rebase

.github/workflows/release.yaml

@@ -39,4 +39,4 @@ jobs:
         git config --global --add safe.directory '*'
         git lfs pull
     - name: Push master-ci
-      run: BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/selfdrive_tests.yaml

@@ -52,7 +52,7 @@ jobs:
         command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache

Jenkinsfile

@@ -178,7 +178,7 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
+      deviceStage("build release3-staging", "tizi-needs-can", [], [
         step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
@@ -186,12 +186,12 @@ node {
     if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
+          deviceStage("build nightly", "tizi-needs-can", [], [
             step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
+          deviceStage("build nightly-dev", "tizi-needs-can", [], [
             step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
           ])
         },
@@ -200,39 +200,30 @@ node {
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
-      // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
       'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
-      'camerad AR0231': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
       'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@@ -246,17 +237,13 @@ node {
         ])
       },
       'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
           step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
@@ -266,7 +253,6 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
           // TODO: enable once new AGNOS is available
           // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),

README.md

@@ -42,10 +42,10 @@ Using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 

RELEASES.md

@@ -1,5 +1,9 @@
 Version 0.10.1 (2025-09-08)
 ========================
+* New driving model
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
 * Record driving feedback using LKAS button
 * Honda City 2023 support thanks to drFritz!
 

cereal/log.capnp

@@ -585,7 +585,6 @@ struct PandaState @0xa7649e2575e4591e {
   heartbeatLost @22 :Bool;
   interruptLoad @25 :Float32;
   fanPower @28 :UInt8;
-  fanStallCount @34 :UInt8;
 
   spiErrorCount @33 :UInt16;
 
@@ -714,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e {
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
   safetyParam2DEPRECATED @26 :UInt32;
+  fanStallCountDEPRECATED @34 :UInt8;
 }
 
 struct PeripheralState {

cereal/messaging/socketmaster.cc

@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  int freq = 0;
+  float freq = 0.0f;
   bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;

cereal/services.py

@@ -109,12 +109,12 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
          (k, k, should_log, v.frequency, decimation)
   h += "};\n"
 

common/params_keys.h

@@ -94,7 +94,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/SAFETY.md

@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
+hardware-in-the-loop, and in-vehicle tests before each software release.
 
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,8 +29,18 @@ ensuring two main safety requirements.
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
 
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+---
 
+### Forks of openpilot
+
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* If your fork modifies any of the code in `opendbc/safety/`:
+   * your fork cannot use the openpilot trademark
+   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
+
+Failure to comply with these standards will get you and your users banned from comma.ai servers.
+
+**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**

docs/how-to/connect-to-comma.md

@@ -1,11 +1,11 @@
-# connect to a comma 3/3X
+# connect to a comma 3X
 
-A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
+> The default port for ADB is 5555 on the comma 3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 

docs/how-to/replay-a-drive.md

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
+*Hardware required: jungle and comma 3X*
 
 1. Connect your PC to a jungle.
 2.

docs/how-to/turn-the-speed-blue.md

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+And if you have a comma 3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
+  export AGNOS_VERSION="13"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

mkdocs.yml

@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:

opendbc_repo

@@ -1 +1 @@
-Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0
+Subproject commit 7afc25d8d4096bb31e25c0b7ae0b961ea05f5394

panda

@@ -1 +1 @@
-Subproject commit 3dc21386239e3073a623156b75901aa302340d6c
+Subproject commit 819fa5854e2e75da7f982f7d06be69c61793d6e1

pyproject.toml

@@ -101,8 +101,9 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "dbus-next",
+  "dbus-next", # TODO: remove once we moved everything to jeepney
   "dictdiffer",
+  "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",

release/build_stripped.sh

@@ -17,29 +17,23 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
-pre-commit uninstall || true
 
-echo "[-] bringing __nightly and devel in sync T=$SECONDS"
+echo "[-] setting up stripped branch sync T=$SECONDS"
 cd $TARGET_DIR
 
-git fetch --depth 1 origin __nightly
-git fetch --depth 1 origin devel
-
-git checkout -f --track origin/__nightly
-git reset --hard __nightly
-git checkout __nightly
-git reset --hard origin/devel
-git clean -xdff
-git submodule foreach --recursive git clean -xdff
-git lfs uninstall
+# tmp branch
+git checkout --orphan tmp
 
 # remove everything except .git
 echo "[-] erasing old openpilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 
-# reset source tree
+# cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
+git submodule foreach --recursive git clean -xdff
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -48,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $TARGET_DIR
+rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
 # include source commit hash and build date in commit
@@ -86,7 +81,7 @@ fi
 
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin __nightly:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi
 
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

selfdrive/car/tests/test_car_interfaces.py

@@ -1,15 +1,12 @@
 import os
-import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
 from cereal import car
 from opendbc.car import DT_CTRL
-from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
-from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -18,11 +15,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
-ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
-ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
-
-ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
-
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
@@ -34,39 +26,8 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface = interfaces[car_name]
-
-    args = get_fuzzy_car_interface_args(data.draw)
-
-    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
-    car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params)
-    assert car_params
-    assert car_interface
-
-    assert car_params.mass > 1
-    assert car_params.wheelbase > 0
-    # centerToFront is center of gravity to front wheels, assert a reasonable range
-    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
-    assert car_params.maxLateralAccel > 0
-
-    # Longitudinal sanity checks
-    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
-    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-
-    # Lateral sanity checks
-    if car_params.steerControlType != CarParams.SteerControlType.angle:
-      tune = car_params.lateralTuning
-      if tune.which() == 'pid':
-        if car_name != MOCK.MOCK:
-          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
-          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
-          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
-
-      elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
-        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
+    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+    car_params = car_interface.CP.as_reader()
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface

selfdrive/controls/lib/latcontrol_torque.py

@@ -52,10 +52,8 @@ class LatControlTorque(LatControl):
       actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
-      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
-      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
@@ -67,6 +65,8 @@ class LatControlTorque(LatControl):
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(setpoint - measurement)
       ff = gravity_adjusted_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5

selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -0,0 +1,70 @@
+import numpy as np
+from cereal import car, messaging
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car import structs
+from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
+
+np.random.seed(0)
+
+LA_ERR_STD = 1.0
+INPUT_NOISE_STD = 0.08
+V_EGO = 30.0
+
+WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
+STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
+
+ROLL_BIAS_DEG = 2.0
+ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
+TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
+TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
+
+def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
+  rng = np.random.default_rng(0)
+  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
+  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
+  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
+  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
+  if input_noise_std is not None:
+    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
+    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
+  return steer_torques, lat_accels
+
+def get_warmed_up_estimator(steer_torques, lat_accels):
+  est = TorqueEstimator(car.CarParams())
+  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
+    est.filtered_points.add_point(steer_torque, lat_accel)
+  return est
+
+def simulate_straight_road_msgs(est):
+  carControl = messaging.new_message('carControl').carControl
+  carOutput = messaging.new_message('carOutput').carOutput
+  carState = messaging.new_message('carState').carState
+  livePose = messaging.new_message('livePose').livePose
+  carControl.latActive = True
+  carState.vEgo = V_EGO
+  carState.steeringPressed = False
+  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
+  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
+  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
+  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
+    carOutput.actuatorsOutput.torque = float(-steer_torque)
+    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
+    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
+      est.handle_log(t, which, msg)
+
+def test_estimated_offset():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  msg = est.get_msg()
+  # TODO add lataccelfactor and friction check when we have more accurate estimates
+  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+
+def test_straight_road_roll_bias():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  simulate_straight_road_msgs(est)
+  msg = est.get_msg()
+  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)

selfdrive/modeld/constants.py

@@ -13,12 +13,9 @@ class ModelConstants:
   META_T_IDXS = [2., 4., 6., 8., 10.]
 
