self.speed_limit)) if self.speed_limit_valid else "--"
@@ -153,7 +152,7 @@ class SpeedLimitRenderer(Widget):
     ring_width = outer_radius * 0.18
     rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
 
-    font_size = outer_radius * (0.75 if len(speed_str) >= 3 else 0.95)
+    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
     text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
     text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
     rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
@@ -161,34 +160,31 @@ class SpeedLimitRenderer(Widget):
   def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color) -> None:
     sign_rect = rl.Rectangle(x, y, width, height)
     rl.draw_rectangle_rounded(sign_rect, 0.2, 10, COLORS.white)
-    rl.draw_rectangle_rounded_lines_ex(sign_rect, 0.2, 10, 4, COLORS.black)
+    rl.draw_rectangle_rounded_lines_ex(sign_rect, 0.2, 10, 3, COLORS.black)
 
     speed_label = tr("SPEED")
     limit_label = tr("LIMIT")
-    label_size = 22
+    label_size = 16
 
     speed_text_size = measure_text_cached(self._font_semi_bold, speed_label, label_size)
-    speed_pos = rl.Vector2(x + (width - speed_text_size.x) / 2, y + 12)
+    speed_pos = rl.Vector2(x + (width - speed_text_size.x) / 2, y + 8)
     rl.draw_text_ex(self._font_semi_bold, speed_label, speed_pos, label_size, 0, COLORS.black)
 
     limit_text_size = measure_text_cached(self._font_semi_bold, limit_label, label_size)
-    limit_pos = rl.Vector2(x + (width - limit_text_size.x) / 2, y + 36)
+    limit_pos = rl.Vector2(x + (width - limit_text_size.x) / 2, y + 26)
     rl.draw_text_ex(self._font_semi_bold, limit_label, limit_pos, label_size, 0, COLORS.black)
 
-    font_size = 55 if len(speed_str) >= 3 else 70
+    font_size = 40 if len(speed_str) >= 3 else 50
     num_size = measure_text_cached(self._font_bold, speed_str, font_size)
-    num_pos = rl.Vector2(x + (width - num_size.x) / 2, y + 65)
+    num_pos = rl.Vector2(x + (width - num_size.x) / 2, y + 45)
     rl.draw_text_ex(self._font_bold, speed_str, num_pos, font_size, 0, speed_color)
 
   def _draw_road_name(self, x: float, y: float, width: float) -> None:
     road_display = self.road_name if self.road_name else "--"
-    font_size = 32
-    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
+    road_size = measure_text_cached(self._font_semi_bold, road_display, 26)
     if road_size.x > width:
-      while len(road_display) > 3 and measure_text_cached(self._font_semi_bold, road_display + "...", font_size).x > width:
-        road_display = road_display[:-1]
-      road_display = road_display + "..."
-    rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
+      road_display = road_display[:15] + "..."
+    rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), 26, 0, COLORS.white)
 
   def _draw_road_details(self, x: float, y: float, width: float) -> None:
     details = []
@@ -197,25 +193,25 @@ class SpeedLimitRenderer(Widget):
     if self.lanes > 0:
       details.append(f"{self.lanes} {tr('lanes')}")
     details_text = " • ".join(details) if details else "--"
-    rl.draw_text_ex(self._font_medium, details_text, rl.Vector2(x, y), 26, 0, COLORS.light_grey)
+    rl.draw_text_ex(self._font_medium, details_text, rl.Vector2(x, y), 20, 0, COLORS.light_grey)
 
   def _draw_next_speed_limit(self, x: float, y: float, width: float) -> None:
     if self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit:
       next_text = f"{tr('Next')}: {round(self.next_speed_limit)} ({self._format_distance(self.next_speed_limit_distance)})"
     else:
       next_text = f"{tr('Next')}: --"
-    rl.draw_text_ex(self._font_medium, next_text, rl.Vector2(x, y), 26, 0, COLORS.light_grey)
+    rl.draw_text_ex(self._font_medium, next_text, rl.Vector2(x, y), 20, 0, COLORS.light_grey)
 
