[bot] Update Python packages (#1861 )

Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Revert "deprecate carState.brake" for Honda Gas Interceptor (#1860 )
2026-06-09 11:56:25 +08:00 · 2026-06-08 23:35:54 -04:00 · 2026-06-08 23:20:51 -04:00
12 changed files with 37 additions and 68 deletions
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -178,7 +178,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
--- a/2
+++ b/2
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import HondaFlags
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -358,7 +358,13 @@ class TestCarModelBase(unittest.TestCase):
        self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())

      if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
+        # TODO: remove this exception once this mismatch is resolved
+        brake_pressed = CS.brakePressed
+        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
+          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
+            brake_pressed = False
+
+        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())

      if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
        self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -442,7 +448,12 @@ class TestCarModelBase(unittest.TestCase):
        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
                                       angle_can < (self.safety.get_angle_meas_min() - 1))

-      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
+      # TODO: remove this exception once this mismatch is resolved
+      brake_pressed = CS.brakePressed
+      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
+          brake_pressed = False
+      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -21,10 +21,8 @@ class TogglesLayoutMici(NavScroller):
    record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
    record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
-    radar_tracks = BigParamControl("radar tracks", "RadarTracks")

    self._scroller.add_widgets([
-      radar_tracks,
      self._personality_toggle,
      self._experimental_btn,
      is_metric_toggle,
@@ -37,7 +35,6 @@ class TogglesLayoutMici(NavScroller):

    # Toggle lists
    self._refresh_toggles = (
-      ("RadarTracks", radar_tracks),
      ("ExperimentalMode", self._experimental_btn),
      ("IsMetric", is_metric_toggle),
      ("IsLdwEnabled", ldw_toggle),
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -153,9 +153,6 @@ class ModelRenderer(Widget, ModelRendererSP):
      self._draw_lane_lines()
      self._draw_path(sm)

-    if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3)
-
    # if render_lead_indicator and radar_state:
    #   self._draw_lead_indicator()

--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -135,9 +135,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
    self._draw_lane_lines()
    self._draw_path(sm)

-    if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z)
-
    if render_lead_indicator and radar_state:
      self._draw_lead_indicator()
      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
--- a/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
@@ -6,12 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks


 class ModelRendererSP:
  def __init__(self):
    self.rainbow_path = RainbowPath()
    self.chevron_metrics = ChevronMetrics()
-    self.radar_tracks = RadarTracks()
-
--- a/selfdrive/ui/sunnypilot/onroad/radar_tracks.py
+++ b/selfdrive/ui/sunnypilot/onroad/radar_tracks.py
@@ -1,23 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import math
-import pyray as rl
-
-
-class RadarTracks:
-  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6):
-    for track in live_tracks.points:
-      d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
-      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
-        continue
-
-      pt = map_to_screen(d_rel, -y_rel, path_offset_z)
-      if pt is None:
-        continue
-
-      x, y = pt
-      rl.draw_circle(int(x), int(y), track_size, rl.Color(0, 255, 64, 255))
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -169,7 +169,6 @@ class UIStateSP:
    self.turn_signals = self.params.get_bool("ShowTurnSignals")
    self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
    self.always_offroad = self.params.get_bool("OffroadMode")
-    self.radar_tracks = self.params.get_bool("RadarTracks")

    if not self._sp_initialized:
      self._sp_initialized = True
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -63,7 +63,6 @@ class UIState(UIStateSP):
        "liveParameters",
        "testJoystick",
        "rawAudioData",
-        "liveTracks",
      ] + self.sm_services_ext
    )

--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1098,10 +1098,6 @@
    "title": "Quiet Mode",
    "description": ""
  },
-  "RadarTracks": {
-    "title": "Radar Tracks",
-    "description": ""
-  },
  "RainbowMode": {
    "title": "Rainbow Mode",
    "description": ""
--- a/uv.lock
+++ b/uv.lock
@@ -1369,15 +1369,15 @@ wheels = [

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    { name = "urllib3" },
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