cleanup

common/params_keys.h

@@ -25,7 +25,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsPersistent", {PERSISTENT, BYTES}},
     {"CarParamsPrevRoute", {PERSISTENT, BYTES}},
     {"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
-    {"ConfidenceVisual", {PERSISTENT | BACKUP, INT, "0"}},
     {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},

selfdrive/pandad/pandad.py

@@ -32,8 +32,7 @@ def flash_panda(panda_serial: str) -> Panda:
     raise
 
   # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
+  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
     return panda
 
@@ -69,10 +68,19 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
+def check_panda_support(panda_serials: list[str]) -> bool:
+  unsupported = []
+  for serial in panda_serials:
+    panda = Panda(serial)
+    hw_type = panda.get_type()
+    panda.close()
+    if hw_type in Panda.SUPPORTED_DEVICES:
+      return True
+
+    unsupported.append((serial, hw_type))
+
+  for serial, hw_type in unsupported:
+    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
 
   return False
 
@@ -126,13 +134,17 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
+      # skip flashing and health check if no supported panda is detected
+      if not check_panda_support(panda_serials):
+        continue
+
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
@@ -143,12 +155,6 @@ def main() -> None:
       # log panda fw version
       params.put("PandaSignatures", panda.get_signature())
 
-      # skip health check if the detected panda is not supported
-      supported_panda = check_panda_support(panda)
-      if not supported_panda:
-        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-        continue
-
       # check health for lost heartbeat
       health = panda.health()
       if health["heartbeat_lost"]:

selfdrive/ui/mici/onroad/confidence_ball.py

@@ -24,12 +24,10 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
 
 
 class ConfidenceBall(Widget, ConfidenceBallSP):
-  def __init__(self, demo: bool = False, scale: float = 1.0, visual: int = 0):
+  def __init__(self, demo: bool = False):
     Widget.__init__(self)
     ConfidenceBallSP.__init__(self)
     self._demo = demo
-    self._scale = scale
-    self._visual = visual
     self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
 
   def update_filter(self, value: float):
@@ -56,7 +54,7 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
       self.rect.height,
     )
 
-    status_dot_radius = int(24 * self._scale)
+    status_dot_radius = 24
     dot_height = (1 - self._confidence_filter.x) * (content_rect.height - 2 * status_dot_radius) + status_dot_radius
     dot_height = self._rect.y + dot_height
 
@@ -83,7 +81,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
       top_dot_color = rl.Color(50, 50, 50, 255)
       bottom_dot_color = rl.Color(13, 13, 13, 255)
 
-    if not self.update_confidence_visual(content_rect, status_dot_radius, dot_height, top_dot_color, bottom_dot_color):
-      draw_circle_gradient(content_rect.x + content_rect.width - status_dot_radius,
-                           dot_height, status_dot_radius,
-                           top_dot_color, bottom_dot_color)
+    draw_circle_gradient(content_rect.x + content_rect.width - status_dot_radius,
+                         dot_height, status_dot_radius,
+                         top_dot_color, bottom_dot_color)

selfdrive/ui/onroad/augmented_road_view.py

@@ -95,7 +95,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
     AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
-    self.update_confidence_visual(self._content_rect)
     self._hud_renderer.render(self._content_rect)
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)

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

@@ -120,18 +120,10 @@ class VisualsLayout(Widget):
       button_width=350,
       inline=False
     )
-    self._confidence_visual = multiple_button_item_sp(
-      title=lambda: tr("Confidence Visual"),
-      description=lambda: tr("Display confidence ball or bar on the driving screen."),
-      buttons=[lambda: tr("Off"), lambda: tr("Ball"), lambda: tr("Bar")],
-      param="ConfidenceVisual",
-      inline=False
-    )
 
     items = list(self._toggles.values()) + [
       self._chevron_info,
       self._dev_ui_info,
-      self._confidence_visual,
     ]
     return items
 