   # model inputs constants
-  MODEL_FREQ = 20
-  HISTORY_FREQ = 5
-  HISTORY_LEN_SECONDS = 5
-  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
-  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
-  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+  N_FRAMES = 2
+  MODEL_RUN_FREQ = 20
+  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
 
   FEATURE_LEN = 512
 

selfdrive/modeld/fill_model_msg.py

@@ -149,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta.hardBrakePredicted = hard_brake_predicted.item()
 
   # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
     # any disengage prob
     brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
     gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]

selfdrive/modeld/modeld.py

@@ -77,6 +77,64 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
+class InputQueues:
+  def __init__ (self, model_fps, env_fps, n_frames_input):
+    assert env_fps % model_fps == 0
+    assert env_fps >= model_fps
+    self.model_fps = model_fps
+    self.env_fps = env_fps
+    self.n_frames_input = n_frames_input
+
+    self.dtypes = {}
+    self.shapes = {}
+    self.q = {}
+
+  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
+    self.dtypes.update(input_dtypes)
+    if self.env_fps == self.model_fps:
+      self.shapes.update(input_shapes)
+    else:
+      for k in input_shapes:
+        shape = list(input_shapes[k])
+        if 'img' in k:
+          n_channels = shape[1] // self.n_frames_input
+          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
+        else:
+          shape[1] = (self.env_fps // self.model_fps) * shape[1]
+        self.shapes[k] = tuple(shape)
+
+  def reset(self) -> None:
+    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
+
+  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
+    for k in inputs.keys():
+      if inputs[k].dtype != self.dtypes[k]:
+        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
+      input_shape = list(self.shapes[k])
+      input_shape[1] = -1
+      single_input = inputs[k].reshape(tuple(input_shape))
+      sz = single_input.shape[1]
+      self.q[k][:,:-sz] = self.q[k][:,sz:]
+      self.q[k][:,-sz:] = single_input
+
+  def get(self, *names) -> dict[str, np.ndarray]:
+    if self.env_fps == self.model_fps:
+      return {k: self.q[k] for k in names}
+    else:
+      out = {}
+      for k in names:
+        shape = self.shapes[k]
+        if 'img' in k:
+          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
+          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
+        elif 'pulse' in k:
+          # any pulse within interval counts
+          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
+        else:
+          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
+          out[k] = self.q[k][:, idxs]
+      return out
+
 class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
@@ -97,19 +155,15 @@ class ModelState:
       self.policy_output_slices = policy_metadata['output_slices']
       policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
-    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
-    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
-    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
-
     # policy inputs
-    self.numpy_inputs = {
-      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
+    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
+    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
+    for k in ['desire_pulse', 'features_buffer']:
+      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
+    self.full_input_queues.reset()
 
     # img buffers are managed in openCL transform code
     self.vision_inputs: dict[str, Tensor] = {}
@@ -131,15 +185,10 @@ class ModelState:
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-
-    self.full_desire[0,:-1] = self.full_desire[0,1:]
-    self.full_desire[0,-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+    inputs['desire_pulse'][0] = 0
+    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
@@ -158,9 +207,10 @@ class ModelState:
     self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
 
-    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
-    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
+    for k in ['desire_pulse', 'features_buffer']:
+      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -218,7 +268,7 @@ def main(demo=False):
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -313,7 +363,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
     }
 

selfdrive/pandad/pandad.cc

@@ -152,7 +152,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
   ps.setInterruptLoad(health.interrupt_load_pkt);
   ps.setFanPower(health.fan_power);
-  ps.setFanStallCount(health.fan_stall_count);
   ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);

selfdrive/pandad/pandad.py

@@ -85,11 +85,6 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
-      # TODO: remove this in the next AGNOS
-      # wait until USB is up before counting
-      if time.monotonic() < 60.:
-        no_internal_panda_count = 0
-
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:

selfdrive/pandad/tests/test_pandad.py

@@ -22,8 +22,6 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
-    self.spi = HARDWARE.get_device_type() != 'tici'
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -106,11 +104,9 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
+    assert 0.1 < (sum(ts)/len(ts)) < 0.7
 
   def test_protocol_version_check(self):
-    if not self.spi:
-      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)

selfdrive/pandad/tests/test_pandad_spi.py

@@ -6,7 +6,6 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
-    if HARDWARE.get_device_type() == 'tici':
-      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:

selfdrive/selfdrived/alerts_offroad.json

@@ -29,10 +29,6 @@
     "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
-  "Offroad_StorageMissing": {
-    "text": "NVMe drive not mounted.",
-    "severity": 1
-  },
   "Offroad_CarUnrecognized": {
     "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0

selfdrive/selfdrived/selfdrived.py

@@ -21,7 +21,6 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 REPLAY = "REPLAY" in os.environ
@@ -122,13 +121,6 @@ class SelfdriveD:
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    # some comma three with NVMe experience NVMe dropouts mid-drive that
-    # cause loggerd to crash on write, so ignore it only on that platform
-    self.ignored_processes = set()
-    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
-    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
-      self.ignored_processes = {'loggerd', }
-
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
     if not car_recognized:
@@ -299,7 +291,7 @@ class SelfdriveD:
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
+    if self.sm.recv_frame['managerState'] and not_running:
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:

selfdrive/test/process_replay/process_replay.py

@@ -591,7 +591,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
   if len(live_calibration) > 0:
     custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
   if len(live_parameters) > 0:
-    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
   if len(live_torque_parameters) > 0:
     custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6d3219bca9f66a229b38a5382d301a92b0147edb
+afcab1abb62b9d5678342956cced4712f44e909e

selfdrive/test/test_onroad.py

@@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
@@ -33,7 +32,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 280.  # total for all 8 cores
+MAX_TOTAL_CPU = 287.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -67,20 +66,10 @@ PROCS = {
   "system.statsd": 1.0,
   "system.loggerd.uploader": 15.0,
   "system.loggerd.deleter": 1.0,
+  "./pandad": 19.0,
+  "system.qcomgpsd.qcomgpsd": 1.0,
 }
 