   def _draw_curve_speeds(self, x: float, y: float, width: float) -> None:
     unit = tr("km/h") if ui_state.is_metric else tr("mph")
     vision_val = str(round(self.vision_curve_speed)) if self.vision_curve_speed > 0 else "--"
     map_val = str(round(self.map_curve_speed)) if self.map_curve_speed > 0 else "--"
     curve_text = f"{tr('Curve')}: V:{vision_val} M:{map_val} {unit}"
-    rl.draw_text_ex(self._font_medium, curve_text, rl.Vector2(x, y), 24, 0, COLORS.light_grey)
+    rl.draw_text_ex(self._font_medium, curve_text, rl.Vector2(x, y), 20, 0, COLORS.light_grey)
 
   def _draw_hazard(self, x: float, y: float, width: float) -> None:
     hazard_text = f"⚠ {self.hazard}"
-    rl.draw_text_ex(self._font_semi_bold, hazard_text, rl.Vector2(x, y), 28, 0, COLORS.red)
+    rl.draw_text_ex(self._font_semi_bold, hazard_text, rl.Vector2(x, y), 22, 0, COLORS.red)
 
   def _format_distance(self, distance: float) -> str:
     if ui_state.is_metric:

selfdrive/ui/sunnypilot/layouts/settings/display.py

@@ -4,21 +4,9 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
-
 from openpilot.common.params import Params
-from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
-
-ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}}
-
-
-class OnroadBrightness(IntEnum):
-  AUTO = 0
-  AUTO_DARK = 1
+from openpilot.system.ui.widgets import Widget
 
 
 class DisplayLayout(Widget):
@@ -30,69 +18,11 @@ class DisplayLayout(Widget):
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    self._onroad_brightness = option_item_sp(
-      param="OnroadScreenOffBrightness",
-      title=lambda: tr("Onroad Brightness"),
-      description="",
-      min_value=0,
-      max_value=21,
-      value_change_step=1,
-      label_callback=lambda value: self.update_onroad_brightness(value),
-      inline=True
-    )
-    self._onroad_brightness_timer = option_item_sp(
-      param="OnroadScreenOffTimer",
-      title=lambda: tr("Onroad Brightness Delay"),
-      description="",
-      min_value=0,
-      max_value=11,
-      value_change_step=1,
-      value_map=ONROAD_BRIGHTNESS_TIMER_VALUES,
-      label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
-      inline=True
-    )
-    self._interactivity_timeout = option_item_sp(
-      param="InteractivityTimeout",
-      title=lambda: tr("Interactivity Timeout"),
-      description=lambda: tr("Apply a custom timeout for settings UI." +
-                             "<br>This is the time after which settings UI closes automatically " +
-                             "if user is not interacting with the screen."),
-      min_value=0,
-      max_value=120,
-      value_change_step=10,
-      label_callback=lambda value: (tr("Default") if not value or value == 0 else
-                                    f"{value} s" if value < 60 else f"{int(value/60)} m"),
-      inline=True
-    )
     items = [
-      self._onroad_brightness,
-      self._onroad_brightness_timer,
-      self._interactivity_timeout,
+
     ]
     return items
 
-  @staticmethod
-  def update_onroad_brightness(val):
-    if val == OnroadBrightness.AUTO:
-      return tr("Auto (Default)")
-
-    if val == OnroadBrightness.AUTO_DARK:
-      return tr("Auto (Dark)")
-
-    return f"{(val - 1) * 5} %"
-
-  def _update_state(self):
-    super()._update_state()
-
-    for _item in self._scroller._items:
-      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
-        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
-      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
-        _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True))
-
-    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
-    self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
-
   def _render(self, rect):
     self._scroller.render(rect)
 

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

@@ -4,6 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
 from dataclasses import dataclass
 from enum import IntEnum
 
@@ -36,9 +37,10 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(
+OP.PanelType = IntEnum(  # type: ignore
   "PanelType",
-  [es.name for es in OP.PanelType] + [
+  [es.name for es in OP.PanelType]
+  + [
     "SUNNYLINK",
     "MODELS",
     "STEERING",
@@ -73,22 +75,16 @@ class NavButton(Widget):
 