@@ -143,8 +135,6 @@ class VisualsLayout(Widget):
 
     self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True))
 
-    self._confidence_visual.action_item.set_selected_button(ui_state.params.get("ConfidenceVisual", return_default=True))
-
     if ui_state.has_longitudinal_control:
       self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"]))
       self._chevron_info.action_item.set_selected_button(ui_state.params.get("ChevronInfo", return_default=True))

selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py

@@ -4,7 +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.
 """
-import pyray as rl
+from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 
 
@@ -19,26 +19,8 @@ class ConfidenceBallSP:
 
   @staticmethod
   def get_lat_long_dot_color():
-    from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
-
     if ui_state.status == UIStatus.LAT_ONLY:
       return BORDER_COLORS[UIStatus.LAT_ONLY]
 
     # UIStatus.LONG_ONLY
     return BORDER_COLORS[UIStatus.LONG_ONLY]
-
-  def update_confidence_visual(self, content_rect, status_dot_radius, dot_height, top_dot_color, bottom_dot_color) -> bool:
-    if self._visual == 2:
-      bar_width = int(20 * self._scale)
-      bar_x = content_rect.x + content_rect.width - bar_width
-      fill_h = int(content_rect.height * self._confidence_filter.x)
-      fill_y = int(content_rect.y + (content_rect.height - fill_h))
-      rl.draw_rectangle(int(bar_x), int(content_rect.y), bar_width, int(content_rect.height), rl.Color(20, 20, 20, 180))
-      rl.draw_rectangle_gradient_v(int(bar_x), fill_y, bar_width, fill_h, top_dot_color, bottom_dot_color)
-      return True
-    elif self._visual == 1:
-      rl.draw_circle_gradient(int(content_rect.x + content_rect.width - status_dot_radius),
-                           int(dot_height), status_dot_radius,
-                           top_dot_color, bottom_dot_color)
-      return True
-    return False

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -8,7 +8,6 @@ import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 
 BORDER_COLORS_SP = {
   UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
@@ -20,7 +19,6 @@ class AugmentedRoadViewSP:
   def __init__(self):
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
     self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
-    self._confidence_visual = ConfidenceBall(scale=1.5)
 
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
@@ -31,9 +29,3 @@ class AugmentedRoadViewSP:
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
                           _content_rect, rl.Vector2(0, 0), 0.0,
                           rl.Color(255, 255, 255, int(255 * fade_alpha)))
-
-  def update_confidence_visual(self, _content_rect):
-    mode = ui_state.confidence_visual
-    if mode in (1, 2):
-        self._confidence_visual._visual = mode
-        self._confidence_visual.render(_content_rect)

selfdrive/ui/sunnypilot/ui_state.py

@@ -143,7 +143,6 @@ class UIStateSP:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
-    self.confidence_visual = self.params.get("ConfidenceVisual", return_default=True)
 
 
 class DeviceSP:

sunnypilot/selfdrive/pandad/rivian_long_flasher.py

@@ -74,7 +74,7 @@ def _flash_panda(panda: Panda) -> None:
   panda.reconnect()
 
 
-def flash_rivian_long(panda: Panda) -> None:
+def flash_rivian_long(panda_serials: list[str]) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,13 +83,19 @@ def flash_rivian_long(panda: Panda) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-  if panda.get_type() == b'\x03' and not panda.is_internal():
-    try:
-      _flash_panda(panda)
-    except Exception:
-      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+        cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda())
+  flash_rivian_long(Panda.list())

sunnypilot/sunnylink/params_metadata.json

@@ -186,24 +186,6 @@
     "title": "Completed Training Version",
     "description": ""
   },
-  "ConfidenceVisual": {
-    "title": "Confidence Visual",
-    "description": "Display confidence ball or bar on the driving screen.",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Ball"
-      },
-      {
-        "value": 2,
-        "label": "Bar"
-      }
-    ]
-  },
   "ControlsReady": {
     "title": "Controls Ready",
     "description": ""