-PROCS.update({
-  "tici": {
-    "./pandad": 5.0,
-    "./ubloxd": 1.0,
-    "system.ubloxd.pigeond": 6.0,
-  },
-  "tizi": {
-     "./pandad": 19.0,
-    "system.qcomgpsd.qcomgpsd": 1.0,
-  }
-}.get(HARDWARE.get_device_type(), {}))
-
 TIMINGS = {
   # rtols: max/min, rsd
   "can": [2.5, 0.35],

selfdrive/ui/layouts/main.py

@@ -63,14 +63,20 @@ class MainLayout(Widget):
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
         self._sidebar.set_visible(False)
-      self._current_mode = MainState.ONROAD
+      self._set_current_layout(MainState.ONROAD)
     else:
-      self._current_mode = MainState.HOME
+      self._set_current_layout(MainState.HOME)
       self._sidebar.set_visible(True)
 
+  def _set_current_layout(self, layout: MainState):
+    if layout != self._current_mode:
+      self._layouts[self._current_mode].hide_event()
+      self._current_mode = layout
+      self._layouts[self._current_mode].show_event()
+
   def open_settings(self, panel_type: PanelType):
     self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
-    self._current_mode = MainState.SETTINGS
+    self._set_current_layout(MainState.SETTINGS)
     self._sidebar.set_visible(False)
 
   def _on_settings_clicked(self):

selfdrive/ui/layouts/network.py

@@ -1,17 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.network import WifiManagerUI
-
-
-class NetworkLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self.wifi_manager = WifiManagerWrapper()
-    self.wifi_ui = WifiManagerUI(self.wifi_manager)
-
-  def _render(self, rect: rl.Rectangle):
-    self.wifi_ui.render(rect)
-
-  def shutdown(self):
-    self.wifi_manager.shutdown()

selfdrive/ui/layouts/settings/firehose.py

@@ -2,7 +2,7 @@ import pyray as rl
 import time
 import threading
 
-from openpilot.common.api import Api, api_get
+from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.widgets import Widget
-
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 
 TITLE = "Firehose Mode"
 DESCRIPTION = (
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
       dongle_id = self.params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id)
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()

selfdrive/ui/layouts/settings/settings.py

@@ -2,7 +2,6 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
@@ -10,7 +9,9 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import WifiManagerUI
 
 # Settings close button
 SETTINGS_CLOSE_TEXT = "×"
@@ -43,7 +44,7 @@ class PanelType(IntEnum):
 @dataclass
 class PanelInfo:
   name: str
-  instance: object
+  instance: Widget
   button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
 
 
@@ -53,9 +54,12 @@ class SettingsLayout(Widget):
     self._current_panel = PanelType.DEVICE
 
     # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
     self._panels = {
       PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
+      PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
       PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
       PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
       PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
@@ -149,8 +153,14 @@ class SettingsLayout(Widget):
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
+      self._panels[self._current_panel].instance.hide_event()
       self._current_panel = panel_type
+      self._panels[self._current_panel].instance.show_event()
+
+  def show_event(self):
+    super().show_event()
+    self._panels[self._current_panel].instance.show_event()
 
-  def close_settings(self):
-    if self._close_callback:
-      self._close_callback()
+  def hide_event(self):
+    super().hide_event()
+    self._panels[self._current_panel].instance.hide_event()

selfdrive/ui/lib/api_helpers.py

@@ -0,0 +1,14 @@
+import time
+from functools import lru_cache
+from openpilot.common.api import Api
+
+TOKEN_EXPIRY_HOURS = 2
+
+
+@lru_cache(maxsize=1)
+def _get_token(dongle_id: str, t: int):
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
+def get_token(dongle_id: str):
+  return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))

selfdrive/ui/lib/prime_state.py

@@ -3,10 +3,11 @@ import os
 import threading
 import time
 
-from openpilot.common.api import Api, api_get
+from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 
 
 class PrimeType(IntEnum):
@@ -49,7 +50,7 @@ class PrimeState:
       return
 
     try:
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id)
       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()

selfdrive/ui/tests/test_ui/run.py

@@ -29,7 +29,7 @@ UI_DELAY = 0.1 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
+OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ]
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",

selfdrive/ui/ui.cc

@@ -54,8 +54,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
+    scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f);
   } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
     scene.light_sensor = -1;
   }

selfdrive/ui/ui_state.py

@@ -105,10 +105,7 @@ class UIState:
     # Handle wide road camera state updates
     if self.sm.updated["wideRoadCameraState"]:
       cam_state = self.sm["wideRoadCameraState"]
-
-      # Scale factor based on sensor type
-      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
-      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
+      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
     elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
       self.light_sensor = -1
 

system/camerad/SConscript

@@ -4,7 +4,7 @@ libs = [common, 'OpenCL', messaging, visionipc, gpucommon]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                           'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
   env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":

system/camerad/cameras/hw.h

@@ -13,7 +13,7 @@ typedef enum {
   ISP_BPS_PROCESSED,  // fully processed image through the BPS
 } SpectraOutputType;
 
-// For the comma 3/3X three camera platform
+// For the comma 3X three camera platform
 
 struct CameraConfig {
   int camera_num;

system/camerad/cameras/spectra.cc

@@ -1004,8 +1004,7 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new AR0231) &&
-      !init_sensor_lambda(new OX03C10) &&
+  if (!init_sensor_lambda(new OX03C10) &&
       !init_sensor_lambda(new OS04C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;

system/camerad/sensors/ar0231.cc

@@ -1,136 +0,0 @@
-#include <cassert>
-#include <cmath>
-
-#include "system/camerad/sensors/sensor.h"
-
-namespace {
-
-const size_t AR0231_REGISTERS_HEIGHT = 2;
-// TODO: this extra height is universal and doesn't apply per camera
-const size_t AR0231_STATS_HEIGHT = 2 + 8;
-
-const float sensor_analog_gains_AR0231[] = {
-    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
-    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
-    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
-    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
-
-}  // namespace
-
-AR0231::AR0231() {
-  image_sensor = cereal::FrameData::ImageSensor::AR0231;
-  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
-  pixel_size_mm = 0.003;
-  data_word = true;
-  frame_width = 1928;
-  frame_height = 1208;
-  frame_stride = (frame_width * 12 / 8) + 4;
-  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
-
-  registers_offset = 0;
-  frame_offset = AR0231_REGISTERS_HEIGHT;
-  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
-
-  start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
-  init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
-  probe_reg_addr = 0x3000;
-  probe_expected_data = 0x354;
-  bits_per_pixel = 12;
-  mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
-  mclk_frequency = 19200000; //Hz
-
-  readout_time_ns = 22850000;
-
-  dc_gain_factor = 2.5;
-  dc_gain_min_weight = 0;
-  dc_gain_max_weight = 1;
-  dc_gain_on_grey = 0.2;
-  dc_gain_off_grey = 0.3;
-  exposure_time_min = 2;       // with HDR, fastest ss
-  exposure_time_max = 0x0855;  // with HDR, slowest ss, 40ms
-  analog_gain_min_idx = 0x1;   // 0.25x
-  analog_gain_rec_idx = 0x6;   // 0.8x
-  analog_gain_max_idx = 0xD;   // 4.0x
-  analog_gain_cost_delta = 0;
-  analog_gain_cost_low = 0.1;
-  analog_gain_cost_high = 5.0;
-  for (int i = 0; i <= analog_gain_max_idx; i++) {
-    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
-  }
-  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
-  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
-  target_grey_factor = 1.0;
-
-  black_level = 168;
-  color_correct_matrix = {
-    0x000000af, 0x00000ff9, 0x00000fd8,
-    0x00000fbc, 0x000000bb, 0x00000009,
-    0x00000fb6, 0x00000fe0, 0x000000ea,
-  };
-  for (int i = 0; i < 65; i++) {
-    float fx = i / 64.0;
-    const float gamma_k = 0.75;
-    const float gamma_b = 0.125;
-    const float mp = 0.01; // ideally midpoint should be adaptive
-    const float rk = 9 - 100*mp;
-    // poly approximation for s curve
-    fx = (fx > mp) ?
-      ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
-      ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
-    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
-  }
-  prepare_gamma_lut();
-  linearization_lut = {
-    0x02000000, 0x02000000, 0x02000000, 0x02000000,
-    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
-    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
-    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
-    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-  };
-  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  vignetting_lut = {
-    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
-    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
-    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
-    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
-    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
-    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
-    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
-    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
-    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
-    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
-    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
-    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
-    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
-  };
-}
-
-std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
-  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
-  return {
-    {0x3366, analog_gain_reg},
-    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
-    {0x3012, (uint16_t)exposure_time},
-  };
-}
-
-int AR0231::getSlaveAddress(int port) const {
-  assert(port >= 0 && port <= 2);
-  return (int[]){0x20, 0x30, 0x20}[port];
-}
-
-float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
-  // Cost of ev diff
-  float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
-  // Cost of absolute gain
-  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
-  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
-  // Cost of changing gain
-  score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
-  return score;
-}