     # Draw background if selected
     if is_selected:
-      self.container_rect = rl.Rectangle(
-        content_x - 50, rect.y, OP.SIDEBAR_WIDTH - 50, OP.NAV_BTN_HEIGHT
-      )
+      self.container_rect = rl.Rectangle(content_x - 50, rect.y, OP.SIDEBAR_WIDTH - 50, OP.NAV_BTN_HEIGHT)
       rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
 
     if self.panel_info.icon:
       icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
-                      rl.WHITE)
+      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2), rl.WHITE)
       content_x += ICON_SIZE + 20
 
     # Draw button text (right-aligned)
-    text_pos = rl.Vector2(
-      content_x,
-      rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
-    )
+    text_pos = rl.Vector2(content_x, rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2)
     rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
 
     # Store button rect for click detection
@@ -129,12 +125,9 @@ class SettingsLayoutSP(OP.SettingsLayout):
     rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
 
     # Close button
-    close_btn_rect = rl.Rectangle(
-      rect.x + style.ITEM_PADDING * 3, rect.y + style.ITEM_PADDING * 2, style.CLOSE_BTN_SIZE, style.CLOSE_BTN_SIZE
-    )
+    close_btn_rect = rl.Rectangle(rect.x + style.ITEM_PADDING * 3, rect.y + style.ITEM_PADDING * 2, style.CLOSE_BTN_SIZE, style.CLOSE_BTN_SIZE)
 
-    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
-               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    pressed = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect)
     close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
     rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
 
@@ -171,7 +164,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
       rect.x,
       self._close_btn_rect.height + style.ITEM_PADDING * 4,  # Starting Y position for nav items
       rect.width,
-      rect.height - 300  # Remaining height after close button
+      rect.height - 300,  # Remaining height after close button
     )
 
     if self._nav_items:

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

@@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLa
 
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(
+OP.PanelType = IntEnum(  # type: ignore
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",

selfdrive/ui/sunnypilot/onroad/rainbow_path.py

@@ -18,12 +18,11 @@ class RainbowPath:
   BASE_ALPHA = 0.8
   ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
 
-  def __init__(self, num_segments: int = DEFAULT_NUM_SEGMENTS, speed: float = DEFAULT_SPEED,
-               saturation: float = DEFAULT_SATURATION, lightness: float = DEFAULT_LIGHTNESS):
-    self.num_segments = num_segments
-    self.speed = speed
-    self.saturation = saturation
-    self.lightness = lightness
+  def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None):
+    self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS
+    self.speed = speed if speed is not None else self.DEFAULT_SPEED
+    self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION
+    self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS
 
   def set_speed(self, speed: float):
     self.speed = speed

selfdrive/ui/sunnypilot/ui_state.py

@@ -4,25 +4,13 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import Enum
-
 from cereal import messaging, log, custom
 from openpilot.common.params import Params
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
-from openpilot.system.ui.lib.application import gui_app
 
 OpenpilotState = log.SelfdriveState.OpenpilotState
 MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 
-ONROAD_BRIGHTNESS_TIMER_PAUSED = -1
-
-
-class OnroadTimerStatus(Enum):
-  NONE = 0
-  PAUSE = 1
-  RESUME = 2
-
 
 class UIStateSP:
   def __init__(self):
@@ -34,11 +22,8 @@ class UIStateSP:
     ]
 
     self.sunnylink_state = SunnylinkState()
-    self.update_params()
 
-    self.onroad_brightness_timer: int = 0
     self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
-    self.reset_onroad_sleep_timer()
 
   def update(self) -> None:
     if self.sunnylink_enabled:
@@ -46,40 +31,6 @@ class UIStateSP:
     else:
       self.sunnylink_state.stop()
 