system/camerad/sensors/ar0231_cl.h

@@ -1,34 +0,0 @@
-#if SENSOR_ID == 1
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define PV_MAX 4096
-#define BLACK_LVL 168
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (rgb > mp) ?
-    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
-}
-
-#endif

system/camerad/sensors/ar0231_registers.h

@@ -1,121 +0,0 @@
-#pragma once
-
-const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
-const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
-
-const struct i2c_random_wr_payload init_array_ar0231[] = {
-  {0x301A, 0x0018}, // RESET_REGISTER
-
-  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
-
-  // CLOCK Settings
-  // input clock is 19.2 / 2 * 0x37 = 528 MHz
-  // pixclk is 528 / 6 = 88 MHz
-  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
-  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
-  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
-  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
-  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
-  {0x3030, 0x0037}, // PLL_MULTIPLIER
-  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
-  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
-
-  // FORMAT
-  {0x3040, 0xC000}, // READ_MODE
-  {0x3004, 0x0000}, // X_ADDR_START_
-  {0x3008, 0x0787}, // X_ADDR_END_
-  {0x3002, 0x0000}, // Y_ADDR_START_
-  {0x3006, 0x04B7}, // Y_ADDR_END_
-  {0x3032, 0x0000}, // SCALING_MODE
-  {0x30A2, 0x0001}, // X_ODD_INC_
-  {0x30A6, 0x0001}, // Y_ODD_INC_
-  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
-  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
-  {0x3064, 0x1982}, // SMIA_TEST
-  {0x30BA, 0x11F2}, // DIGITAL_CTRL
-
-  // Enable external trigger and disable GPIO outputs
-  {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
-  {0x340A, 0xE0},   // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
-  {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
-
-  // Readout timing
-  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
-  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
-  {0x3042, 0x0000}, // EXTRA_DELAY
-
-  // Readout Settings
-  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
-  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
-  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
-  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
-  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
-  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
-  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
-  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
-  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
-  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
-  {0x31B0, 0x0053}, // FRAME_PREAMBLE
-  {0x31B2, 0x003B}, // LINE_PREAMBLE
-  {0x301A, 0x001C}, // RESET_REGISTER
-
-  // Noise Corrections
-  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
-  {0x337A, 0x0C80}, // DBLC_SCALE0
-  {0x3370, 0x03B1}, // DBLC
-  {0x3044, 0x0400}, // DARK_CONTROL
-
-  // Enable temperature sensor
-  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
-  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
-
-  // Enable dead pixel correction using
-  // the 1D line correction scheme
-  {0x31E0, 0x0003},
-
-  // HDR Settings
-  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
-  {0x3238, 0x0444}, // EXPOSURE_RATIO
-
-  {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
-  {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
-  {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
-  {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
-
-  // TODO: do these have to be lower than LINE_LENGTH_PCK?
-  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
-  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
-
-  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
-  {0x33DA, 0x0000}, // COMPANDING
-  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
-
-  // DLO Settings
-  {0x3100, 0x4000}, // DLO_CONTROL0
-  {0x3280, 0x0CCC}, // T1 G1
-  {0x3282, 0x0CCC}, // T1 R
-  {0x3284, 0x0CCC}, // T1 B
-  {0x3286, 0x0CCC}, // T1 G2
-  {0x3288, 0x0FA0}, // T2 G1
-  {0x328A, 0x0FA0}, // T2 R
-  {0x328C, 0x0FA0}, // T2 B
-  {0x328E, 0x0FA0}, // T2 G2
-
-   // Initial Gains
-  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
-  {0x3366, 0xFF77}, // ANALOG_GAIN (1x)
-
-  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
-
-  {0x3362, 0x0000}, // DC GAIN
-
-  {0x305A, 0x00F8}, // red gain
-  {0x3058, 0x0122}, // blue gain
-  {0x3056, 0x009A}, // g1 gain
-  {0x305C, 0x009A}, // g2 gain
-
-  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
-
-  // Initial Integration Time
-  {0x3012, 0x0005},
-};

system/camerad/sensors/os04c10_cl.h

@@ -1,58 +0,0 @@
-#if SENSOR_ID == 3
-
-#define BGGR
-#define VIGNETTE_PROFILE_4DT6MM
-
-#define BIT_DEPTH 12
-#define PV_MAX10 1023
-#define PV_MAX12 4095
-#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
-
-float combine_dual_pvs(float lv, float sv, int expo_time) {
-  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
-  float svd = sv * fmin(expo_time, 8.0) / 8;
-
-  if (expo_time > 64) {
-    if (lv < PV_MAX10 - BLACK_LVL) {
-      return lv / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
-    }
-  } else {
-    if (lv > 32) {
-      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return svd / (PV_MAX16 - BLACK_LVL);
-    }
-  }
-}
-
-float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
-  float4 pl = convert_float4(parsed - BLACK_LVL);
-  float4 ps = convert_float4(short_parsed - BLACK_LVL);
-  float4 pv;
-  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
-  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
-  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
-  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
-  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
-  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
-}
-
-#endif

system/camerad/sensors/ox03c10_cl.h

@@ -1,47 +0,0 @@
-#if SENSOR_ID == 2
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define BLACK_LVL 64
-
-float ox_lut_func(int x) {
-  if (x < 512) {
-    return x * 5.94873e-8;
-  } else if (512 <= x && x < 768) {
-    return 3.0458e-05 + (x-512) * 1.19913e-7;
-  } else if (768 <= x && x < 1536) {
-    return 6.1154e-05 + (x-768) * 2.38493e-7;
-  } else if (1536 <= x && x < 1792) {
-    return 0.0002448 + (x-1536) * 9.56930e-7;
-  } else if (1792 <= x && x < 2048) {
-    return 0.00048977 + (x-1792) * 1.91441e-6;
-  } else if (2048 <= x && x < 2304) {
-    return 0.00097984 + (x-2048) * 3.82937e-6;
-  } else if (2304 <= x && x < 2560) {
-    return 0.0019601 + (x-2304) * 7.659055e-6;
-  } else if (2560 <= x && x < 2816) {
-    return 0.0039207 + (x-2560) * 1.525e-5;
-  } else {
-    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
-  }
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  // PWL
-  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
-  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
-  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
-  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
-}
-
-#endif

system/camerad/sensors/sensor.h

@@ -10,7 +10,6 @@
 #include "media/cam_sensor.h"
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"
 
@@ -88,17 +87,6 @@ public:
   };
 };
 
-class AR0231 : public SensorInfo {
-public:
-  AR0231();
-  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
-  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
-  int getSlaveAddress(int port) const override;
-
-private:
-  mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
-};
-
 class OX03C10 : public SensorInfo {
 public:
   OX03C10();

system/hardware/base.py

@@ -65,6 +65,10 @@ class ThermalConfig:
     return ret
 
 class LPABase(ABC):
+  @abstractmethod
+  def bootstrap(self) -> None:
+    pass
+
   @abstractmethod
   def list_profiles(self) -> list[Profile]:
     pass
@@ -89,6 +93,9 @@ class LPABase(ABC):
   def switch_profile(self, iccid: str) -> None:
     pass
 
+  def is_comma_profile(self, iccid: str) -> bool:
+    return any(iccid.startswith(prefix) for prefix in ('8985235',))
+
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:

system/hardware/esim.py

@@ -3,10 +3,32 @@
 import argparse
 import time
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.base import LPABase
+
+
+def bootstrap(lpa: LPABase) -> None:
+  print('┌──────────────────────────────────────────────────────────────────────────────┐')
+  print('│ WARNING, PLEASE READ BEFORE PROCEEDING                                       │')
+  print('│                                                                              │')
+  print('│ this is an irreversible operation that will remove the comma-provisioned     │')
+  print('│ profile.                                                                     │')
+  print('│                                                                              │')
+  print('│ after this operation, you must purchase a new eSIM from comma in order to    │')
+  print('│ use the comma prime subscription again.                                      │')
+  print('└──────────────────────────────────────────────────────────────────────────────┘')
+  print()
+  for severity in ('sure', '100% sure'):
+    print(f'are you {severity} you want to proceed? (y/N) ', end='')
+    confirm = input()
+    if confirm != 'y':
+      print('aborting')
+      exit(0)
+  lpa.bootstrap()
 
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
+  parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)')
   parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi')
   parser.add_argument('--switch', metavar='iccid', help='switch to profile')
   parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
@@ -16,7 +38,10 @@ if __name__ == '__main__':
 
   mutated = False
   lpa = HARDWARE.get_sim_lpa()
-  if args.switch:
+  if args.bootstrap:
+    bootstrap(lpa)
+    mutated = True
+  elif args.switch:
     lpa.switch_profile(args.switch)
     mutated = True
   elif args.delete:

system/hardware/hardwared.py

@@ -6,7 +6,6 @@ import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
-from pathlib import Path
 
 import psutil
 
@@ -334,12 +333,6 @@ def hardware_thread(end_event, hw_queue) -> None:
       # to make a different decision in your software
       startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)
 
-    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI and HARDWARE.get_device_type() == "tici":
-      if not os.path.isfile("/persist/comma/living-in-the-moment"):
-        if not Path("/data/media").is_mount():
-          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
-
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:

system/hardware/tici/agnos.json

@@ -23,14 +23,14 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
   },
   {
     "name": "aop",
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a.img.xz",
+    "hash": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
+    "hash_raw": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
     "size": 18515968,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+    "ondevice_hash": "41d693d7e752c04210b4f8d68015d2367ee83e1cd54cc7b0aca3b79b4855e6b1"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img.xz",
+    "hash": "3596cd5d8a51dabcdd75c29f9317ca3dad9036b1083630ad719eaf584fdb1ce9",
+    "hash_raw": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
     "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "ondevice_hash": "32cdbc0ce176e0ea92944e53be875c12374512fa09b6041e42e683519d36591e",
     "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "hash": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img",
       "size": 5368709120
     }
   }

system/hardware/tici/all-partitions.json

@@ -152,14 +152,14 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
   },
   {
     "name": "aop",
@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a.img.xz",
+    "hash": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
+    "hash_raw": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
     "size": 18515968,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+    "ondevice_hash": "41d693d7e752c04210b4f8d68015d2367ee83e1cd54cc7b0aca3b79b4855e6b1"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img.xz",
+    "hash": "3596cd5d8a51dabcdd75c29f9317ca3dad9036b1083630ad719eaf584fdb1ce9",
+    "hash_raw": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
     "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "ondevice_hash": "32cdbc0ce176e0ea92944e53be875c12374512fa09b6041e42e683519d36591e",
     "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "hash": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img",
       "size": 5368709120
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
-    "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
-    "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-a3695e6b4bade3dd9c2711cd92e93e9ac7744207c2af03b78f0b9a17e89d357f.img.xz",
+    "hash": "eeb50afb13973d7e54013fdb3ce0f4f396b8608c8325442966cad6b67e39a8d9",
+    "hash_raw": "a3695e6b4bade3dd9c2711cd92e93e9ac7744207c2af03b78f0b9a17e89d357f",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
+    "ondevice_hash": "537088b516805b32b1b4ad176e7f3fc6bc828e296398ce65cbf5f6150fb1a26f"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
-    "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
-    "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-cbe9979b42b265c9e25a50e876faf5b592fe175aeb5936f2a97b345a6d4e53f5.img.xz",
+    "hash": "9456a8b117736e6f8eb35cc97fc62ddc8255f38a1be5959a6911498d6aaee08d",
+    "hash_raw": "cbe9979b42b265c9e25a50e876faf5b592fe175aeb5936f2a97b345a6d4e53f5",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
+    "ondevice_hash": "9e7293cf9a377cb2f3477698e7143e6085a42f7355d7eace5bf9e590992941a8"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
-    "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
-    "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-0b25bb660f1c0c4475fc22a32a51cd32bb980f55b95069e6ab56dd8e47f00c31.img.xz",
+    "hash": "6c5c98c0fec64355ead5dfc9c1902653b4ea9a071e7b968d1ccd36565082f6b7",
+    "hash_raw": "0b25bb660f1c0c4475fc22a32a51cd32bb980f55b95069e6ab56dd8e47f00c31",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
+    "ondevice_hash": "42b5c09a36866d9a52e78b038901669d5bebb02176c498ce11618f200bdfe6b5"
   }
 ]

system/hardware/tici/amplifier.py

@@ -61,18 +61,6 @@ BASE_CONFIG = [
 ]
 