-  def onroad_brightness_handle_alerts(self, started: bool, alert):
-    has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
-
-    self.update_onroad_brightness(has_alert)
-    if has_alert:
-      self.reset_onroad_sleep_timer()
-
-  def update_onroad_brightness(self, has_alert: bool) -> None:
-    if has_alert:
-      return
-
-    if self.onroad_brightness_timer > 0:
-      self.onroad_brightness_timer -= 1
-
-  def reset_onroad_sleep_timer(self, timer_status: OnroadTimerStatus = OnroadTimerStatus.NONE) -> None:
-    # Toggling from active state to inactive
-    if timer_status == OnroadTimerStatus.PAUSE and self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED:
-      self.onroad_brightness_timer = ONROAD_BRIGHTNESS_TIMER_PAUSED
-    # Toggling from a previously inactive state or resetting an active timer
-    elif (self.onroad_brightness_timer_param >= 0 and self.onroad_brightness != OnroadBrightness.AUTO and
-          self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED) or timer_status == OnroadTimerStatus.RESUME:
-      if self.onroad_brightness == OnroadBrightness.AUTO_DARK:
-        self.onroad_brightness_timer = 15 * gui_app.target_fps
-      else:
-        self.onroad_brightness_timer = self.onroad_brightness_timer_param * gui_app.target_fps
-
-  @property
-  def onroad_brightness_timer_expired(self) -> bool:
-    return self.onroad_brightness != OnroadBrightness.AUTO and self.onroad_brightness_timer == 0
-
-  @property
-  def auto_onroad_brightness(self) -> bool:
-    return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)
-
   @staticmethod
   def update_status(ss, ss_sp, onroad_evt) -> str:
     state = ss.state
@@ -128,10 +79,6 @@ class UIStateSP:
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
 
-    # Onroad Screen Brightness
-    self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
-    self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
-
 
 class DeviceSP:
   def __init__(self):
@@ -140,38 +87,3 @@ class DeviceSP:
   def _set_awake(self, on: bool):
     if on and self._params.get("DeviceBootMode", return_default=True) == 1:
       self._params.put_bool("OffroadMode", True)
-
-  @staticmethod
-  def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
-    if not awake or not _ui_state.started:
-      return cur_brightness
-
-    if _ui_state.onroad_brightness_timer != 0:
-      if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
-        return max(30.0, cur_brightness)
-      # For AUTO (Default) and Manual modes (while timer running), use standard brightness
-      return cur_brightness
-
-    # 0: Auto (Default), 1: Auto (Dark)
-    if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
-      return cur_brightness
-    elif _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
-      return cur_brightness
-
-    # 2-21: 5% - 100%
-    return float((_ui_state.onroad_brightness - 1) * 5)
-
-  @staticmethod
-  def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
-    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
-      min_brightness = 10
-
-    return min_brightness
-
-  @staticmethod
-  def wake_from_dimmed_onroad_brightness(_ui_state, evs) -> None:
-    if _ui_state.started and (_ui_state.onroad_brightness_timer_expired or _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK):
-      if any(ev.left_down for ev in evs):
-        if _ui_state.onroad_brightness_timer_expired:
-          gui_app.mouse_events.clear()
-        _ui_state.reset_onroad_sleep_timer()

selfdrive/ui/translations/README.md

@@ -1,3 +0,0 @@
-# Multilanguage
-
-[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)

selfdrive/ui/translations/app_zh-CHS.po

@@ -200,7 +200,7 @@ msgstr "CONNECT"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "连接中..."
+msgstr "CONNECTING..."
 
 #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
@@ -1001,7 +1001,7 @@ msgstr "用于“{}”"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "km/h"
-msgstr "km/h"
+msgstr "公里/时"
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -1021,7 +1021,7 @@ msgstr "计量"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "mph"
-msgstr "mph"
+msgstr "英里/时"
 
 #: selfdrive/ui/layouts/settings/software.py:20
 #, python-format

selfdrive/ui/translations/app_zh-CHT.po

@@ -200,7 +200,7 @@ msgstr "CONNECT"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "連線中..."
+msgstr "CONNECTING..."
 