 CONFIGS = {
-  "tici": [
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
-
-    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
-    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
-    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
-    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
-    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
-  ],
   "tizi": [
     AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
     AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),

system/hardware/tici/esim.py

@@ -40,6 +40,7 @@ class TiciLPA(LPABase):
     self._process_notifications()
 
   def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    self._check_bootstrapped()
     msgs = self._invoke('profile', 'download', '-a', qr)
     self._validate_successful(msgs)
     new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None)
@@ -54,6 +55,7 @@ class TiciLPA(LPABase):
     self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
 
   def switch_profile(self, iccid: str) -> None:
+    self._check_bootstrapped()
     self._validate_profile_exists(iccid)
     latest = self.get_active_profile()
     if latest and latest.iccid == iccid:
@@ -61,6 +63,33 @@ class TiciLPA(LPABase):
     self._validate_successful(self._invoke('profile', 'enable', iccid))
     self._process_notifications()
 
+  def bootstrap(self) -> None:
+    """
+    find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles
+    and must be deleted.
+
+    **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order
+              to use comma prime again.
+    """
+    if self._is_bootstrapped():
+      return
+
+    for p in self.list_profiles():
+      if self.is_comma_profile(p.iccid):
+        self._disable_profile(p.iccid)
+        self.delete_profile(p.iccid)
+
+  def _disable_profile(self, iccid: str) -> None:
+    self._validate_successful(self._invoke('profile', 'disable', iccid))
+    self._process_notifications()
+
+  def _check_bootstrapped(self) -> None:
+    assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation'
+
+  def _is_bootstrapped(self) -> bool:
+    """ check if any comma provisioned profiles are on the eUICC """
+    return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles()))
+
   def _invoke(self, *cmd: str):
     proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
     try:

system/hardware/tici/hardware.py

@@ -425,9 +425,6 @@ class Tici(HardwareBase):
 
     # pandad core
     affine_irq(3, "spi_geni")         # SPI
-    if "tici" in self.get_device_type():
-      affine_irq(3, "xhci-hcd:usb3")  # aux panda USB (or potentially anything else on USB)
-      affine_irq(3, "xhci-hcd:usb1")  # internal panda USB (also modem)
     try:
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
@@ -446,22 +443,20 @@ class Tici(HardwareBase):
 
     cmds = []
 
-    if self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() in ("tizi", ):
       # clear out old blue prime initial APN
       os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
 
       cmds += [
+        # SIM hot swap
+        'AT+QSIMDET=1,0',
+        'AT+QSIMSTAT=1',
+
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',
         'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
-      if self.get_device_type() == "tizi":
-        # SIM hot swap, not routed on tici
-        cmds += [
-          'AT+QSIMDET=1,0',
-          'AT+QSIMSTAT=1',
-        ]
     elif manufacturer == 'Cavli Inc.':
       cmds += [
         'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
@@ -492,7 +487,7 @@ class Tici(HardwareBase):
 
     # eSIM prime
     dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if sim_id.startswith('8985235') and not os.path.exists(dest):
+    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
       with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
         dat = f.read()
         dat = dat.replace("sim-id=", f"sim-id={sim_id}")
@@ -503,6 +498,14 @@ class Tici(HardwareBase):
         os.system(f"sudo cp {tf.name} {dest}")
       os.system(f"sudo nmcli con load {dest}")
 
+  def reboot_modem(self):
+    modem = self.get_modem()
+    for state in (0, 1):
+      try:
+        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      except Exception:
+        pass
+
   def get_networks(self):
     r = {}
 

system/hardware/tici/pins.py

@@ -1,5 +1,3 @@
-# TODO: these are also defined in a header
-
 # GPIO pin definitions
 class GPIO:
   # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@@ -26,7 +24,4 @@ class GPIO:
   CAM2_RSTN = 12
 
   # Sensor interrupts
-  BMX055_ACCEL_INT = 21
-  BMX055_GYRO_INT = 23
-  BMX055_MAGN_INT = 87
   LSM_INT = 84

system/hardware/tici/tests/test_power_draw.py

@@ -32,8 +32,8 @@ class Proc:
 
 PROCS = [
   Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
+  Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']),
+  Proc(['dmonitoringmodeld'], 0.7, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 

system/loggerd/tests/vidc_debug.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+echo 1 > /sys/kernel/debug/tracing/events/msm_vidc/enable
+
+echo 0xff > /sys/module/videobuf2_core/parameters/debug
+echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug
+
+cat /sys/kernel/debug/tracing/trace_pipe

system/ui/lib/networkmanager.py

@@ -0,0 +1,44 @@
+from enum import IntEnum
+
+
+# NetworkManager device states
+class NMDeviceState(IntEnum):
+  UNKNOWN = 0
+  DISCONNECTED = 30
+  PREPARE = 40
+  STATE_CONFIG = 50
+  NEED_AUTH = 60
+  IP_CONFIG = 70
+  ACTIVATED = 100
+  DEACTIVATING = 110
+
+
+# NetworkManager constants
+NM = "org.freedesktop.NetworkManager"
+NM_PATH = '/org/freedesktop/NetworkManager'
+NM_IFACE = 'org.freedesktop.NetworkManager'
+NM_ACCESS_POINT_IFACE = 'org.freedesktop.NetworkManager.AccessPoint'
+NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings'
+NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings'
+NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection'
+NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless'
+NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties'
+NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
+
+NM_DEVICE_TYPE_WIFI = 2
+NM_DEVICE_TYPE_MODEM = 8
+NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
+NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60
+
+# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
+NM_802_11_AP_FLAGS_NONE = 0x0
+NM_802_11_AP_FLAGS_PRIVACY = 0x1
+NM_802_11_AP_FLAGS_WPS = 0x2
+
+# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags
+NM_802_11_AP_SEC_PAIR_WEP40 = 0x00000001
+NM_802_11_AP_SEC_PAIR_WEP104 = 0x00000002
+NM_802_11_AP_SEC_GROUP_WEP40 = 0x00000010
+NM_802_11_AP_SEC_GROUP_WEP104 = 0x00000020
+NM_802_11_AP_SEC_KEY_MGMT_PSK = 0x00000100
+NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200

system/ui/reset.py

@@ -13,7 +13,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label, gui_text_box
 
-NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
 
@@ -49,10 +48,6 @@ class Reset(Widget):
     if PC:
       return
 
-    # Best effort to wipe NVME
-    os.system(f"sudo umount {NVME}")
-    os.system(f"yes | sudo mkfs.ext4 {NVME}")
-
     # Removing data and formatting
     rm = os.system("sudo rm -rf /data/*")
     os.system(f"sudo umount {USERDATA}")

system/ui/setup.py

@@ -19,7 +19,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
 from openpilot.system.ui.widgets.keyboard import Keyboard
 from openpilot.system.ui.widgets.label import Label, TextAlignment
-from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
+from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -72,8 +72,7 @@ class Setup(Widget):
     self.download_url = ""
     self.download_progress = 0
     self.download_thread = None
-    self.wifi_manager = WifiManagerWrapper()
-    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+    self.wifi_ui = WifiManagerUI(WifiManager())
     self.keyboard = Keyboard()
     self.selected_radio = None
     self.warning = gui_app.texture("icons/warning.png", 150, 150)

system/ui/updater.py

@@ -7,7 +7,7 @@ from enum import IntEnum
 
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_text_box, gui_label
@@ -43,8 +43,7 @@ class Updater(Widget):
     self.show_reboot_button = False
     self.process = None
     self.update_thread = None
-    self.wifi_manager = WifiManagerWrapper()
-    self.wifi_manager_ui = WifiManagerUI(self.wifi_manager)
+    self.wifi_manager_ui = WifiManagerUI(WifiManager())
 
   def install_update(self):
     self.current_screen = Screen.PROGRESS

system/ui/widgets/__init__.py

@@ -129,3 +129,10 @@ class Widget(abc.ABC):
   def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
     """Optionally handle mouse release events."""
     return False
+
+  def show_event(self):
+    """Optionally handle show event. Parent must manually call this"""
+
+  def hide_event(self):
+    """Optionally handle hide event. Parent must manually call this"""
+

system/ui/widgets/list_view.py

@@ -213,6 +213,7 @@ class ListItem(Widget):
 
     self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT))
     self._font = gui_app.font(FontWeight.NORMAL)
+    self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None
 
     # Cached properties for performance
     self._prev_max_width: int = 0
@@ -261,8 +262,7 @@ class ListItem(Widget):
     if self.title:
       # Draw icon if present
       if self.icon:
-        icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE)
-        rl.draw_texture(icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE)
+        rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.width) // 2), rl.WHITE)
         text_x += ICON_SIZE + ITEM_PADDING
 
       # Draw main text

system/ui/widgets/network.py

@@ -1,17 +1,16 @@
-from dataclasses import dataclass
+from enum import IntEnum
 from functools import partial
-from threading import Lock
-from typing import Literal
+from typing import cast
 
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.label import TextAlignment, gui_label
 
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -27,85 +26,67 @@ STRENGTH_ICONS = [
 ]
 
 
-@dataclass
-class StateIdle:
-  action: Literal["idle"] = "idle"
-
-
-@dataclass
-class StateConnecting:
-  network: NetworkInfo
-  action: Literal["connecting"] = "connecting"
-
-
-@dataclass
-class StateNeedsAuth:
-  network: NetworkInfo
-  retry: bool
-  action: Literal["needs_auth"] = "needs_auth"
-
-
-@dataclass
-class StateShowForgetConfirm:
-  network: NetworkInfo
-  action: Literal["show_forget_confirm"] = "show_forget_confirm"
-
-
-@dataclass
-class StateForgetting:
-  network: NetworkInfo
-  action: Literal["forgetting"] = "forgetting"
-
-
-UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+class UIState(IntEnum):
+  IDLE = 0
+  CONNECTING = 1
+  NEEDS_AUTH = 2
+  SHOW_FORGET_CONFIRM = 3
+  FORGETTING = 4
 
 
 class WifiManagerUI(Widget):
-  def __init__(self, wifi_manager: WifiManagerWrapper):
+  def __init__(self, wifi_manager: WifiManager):
     super().__init__()
-    self.state: UIState = StateIdle()
+    self.wifi_manager = wifi_manager
+    self.state: UIState = UIState.IDLE
+    self._state_network: Network | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
+    self._password_retry: bool = False  # for NEEDS_AUTH
     self.btn_width: int = 200
     self.scroll_panel = GuiScrollPanel()
     self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
+    self._load_icons()
 
-    self._networks: list[NetworkInfo] = []
+    self._networks: list[Network] = []
     self._networks_buttons: dict[str, Button] = {}
     self._forget_networks_buttons: dict[str, Button] = {}
-    self._lock = Lock()
-    self.wifi_manager = wifi_manager
     self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel")
 
-    self.wifi_manager.set_callbacks(
-      WifiManagerCallbacks(
-        need_auth=self._on_need_auth,
-        activated=self._on_activated,
-        forgotten=self._on_forgotten,
-        networks_updated=self._on_network_updated,
-        connection_failed=self._on_connection_failed
-      )
-    )
-    self.wifi_manager.start()
-    self.wifi_manager.connect()
+    self.wifi_manager.set_callbacks(need_auth=self._on_need_auth,
+                                    activated=self._on_activated,
+                                    forgotten=self._on_forgotten,
+                                    networks_updated=self._on_network_updated,
+                                    disconnected=self._on_disconnected)
+
+  def show_event(self):
+    # start/stop scanning when widget is visible
+    self.wifi_manager.set_active(True)
+
+  def hide_event(self):
+    self.wifi_manager.set_active(False)
+
+  def _load_icons(self):
+    for icon in STRENGTH_ICONS + ["icons/checkmark.png", "icons/circled_slash.png", "icons/lock_closed.png"]:
+      gui_app.texture(icon, ICON_SIZE, ICON_SIZE)
 
   def _render(self, rect: rl.Rectangle):
-    with self._lock:
-      if not self._networks:
-        gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-        return
-
-      match self.state:
-        case StateNeedsAuth(network, retry):
-          self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
-          self.keyboard.reset()
-          gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
-        case StateShowForgetConfirm(network):
-          self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?')
-          self._confirm_dialog.reset()
-          gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
-        case _:
-          self._draw_network_list(rect)
-
-  def _on_password_entered(self, network: NetworkInfo, result: int):
+    self.wifi_manager.process_callbacks()
+
+    if not self._networks:
+      gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      return
+
+    if self.state == UIState.NEEDS_AUTH and self._state_network:
+      self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
+      self.keyboard.reset()
+      gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result))
+    elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
+      self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
+      self._confirm_dialog.reset()
+      gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+    else:
+      self._draw_network_list(rect)
+
+  def _on_password_entered(self, network: Network, result: int):
     if result == 1:
       password = self.keyboard.text
       self.keyboard.clear()
@@ -113,13 +94,13 @@ class WifiManagerUI(Widget):
       if len(password) >= MIN_PASSWORD_LENGTH:
         self.connect_to_network(network, password)
     elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE
 
   def on_forgot_confirm_finished(self, network, result: int):
     if result == 1:
       self.forget_network(network)
     elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE
 
   def _draw_network_list(self, rect: rl.Rectangle):
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@@ -140,24 +121,25 @@ class WifiManagerUI(Widget):
 
     rl.end_scissor_mode()
 