 #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
@@ -1000,7 +1000,7 @@ msgstr "適用於「{}」"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "km/h"
-msgstr "km/h"
+msgstr "公里/時"
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -1020,7 +1020,7 @@ msgstr "計量"
 #: selfdrive/ui/onroad/hud_renderer.py:177
 #, python-format
 msgid "mph"
-msgstr "mph"
+msgstr "英里/時"
 
 #: selfdrive/ui/layouts/settings/software.py:20
 #, python-format

selfdrive/ui/translations/auto_translate.py

@@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I
                 "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
 
 
-def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
+def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
   files = {}
 
   with open(TRANSLATIONS_LANGUAGES) as fp:

selfdrive/ui/ui_state.py

@@ -258,17 +258,9 @@ class Device(DeviceSP):
       else:
         clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
 
-      min_brightness = 30
-      if gui_app.sunnypilot_ui():
-        min_brightness = DeviceSP.set_min_onroad_brightness(ui_state, min_brightness)
-
-      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_brightness, 100]))
+      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
 
     brightness = round(self._brightness_filter.update(clipped_brightness))
-
-    if gui_app.sunnypilot_ui():
-      brightness = DeviceSP.set_onroad_brightness(ui_state, self._awake, brightness)
-
     if not self._awake:
       brightness = 0
 
@@ -284,9 +276,6 @@ class Device(DeviceSP):
     self._ignition = ui_state.ignition
 
     if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
-      if gui_app.sunnypilot_ui():
-        DeviceSP.wake_from_dimmed_onroad_brightness(ui_state, gui_app.mouse_events)
-
       self._reset_interactive_timeout()
 
     interaction_timeout = time.monotonic() > self._interaction_time

sunnypilot/SConscript

@@ -1,4 +1,3 @@
-SConscript(['common/transformations/SConscript'])
 SConscript(['modeld/SConscript'])
 SConscript(['modeld_v2/SConscript'])
-SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])

sunnypilot/common/transformations/SConscript

@@ -1,4 +0,0 @@
-Import('env')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-Export('transformations')

sunnypilot/modeld/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

sunnypilot/modeld/modeld.py

@@ -29,7 +29,6 @@ from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -212,7 +211,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -320,10 +318,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

sunnypilot/modeld_v2/SConscript

@@ -1,7 +1,7 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 

sunnypilot/modeld_v2/modeld.py

@@ -27,7 +27,6 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
@@ -246,9 +245,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
-
-
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -352,10 +348,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

sunnypilot/modeld_v2/tests/timing/benchmark.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 
 import os
 import time