-  def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool):
+  def _draw_network_item(self, rect, network: Network, clicked: bool):
     spacing = 50
     ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
     signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
     security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
 
     status_text = ""
-    match self.state:
-      case StateConnecting(network=connecting):
-        if connecting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].set_enabled(False)
-          status_text = "CONNECTING..."
-      case StateForgetting(network=forgetting):
-        if forgetting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].set_enabled(False)
-          status_text = "FORGETTING..."
-      case _:
-        self._networks_buttons[network.ssid].set_enabled(True)
+    if self.state == UIState.CONNECTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "CONNECTING..."
+    elif self.state == UIState.FORGETTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "FORGETTING..."
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      self._networks_buttons[network.ssid].set_enabled(False)
+    else:
+      self._networks_buttons[network.ssid].set_enabled(True)
 
     self._networks_buttons[network.ssid].render(ssid_rect)
 
@@ -181,18 +163,21 @@ class WifiManagerUI(Widget):
   def _networks_buttons_callback(self, network):
     if self.scroll_panel.is_touch_valid():
       if not network.is_saved and network.security_type != SecurityType.OPEN:
-        self.state = StateNeedsAuth(network, False)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = False
       elif not network.is_connected:
         self.connect_to_network(network)
 
   def _forget_networks_buttons_callback(self, network):
     if self.scroll_panel.is_touch_valid():
-      self.state = StateShowForgetConfirm(network)
+      self.state = UIState.SHOW_FORGET_CONFIRM
+      self._state_network = network
 
-  def _draw_status_icon(self, rect, network: NetworkInfo):
+  def _draw_status_icon(self, rect, network: Network):
     """Draw the status icon based on network's connection state"""
     icon_file = None
-    if network.is_connected:
+    if network.is_connected and self.state != UIState.CONNECTING:
       icon_file = "icons/checkmark.png"
     elif network.security_type == SecurityType.UNSUPPORTED:
       icon_file = "icons/circled_slash.png"
@@ -206,63 +191,59 @@ class WifiManagerUI(Widget):
     icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2)
     rl.draw_texture_v(texture, icon_rect, rl.WHITE)
 
-  def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: NetworkInfo):
+  def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: Network):
     """Draw the Wi-Fi signal strength icon based on network's signal strength"""
     strength_level = max(0, min(3, round(network.strength / 33.0)))
     rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)
 
-  def connect_to_network(self, network: NetworkInfo, password=''):
-    self.state = StateConnecting(network)
+  def connect_to_network(self, network: Network, password=''):
+    self.state = UIState.CONNECTING
+    self._state_network = network
     if network.is_saved and not password:
       self.wifi_manager.activate_connection(network.ssid)
     else:
       self.wifi_manager.connect_to_network(network.ssid, password)
 
-  def forget_network(self, network: NetworkInfo):
-    self.state = StateForgetting(network)
-    network.is_saved = False
+  def forget_network(self, network: Network):
+    self.state = UIState.FORGETTING
+    self._state_network = network
     self.wifi_manager.forget_connection(network.ssid)
 
-  def _on_network_updated(self, networks: list[NetworkInfo]):
-    with self._lock:
-      self._networks = networks
-      for n in self._networks:
-        self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT,
-                                                button_style=ButtonStyle.NO_EFFECT)
-        self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
-                                                       font_size=45)
+  def _on_network_updated(self, networks: list[Network]):
+    self._networks = networks
+    for n in self._networks:
+      self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT,
+                                              button_style=ButtonStyle.NO_EFFECT)
+      self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
+                                                     font_size=45)
 
   def _on_need_auth(self, ssid):
-    with self._lock:
-      network = next((n for n in self._networks if n.ssid == ssid), None)
-      if network:
-        self.state = StateNeedsAuth(network, True)
+    network = next((n for n in self._networks if n.ssid == ssid), None)
+    if network:
+      self.state = UIState.NEEDS_AUTH
+      self._state_network = network
+      self._password_retry = True
 
   def _on_activated(self):
-    with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+    if self.state == UIState.CONNECTING:
+      self.state = UIState.IDLE
 
-  def _on_forgotten(self, ssid):
-    with self._lock:
-      if isinstance(self.state, StateForgetting):
-        self.state = StateIdle()
+  def _on_forgotten(self):
+    if self.state == UIState.FORGETTING:
+      self.state = UIState.IDLE
 
-  def _on_connection_failed(self, ssid: str, error: str):
-    with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+  def _on_disconnected(self):
+    if self.state == UIState.CONNECTING:
+      self.state = UIState.IDLE
 
 
 def main():
   gui_app.init_window("Wi-Fi Manager")
-  wifi_manager = WifiManagerWrapper()
-  wifi_ui = WifiManagerUI(wifi_manager)
+  wifi_ui = WifiManagerUI(WifiManager())
 
   for _ in gui_app.render():
     wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
 
-  wifi_manager.shutdown()
   gui_app.close()
 
 

system/updated/updated.py

@@ -243,7 +243,7 @@ class Updater:
     if b is None:
       b = self.get_branch(BASEDIR)
     b = {
-      ("tici", "release3"): "release-tici"
+      ("tizi", "release3"): "release-tizi",
     }.get((HARDWARE.get_device_type(), b), b)
     return b
 

tinygrad_repo

@@ -1 +1 @@
-Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1
+Subproject commit 965ea59b16679793b8f48368ac24c4a0ef587e71

tools/auto_source.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import sys
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 
 def main():
@@ -9,7 +9,7 @@ def main():
     sys.exit(1)
 
   log_path = sys.argv[1]
-  lr = LogReader(log_path, sort_by_time=True)
+  lr = LogReader(log_path, default_mode=ReadMode.AUTO, sort_by_time=True)
   print("\n".join(lr.logreader_identifiers))
 
 

tools/op.sh

@@ -365,6 +365,7 @@ function op_switch() {
   fi
   BRANCH="$1"
 
+  git config --replace-all remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
   git fetch "$REMOTE" "$BRANCH"
   git checkout -f FETCH_HEAD
   git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH"

uv.lock

@@ -510,27 +510,27 @@ wheels = [
 
 [[package]]
 name = "fonttools"
-version = "4.59.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/11/7f/29c9c3fe4246f6ad96fee52b88d0dc3a863c7563b0afc959e36d78b965dc/fonttools-4.59.1.tar.gz", hash = "sha256:74995b402ad09822a4c8002438e54940d9f1ecda898d2bb057729d7da983e4cb", size = 3534394, upload-time = "2025-08-14T16:28:14.266Z" }
-wheels = [
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-    { url = "https://files.pythonhosted.org/packages/8f/78/cc25bcb2ce86033a9df243418d175e58f1956a35047c685ef553acae67d6/fonttools-4.59.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:efbec204fa9f877641747f2d9612b2b656071390d7a7ef07a9dbf0ecf9c7195c", size = 2341631, upload-time = "2025-08-14T16:26:30.396Z" },
-    { url = "https://files.pythonhosted.org/packages/a4/cc/fcbb606dd6871f457ac32f281c20bcd6cc77d9fce77b5a4e2b2afab1f500/fonttools-4.59.1-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:39dfd42cc2dc647b2c5469bc7a5b234d9a49e72565b96dd14ae6f11c2c59ef15", size = 5022222, upload-time = "2025-08-14T16:26:32.447Z" },
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+version = "4.59.2"
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