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-0cde93a9d20f35619182e704261ef8f6a849149fe5849ba2d355b0b2c89af53c
+6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -1,139 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import custom
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-ACCEL_PERSONALITY_OPTIONS = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
-
-# Acceleration Profiles
-MAX_ACCEL_PROFILES = {
-  AccelPersonality.eco:      [1.85, 1.80, 1.55, 0.94, 0.72, 0.58, 0.34, 0.120, 0.09, 0.07],
-  AccelPersonality.normal:   [2.00, 1.95, 1.80, 1.06, 0.81, 0.69, 0.42, 0.160, 0.10, 0.08],
-  AccelPersonality.sport:    [2.00, 1.99, 1.95, 1.45, 1.10, 0.82, 0.53, 0.240, 0.13, 0.09],
-  #AccelPersonality.eco:      [1.30, 1.25, 1.15, 0.69, 0.60, 0.49, 0.28, 0.107, 0.08, 0.06],
-  #AccelPersonality.normal:   [1.85, 1.80, 1.55, 0.94, 0.72, 0.58, 0.34, 0.120, 0.09, 0.07],
-  #AccelPersonality.sport:    [2.00, 1.95, 1.80, 1.06, 0.81, 0.69, 0.42, 0.160, 0.10, 0.08],
-}
-MAX_ACCEL_BREAKPOINTS =      [0.,   3.,   5.,   8.,   12.,  18.,  24.,  32.,  42.,  55.]
-
-# Braking Profiles
-MIN_ACCEL_PROFILES = {
-  AccelPersonality.eco:    [-.002, -0.24, -0.34, -0.44, -1.2],
-  AccelPersonality.normal: [-.003, -0.26, -0.36, -0.46, -1.3],
-  AccelPersonality.sport:  [-.004, -0.28, -0.38, -0.48, -1.4],
-}
-MIN_ACCEL_BREAKPOINTS =    [3,     4.5,   7.,    9.,     25]
-
-
-DECEL_SMOOTH_ALPHA = 0.40  # Very aggressive smoothing for decel (lower = smoother)
-ACCEL_SMOOTH_ALPHA = 0.90  # Less aggressive for accel (higher = more responsive)
-
-# Asymmetric rate limiting
-MAX_DECEL_INCREASE_RATE = 1.3  # When braking harder (m/s² per second)
-MAX_DECEL_DECREASE_RATE = 1.0  # When releasing brake (m/s² per second)
-
-
-
-class AccelPersonalityController:
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self.last_max_accel = 2.0
-    self.last_min_accel = -0.01
-    self.first_run = True
-    self._accel_personality = self.params.get('AccelPersonality') or AccelPersonality.normal
-    self._enabled = self.params.get_bool('AccelPersonalityEnabled')
-
-  def update(self, sm=None):
-    self.frame += 1
-    if self.frame % int(1.0 / DT_MDL) == 0:
-      self._accel_personality = self.params.get('AccelPersonality') or AccelPersonality.normal
-      self._enabled = self.params.get_bool('AccelPersonalityEnabled')
-
-  @property
-  def accel_personality(self) -> int:
-    return self._accel_personality
-
-  def get_accel_personality(self) -> int:
-    return int(self._accel_personality)
-
-  def set_accel_personality(self, personality: int):
-    if personality in ACCEL_PERSONALITY_OPTIONS:
-      self._accel_personality = personality
-      self.params.put('AccelPersonality', personality)
-
-  def cycle_accel_personality(self) -> int:
-    current = self._accel_personality
-    next_personality = ACCEL_PERSONALITY_OPTIONS[(ACCEL_PERSONALITY_OPTIONS.index(current) + 1) % len(ACCEL_PERSONALITY_OPTIONS)]
-    self.set_accel_personality(next_personality)
-    return int(next_personality)
-
-  def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-    v_ego = max(0.0, v_ego)
-    target_max = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
-    target_min = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.accel_personality])
-
-    if self.first_run:
-      self.last_max_accel, self.last_min_accel = target_max, target_min
-      self.first_run = False
-      return float(target_min), float(target_max)
-
-    # Smoothing
-    self.last_max_accel = ACCEL_SMOOTH_ALPHA * target_max + (1 - ACCEL_SMOOTH_ALPHA) * self.last_max_accel
-    smoothed_decel = DECEL_SMOOTH_ALPHA * target_min + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel
-
-    # Rate Limiting (Asymmetric)
-    raw_change = smoothed_decel - self.last_min_accel
-
-    if raw_change < 0:
-      limit = MAX_DECEL_INCREASE_RATE * DT_MDL
-      decel_change = np.clip(raw_change, -limit, limit)
-    else:
-      limit = MAX_DECEL_DECREASE_RATE * DT_MDL
-      decel_change = np.clip(raw_change, -limit, limit)
-
-    self.last_min_accel += decel_change
-
-    # Dynamic Safety Corridor: Ensure min is always strictly less than max.
-    # We maintain a gap of at least 0.1, or 5% of the current max acceleration.
-    # This scaling gap prevents solver crashes at high acceleration values.
-    gap = max(0.1, abs(self.last_max_accel) * 0.05)
-
-    if self.last_min_accel > self.last_max_accel - gap:
-      self.last_min_accel = self.last_max_accel - gap
-
-    return float(self.last_min_accel), float(self.last_max_accel)
-
-  def get_min_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[0]
-
-  def get_max_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[1]
-
-  def is_enabled(self) -> bool:
-    return self._enabled
-
-  def set_enabled(self, enabled: bool):
-    self._enabled = enabled
-    self.params.put_bool('AccelPersonalityEnabled', enabled)
-
-  def toggle_enabled(self) -> bool:
-    current = self._enabled
-    self.set_enabled(not current)
-    return not current
-
-  def reset(self):
-    self._accel_personality = AccelPersonality.normal
-    self.params.put('AccelPersonality', AccelPersonality.normal)
-    self.frame = 0
-    self.last_max_accel = 2.0
-    self.last_min_accel = -0.01
-    self.first_run = True

sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py

@@ -1,106 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import log
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-LongPersonality = log.LongitudinalPersonality
-
-# Follow distance profiles mapped to LongPersonality
-FOLLOW_PROFILES = {
-  LongPersonality.relaxed:    [1.70, 1.70, 1.75, 1.75, 1.80, 1.80, 1.80],
-  LongPersonality.standard:   [1.40, 1.40, 1.45, 1.45, 1.50, 1.50, 1.50],
-  LongPersonality.aggressive: [1.05, 1.05, 1.15, 1.15, 1.20, 1.20, 1.20],
-}
-
-FOLLOW_BREAKPOINTS =          [0.,   3.,    6.,  30.,  40.,  50.,  60.]
-
-SMOOTHING_BASE = 0.55  # Base smoothing factor (higher = smoother)
-SMOOTHING_RANGE = 0.20  # Additional smoothing at high speeds
-SMOOTHING_SPEED_THRESHOLD = 36.0  # m/s (~80 mph) for max smoothing
-PERSONALITY_CHANGE_COOLDOWN_S = 2.0
-
-
-class FollowDistanceController:
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self.current_multiplier = None
-    self.first_run = True
-    self.personality_change_cooldown = 0
-    self.personality_cooldown_frames = int(PERSONALITY_CHANGE_COOLDOWN_S / DT_MDL)
-    self._personality = self.params.get('LongitudinalPersonality') or LongPersonality.standard
-    self._enabled = self.params.get_bool('DynamicFollow')
-
-  def _get_smoothing_factor(self, v_ego: float) -> float:
-    speed_factor = np.clip(v_ego / SMOOTHING_SPEED_THRESHOLD, 0.3, 1.0)
-    return SMOOTHING_BASE + (SMOOTHING_RANGE * speed_factor)
-
-  def is_enabled(self) -> bool:
-    return self._enabled
-
-  def set_enabled(self, enabled: bool):
-    self._enabled = enabled
-    self.params.put_bool('DynamicFollow', enabled)
-
-  def toggle(self) -> bool:
-    current = self._enabled
-    self.set_enabled(not current)
-    return not current
-
-  @property
-  def personality(self) -> int:
-    return self._personality
-
-  def get_personality(self) -> int:
-    return int(self._personality)
-
-  def set_personality(self, personality: int):
-    if personality not in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
-      return
-    self._personality = personality
-    self.params.put('LongitudinalPersonality', personality)
-    self.personality_change_cooldown = self.personality_cooldown_frames
-
-  def cycle_personality(self) -> int:
-    personalities = [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]
-    current_idx = personalities.index(self._personality)
-    next_personality = personalities[(current_idx + 1) % len(personalities)]
-    self.set_personality(next_personality)
-    return int(next_personality)
-
-  def get_follow_distance_multiplier(self, v_ego: float) -> float:
-    v_ego = max(0.0, v_ego)
-    target = float(np.interp(v_ego, FOLLOW_BREAKPOINTS, FOLLOW_PROFILES[self._personality]))
-
-    if self.first_run:
-      self.current_multiplier = target
-      self.first_run = False
-      return self.current_multiplier
-
-    # exponential smoothing with speedadaptive factor
-    alpha = self._get_smoothing_factor(v_ego)
-    self.current_multiplier = alpha * self.current_multiplier + (1.0 - alpha) * target
-    return self.current_multiplier
-
-  def reset(self):
-    self._personality = LongPersonality.standard
-    self.params.put('LongitudinalPersonality', LongPersonality.standard)
-    self.frame = 0
-    self.current_multiplier = None
-    self.first_run = True
-    self.personality_change_cooldown = 0
-
-  def update(self):
-    self.frame += 1
-    if self.personality_change_cooldown > 0:
-      self.personality_change_cooldown -= 1
-    if self.frame % int(1.0 / DT_MDL) == 0:
-      self._personality = self.params.get('LongitudinalPersonality') or LongPersonality.standard
-      self._enabled = self.params.get_bool('DynamicFollow')